| CPC G01S 13/003 (2013.01) [G01S 7/003 (2013.01)] | 14 Claims |

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1. A first wireless transmit/receive unit (WTRU) comprising,
a processor configured to:
send a localization request to a set of WTRUs;
receive a plurality of localization responses, wherein each localization response in the plurality of localization responses is associated with a respective WTRU in the set of WTRUs;
determine, based on the received plurality of localization responses, a first subset of WTRUs, wherein the first subset of WTRUs is a subset of the set of WTRUs;
send initial measurement configuration information to the first subset of WTRUs, wherein the initial measurement configuration information indicates a reference signal transmission parameter;
receive a first reference signal from a second WTRU, wherein the second WTRU is in the first subset of WTRUs;
perform a first measurement associated with a first object using the first reference signal; and
determine, based on the first measurement, the first object and a first object estimation error.
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