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Adaptive Decentralized Control of Mobile Underwater Sensor Networks and Robots for Modeling Underwater Phenomena
- Source :
- Multidisciplinary Digital Publishing Institute, Journal of Sensor and Actuator Networks; Volume 3; Issue 2; Pages: 113-149, Journal of Sensor and Actuator Networks, Vol 3, Iss 2, Pp 113-149 (2014)
- Publication Year :
- 2014
- Publisher :
- MDPI AG, 2014.
-
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
- Subjects :
- 0106 biological sciences
0209 industrial biotechnology
Control and Optimization
Adaptive sensing
Computer Networks and Communications
Computer science
Real-time computing
adaptive sensing
02 engineering and technology
lcsh:Technology
01 natural sciences
depth adjustment
ocean
sensing
sensor network
020901 industrial engineering & automation
Control theory
Underwater
Instrumentation
Simulation
lcsh:T
010604 marine biology & hydrobiology
Volume (computing)
Decentralised system
Underwater sensor networks
Robot
Wireless sensor network
Subjects
Details
- ISSN :
- 22242708
- Volume :
- 3
- Database :
- OpenAIRE
- Journal :
- Journal of Sensor and Actuator Networks
- Accession number :
- edsair.doi.dedup.....9e8217ed0dccfad533b3876448f5f993