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The limited localization capabilities provided by global navigation satellite systems (GNSS) is one of the main obstacles toward the development of reliable road safety applications in urban scenarios. In order to improve GNSS accuracy, a number of approaches have been proposed which exploit additional position-related information, for instance provided by local inertial sensors. However, such solutions cannot meet the very stringent accuracy requirements of safety applications, which call for advanced processing and the fusion of position-related signals and data from heterogeneous sources. In this paper, we aim at combining the potential of antenna array processing with a suitably-designed cooperation strategy that exploits vehicle-to-vehicle and vehicle-to-infrastructure communications. Particularly, we define a novel tracking algorithm with asynchronous updates triggered by beacon packet receptions, from …