Location services for ad-hoc networks are of indispensable value for a wide range of applications, such as the Internet of Things (IoT) and vehicular ad-hoc networks (VANETs). Each context requires a solution that addresses the specific needs of the application. For instance, IoT sensor nodes have resource constraints (i.e., computational capabilities), and so a localization service should be highly efficient to conserve the lifespan of these nodes. We propose an optimized energy-aware and low computational solution, requiring 3-GPS equipped nodes (anchor nodes) in the network. Moreover, the computations are lightweight and can be implemented distributively among nodes. Knowing the maximum range of communication for all nodes and distances between 1-hop neighbors, each node localizes itself and shares its location with the network in an efficient manner. We simulate our proposed algorithm in a NS-3 simulator, and compare our solution with state-of-the-art methods. Our method is capable of localizing more nodes (≈ 90% of nodes in a network with an average degree ≈ 10)