Adaptive Decentralized Control of Mobile Underwater Sensor Networks and Robots for Modeling Underwater Phenomena
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...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2014-05-01
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| Series: | Journal of Sensor and Actuator Networks |
| Subjects: | |
| Online Access: | http://www.mdpi.com/2224-2708/3/2/113 |
| _version_ | 1818542923529060352 |
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| author | Carrick Detweiler Sreeja Banerjee Marek Doniec Mingshun Jiang Francesco Peri Robert F. Chen Daniela Rus |
| author_facet | Carrick Detweiler Sreeja Banerjee Marek Doniec Mingshun Jiang Francesco Peri Robert F. Chen Daniela Rus |
| author_sort | Carrick Detweiler |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-11T22:28:33Z |
| format | Article |
| id | doaj.art-5ded5cb6b8c94f43bf1c520cbba6f2a7 |
| institution | Directory Open Access Journal |
| issn | 2224-2708 |
| language | English |
| last_indexed | 2024-12-11T22:28:33Z |
| publishDate | 2014-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Sensor and Actuator Networks |
| spelling | doaj.art-5ded5cb6b8c94f43bf1c520cbba6f2a72022-12-22T00:48:13ZengMDPI AGJournal of Sensor and Actuator Networks2224-27082014-05-013211314910.3390/jsan3020113jsan3020113Adaptive Decentralized Control of Mobile Underwater Sensor Networks and Robots for Modeling Underwater PhenomenaCarrick Detweiler0Sreeja Banerjee1Marek Doniec2Mingshun Jiang3Francesco Peri4Robert F. Chen5Daniela Rus6Computer Science and Engineering, University of Nebraska-Lincoln, Lincoln, NE 68588, USAComputer Science and Engineering, University of Nebraska-Lincoln, Lincoln, NE 68588, USACSAIL, Massachusetts Institute of Technology, Cambridge, MA 02139, USAHarbor Branch Oceanographic Institute, Florida Atlantic University, Ft. Pierce, FL 34946, USASchool for the Environment, University of Massachusetts Boston, Boston, MA 02125, USASchool for the Environment, University of Massachusetts Boston, Boston, MA 02125, USACSAIL, Massachusetts Institute of Technology, Cambridge, MA 02139, USAUnderstanding 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.http://www.mdpi.com/2224-2708/3/2/113depth adjustmentadaptive sensingoceansensingsensor network |
| spellingShingle | Carrick Detweiler Sreeja Banerjee Marek Doniec Mingshun Jiang Francesco Peri Robert F. Chen Daniela Rus Adaptive Decentralized Control of Mobile Underwater Sensor Networks and Robots for Modeling Underwater Phenomena Journal of Sensor and Actuator Networks depth adjustment adaptive sensing ocean sensing sensor network |
| title | Adaptive Decentralized Control of Mobile Underwater Sensor Networks and Robots for Modeling Underwater Phenomena |
| title_full | Adaptive Decentralized Control of Mobile Underwater Sensor Networks and Robots for Modeling Underwater Phenomena |
| title_fullStr | Adaptive Decentralized Control of Mobile Underwater Sensor Networks and Robots for Modeling Underwater Phenomena |
| title_full_unstemmed | Adaptive Decentralized Control of Mobile Underwater Sensor Networks and Robots for Modeling Underwater Phenomena |
| title_short | Adaptive Decentralized Control of Mobile Underwater Sensor Networks and Robots for Modeling Underwater Phenomena |
| title_sort | adaptive decentralized control of mobile underwater sensor networks and robots for modeling underwater phenomena |
| topic | depth adjustment adaptive sensing ocean sensing sensor network |
| url | http://www.mdpi.com/2224-2708/3/2/113 |
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