Next Article in Journal
A New Method to Estimate Changes in Glacier Surface Elevation Based on Polynomial Fitting of Sparse ICESat—GLAS Footprints
Previous Article in Journal
A Dimensionality Reduction-Based Multi-Step Clustering Method for Robust Vessel Trajectory Analysis
Previous Article in Special Issue
Task Assignment and Path Planning for Multiple Autonomous Underwater Vehicles Using 3D Dubins Curves
Article Menu
Issue 8 (August) cover image

Export Article

Open AccessArticle
Sensors 2017, 17(8), 1802;

An Optimized, Data Distribution Service-Based Solution for Reliable Data Exchange Among Autonomous Underwater Vehicles

Research Center on Software Technologies and Multimedia Systems for Sustainability (Centro de Investigación en Tecnologías Software y Sistemas Multimedia Para la Sostenibilidad—CITSEM), Campus Sur UPM, Ctra. Valencia, Km 7, Madrid 28031, Spain
TECNALIA, Parque Tecnológico de Bizkaia, C/Geldo, Edificio 700, 48160 Derio, Bizkaia, Spain
School of Innovation Design and Technology, Mälardalen University, SE-721 23 Västerås, Sweden
Author to whom correspondence should be addressed.
Received: 14 June 2017 / Revised: 25 July 2017 / Accepted: 3 August 2017 / Published: 5 August 2017
PDF [5418 KB, uploaded 5 August 2017]


Major challenges are presented when managing a large number of heterogeneous vehicles that have to communicate underwater in order to complete a global mission in a cooperative manner. In this kind of application domain, sending data through the environment presents issues that surpass the ones found in other overwater, distributed, cyber-physical systems (i.e., low bandwidth, unreliable transport medium, data representation and hardware high heterogeneity). This manuscript presents a Publish/Subscribe-based semantic middleware solution for unreliable scenarios and vehicle interoperability across cooperative and heterogeneous autonomous vehicles. The middleware relies on different iterations of the Data Distribution Service (DDS) software standard and their combined work between autonomous maritime vehicles and a control entity. It also uses several components with different functionalities deemed as mandatory for a semantic middleware architecture oriented to maritime operations (device and service registration, context awareness, access to the application layer) where other technologies are also interweaved with middleware (wireless communications, acoustic networks). Implementation details and test results, both in a laboratory and a deployment scenario, have been provided as a way to assess the quality of the system and its satisfactory performance. View Full-Text
Keywords: autonomous underwater vehicles; cyber-physical systems; middleware autonomous underwater vehicles; cyber-physical systems; middleware

Figure 1

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 (CC BY 4.0).

Share & Cite This Article

MDPI and ACS Style

Rodríguez-Molina, J.; Bilbao, S.; Martínez, B.; Frasheri, M.; Cürüklü, B. An Optimized, Data Distribution Service-Based Solution for Reliable Data Exchange Among Autonomous Underwater Vehicles. Sensors 2017, 17, 1802.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics



[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top