Methods, systems, devices, and apparatuses are described for location tracking in which each tag used to track an asset or person in an indoor environment transmits ranging waveforms used to estimate a location of the tag. Multiple tags may concurrently transmit without interfering with each other by having each tag use a distinct frequency shift for the ranging waveforms. Access points may be deployed throughout the indoor environment as part of a wireless network (e.g., ultra-wideband or UWB network) that tracks the assets. The access points may receive the ranging waveforms transmitted by the tags and may perform measurements based on the ranging waveforms. The measurements may be sent to a tracking management server to estimate the location of the tags. The server may also determine and assign the distinct frequency shifts used by the tags and may modify the assignment when the number of tags being tracked changes.