Disclosed are techniques for wireless communication. In an aspect, a method of wireless communication performed by a first pedestrian user equipment (PUE) includes performing a ranging operation to a set of UEs, the set including at least a second PUE, and providing ranging data to a third entity, the third entity comprising a vehicle user equipment (VUE) or a road-side unit (RSU). The set of UEs may be randomly selected or selected using a selection algorithm. The set of UEs may be selected by the PUE or by the third entity. The ranging data may include the location of the first PUE, and may include a report on the battery status of the first PUE. The third entity may use the ranging data to update estimated positions of the first PUE and the set of UEs.