A method for discovering the topology of a connected lighting system. The method comprises: receiving a first measurement of a first light source in relation to a first sensor; receiving a second measurement of the first light source in relation to a second sensor; generating a first estimate of the position of the first light source, based on a first angle at the first sensor between (i) a first direction toward a current light source position and (ii) a second direction defined by the first measurement; generating a second estimate of the position of the first light source, based on a second angle at the second sensor between (i) a third direction toward the current light source position and (ii) a fourth direction defined by the second measurement; and generating an updated light source position of the first light source based on the first and second estimates.