For example, first communication device 200a determines its designation based on the information stored at memory 220a. The information at memory 220a includes the first communication device's level of confidence of the location of the last received beacon from the second communication device 200b and the second communication device's level of confidence of the location of the last received beacon from the first communication device 200a. The first communication device's level of confidence is higher than the second communication device's level of confidence. Therefore, first communication device 220a is designated as the primary device. Second communication device 200b determines its designation based on information stored at memory 220b. The information at memory 220b also includes the first communication device's level of confidence of the location of the last received beacon from the second communication device 200b and the second communication device's level of confidence of the location of the last received beacon from the first communication device 200a. Because the second communication device's level of confidence is lower than that of the first communication device 200a, second communication device 220b is designated as a secondary device.