Adaptive Decentralized Control of Mobile Underwater Sensor Networks and Robots for Modeling Underwater Phenomena
Name
jsan-03-00113.pdf
Size
4.61 MB
Format
Adobe PDF
Checksum (MD5)
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Author(s)
Detweiler, Carrick
Banerjee, Sreeja
Jiang, Mingshun
Peri, Francesco
Chen, Robert F.
Chen, Robert
Doniec, Marek Wojciech
Rus, Daniela L
Date Issued
May 2014
Journal
Journal of Sensor and Actuator Networks
Publisher
MDPI AG
Citation
Detweiler, Carrick et al. "Adaptive Decentralized Control of Mobile Underwater Sensor Networks and Robots for Modeling Underwater Phenomena." Journal of Sensor and Actuator Networks 3, 2 (May 2014): 113-149 © 2014 The Author(s)
Version
Final published version
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
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Creative Commons Attribution
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.3390/jsan3020113
