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PurposeThis paper aims to describe the simulation, design, development and characterisation of antennas for wireless sensor networks operating in a variety of environments, including an under water submarine application and more usual “open air” deployments.Design/methodology/approachThe experimental test methodology, fixtures, conditions and results used to characterize the performance of these antennas (both state of the art commercially available and those developed in‐house) are presented.FindingsThe underwater test results show a near omni‐directional pattern about the three principal axes, thus showing that a spherical field has been achieved for localisation purposes (with a certain loss of resolution).Originality/valueThe paper focuses on the development of a new antenna scheme to enable under water communications between robotic agents.

A wireless network system (WSN) has been developed for a team of underwater Collaborative Autonomous Agents (CAAs) that are capable of repairing and locating scale formations in tanks and pipes within inaccessible environments. The design of the hardware is miniaturised and it consists of a stackable 25mm form-factor that includes the appropriate functionality and ISM wireless communications for the application. Sourcing of relevant sensors for the application was based on having the necessary sensing range; being miniature in size and having low power consumption. Once agent functionality was achieved, antennas were placed within the infrastructure of the pipe and CAAs to realise direct and indirect communication for the WSN.