A security system is provided that uses two or more object-locating systems to determine whether a sensed object is a household member or an intruder. One of the object-locating systems locates "cooperative" objects, which are household members that wear or carry a device that communicates with the system to allow the system to determine the locations of the household members. Another of the object-locating systems locates non-cooperative objects, such as intruders, and typically also locates the cooperative objects. When an object is located by the second object-locating system, the security system of the invention determines whether the object location corresponds to a location of a cooperative object as determined by the first object-locating system. If so, the security system decides that the object is a household member and does not trigger the alarm. If not, the security system decides that the object is an intruder and may trigger the alarm.

 
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