Proper setup for more robust systems can be quite time consuming. From this we have made a couple heuristic observations:

Short play sessions with little movement tend to favor static positioning synchronization (placing devices in a predetermined configuration then connecting) because it: 1) saves battery by using very few sensors, 2) has very low setup time, 3) is generally accurate enough if you're not moving very far and if resynchronization can happen often.

Longer play sessions, or play sessions which require movement over a larger area tend to suite themselves to ADF synchronization. This requires a pre-scanning the environment, which has a longer setup cost, but is able to correct the discrepancies that will often occur over longer play periods.