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

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

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Received: 2 April 2014; in revised form: 6 May 2014 / Accepted: 7 May 2014 / Published: 22 May 2014
(This article belongs to the Special Issue Underwater Sensor Networks)
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Abstract: 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 which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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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.

AMA Style

Detweiler C, Banerjee S, Doniec M, Jiang M, Peri F, Chen RF, Rus D. Adaptive Decentralized Control of Mobile Underwater Sensor Networks and Robots for Modeling Underwater Phenomena. Journal of Sensor and Actuator Networks. 2014; 3(2):113-149.

Chicago/Turabian Style

Detweiler, Carrick; Banerjee, Sreeja; Doniec, Marek; Jiang, Mingshun; Peri, Francesco; Chen, Robert F.; Rus, Daniela. 2014. "Adaptive Decentralized Control of Mobile Underwater Sensor Networks and Robots for Modeling Underwater Phenomena." J. Sens. Actuator Netw. 3, no. 2: 113-149.

J. Sens. Actuator Netw. EISSN 2224-2708 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert