Triangulation - whoever invented it deserves a medal

http://en.wikipedia.org/wiki/Triangulation what a superb site. Have been wondering how to get a decent method of locating my agents on the soccer pitch and have know the answer lay in trigonometry and after much looking I happened upon this gem of a wiki page that answered all my questions. Woot woot now to fix the parsers bugs so I can proceed to getting my locating on