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This white paper describes a proposed article that will aim to provide athorough study of the evolution of the typical paradigm of wirelesslocalization (WL), which is based on a single point model of each target,towards wireless rigid body localization (W-RBL). We also look beyond theconcept of RBL itself, whereby each target is modeled as an independentmulti-point three-dimensional (3D), with shape enforced via a set ofconformation constraints, as a step towards a more general approach we refer toas soft-connected RBL, whereby an ensemble of several objects embedded in agiven environment, is modeled as a set of soft-connected 3D objects, with rigidand soft conformation constraints enforced within each object and among them,respectively. A first intended contribution of the full version of this articleis a compact but comprehensive survey on mechanisms to evolve WL algorithms inW-RBL schemes, considering their peculiarities in terms of the type ofinformation, mathematical approach, and features the build on or offer. Asubsequent contribution is a discussion of mechanisms to extend W-RBLtechniques to soft-connected rigid body localization (SCW-RBL) algorithms.

Soft-connected Rigid Body Localization: State-of-the-Art and Research Directions for 6G