A method, machine readable medium, and system are disclosed. In one embodiment the method comprises generating an acoustic signal from an actuator of a first computing device, receiving the acoustic signal with a sensor of a second computing device, receiving the acoustic signal with a sensor of a third computing device, generating an estimate of a difference between the amount of time required for the acoustic signal to travel from the actuator of the first computing device to the sensor of the second computing device and the amount of time required for the acoustic signal to travel from the actuator of the first computing device to the sensor of the third computing device, wherein the sensors and actuator are unsynchronized, and computing, based on the estimated difference in time, a physical location of at least one of the said sensors and actuator.