A method of determining the location of a client device includes selecting sets of four access points (APs) from APs that can communicate with a client device. Each set of four APs forms a quadrilateral that contains the location of the client device. The method further includes selecting a first quadrilateral from quadrilaterals formed by the sets of four APs based on a policy, and, with the first quadrilateral, executing a time-of-flight (ToF)-based distance estimation process to determine the location of the client device.