A growing number of ad hoc networking protocols and location-aware services require that mobile nodes learn the position of their neighbors. However, such a process can be easily abused or disrupted by adversarial nodes. In absence of a-priori trusted nodes, the discovery and verification of neighbor positions presents challenges that have been scarcely investigated in the literature. In this paper, we address this open issue by proposing a fully-distributed cooperative solution that is robust against independent and colluding adversaries, and can be impaired only by an overwhelming presence of adversaries. Results show that our protocol can thwart more than 99% of the attacks under the best possible conditions for the adversaries, with minimal false positive rates.