A localization technique for indoor environment faces major challenges in terms of robustness, scalability, cost effectiveness and complexity. Furthermore, problems like radio irregularities and hardware cost make localization in cluttered indoor environments an exigent task. This paper proposes a failure resistance decentralized localization approach that exploits the advances in localization techniques implemented for wireless sensor networks, along with the ability of neighbour mobile nodes to form ad-hoc networks in order to estimate the location of mobile nodes in an indoor environment. The effectiveness of the proposed approach was tested through a number of simulation experiments. Simulation results yielded observable improvements in terms of system precision and robustness.