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J. Sens. Actuator Netw. 2014, 3(2), 113-149; doi:10.3390/jsan3020113

Adaptive Decentralized Control of Mobile Underwater Sensor Networks and Robots for Modeling Underwater Phenomena

Computer Science and Engineering, University of Nebraska-Lincoln, Lincoln, NE 68588, USA
CSAIL, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
Harbor Branch Oceanographic Institute, Florida Atlantic University, Ft. Pierce, FL 34946, USA
School for the Environment, University of Massachusetts Boston, Boston, MA 02125, USA
Author to whom correspondence should be addressed.
Received: 2 April 2014 / Revised: 6 May 2014 / Accepted: 7 May 2014 / Published: 22 May 2014
(This article belongs to the Special Issue Underwater Sensor Networks)


Understanding the dynamics of bodies of water and their impact on the global environment requires sensing information over the full volume of water. In this article, we develop a gradient-based decentralized controller that dynamically adjusts the depth of a network of underwater sensors to optimize sensing for computing maximally detailed volumetric models. We prove that the controller converges to a local minimum and show how the controller can be extended to work with hybrid robot and sensor network systems. We implement the controller on an underwater sensor network with depth adjustment capabilities. Through simulations and in-situ experiments, we verify the functionality and performance of the system and algorithm.
Keywords: depth adjustment; adaptive sensing; ocean; sensing; sensor network depth adjustment; adaptive sensing; ocean; sensing; sensor network

This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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MDPI and ACS Style

Detweiler, C.; Banerjee, S.; Doniec, M.; Jiang, M.; Peri, F.; Chen, R.F.; Rus, D. Adaptive Decentralized Control of Mobile Underwater Sensor Networks and Robots for Modeling Underwater Phenomena. J. Sens. Actuator Netw. 2014, 3, 113-149.

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