Next Article in Journal
A Survey of Access Control Models in Wireless Sensor Networks
Next Article in Special Issue
Multi-Hop-Enabled Energy-Efficient MAC Protocol for Underwater Acoustic Sensor Networks
Previous Article in Journal
Parallel Computational Intelligence-Based Multi-Camera Surveillance System
Previous Article in Special Issue
Sensor Enclosures: Example Application and Implications for Data Coherence
Article Menu

Export Article

Open AccessArticle
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. View Full-Text
Keywords: depth adjustment; adaptive sensing; ocean; sensing; sensor network depth adjustment; adaptive sensing; ocean; sensing; sensor network

Figure 1

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

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

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.

Show more citation formats Show less citations formats

Related Articles

Article Metrics

Article Access Statistics



[Return to top]
J. Sens. Actuator Netw. EISSN 2224-2708 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top