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What's the most efficient way of locating someone based off knowing their location relative to someone else?

Imagine you can see 2 people’s locations, person A you can see their distance away from you in kilometres, person B you can only see if he’s closer to you than A or further away

https://imagizer.imageshack.us/v2/360x351q90/199/jem7.jpg

Moving to different locations can help us located person B, just as sat nav with 3 sources can track down our locations.

Is there a most efficient way of going about solving this problem to find person B in the least number of moved over a large number of random cases?

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