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 |
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MDPI AG
2018
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| Online Access: | http://hdl.handle.net/1721.1/113380 https://orcid.org/0000-0001-5473-3566 |
| _version_ | 1811085005781204992 |
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| author | Detweiler, Carrick Banerjee, Sreeja Jiang, Mingshun Peri, Francesco Chen, Robert F. Chen, Robert Doniec, Marek Wojciech Rus, Daniela L |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Detweiler, Carrick Banerjee, Sreeja Jiang, Mingshun Peri, Francesco Chen, Robert F. Chen, Robert Doniec, Marek Wojciech Rus, Daniela L |
| author_sort | Detweiler, Carrick |
| collection | MIT |
| 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. Keywords: depth adjustment; adaptive sensing; ocean; sensing; sensor network |
| first_indexed | 2024-09-23T13:01:28Z |
| format | Article |
| id | mit-1721.1/113380 |
| institution | Massachusetts Institute of Technology |
| last_indexed | 2024-09-23T13:01:28Z |
| publishDate | 2018 |
| publisher | MDPI AG |
| record_format | dspace |
| spelling | mit-1721.1/1133802022-10-01T12:36:32Z Adaptive Decentralized Control of Mobile Underwater Sensor Networks and Robots for Modeling Underwater Phenomena Detweiler, Carrick Banerjee, Sreeja Jiang, Mingshun Peri, Francesco Chen, Robert F. Chen, Robert Doniec, Marek Wojciech Rus, Daniela L Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Doniec, Marek Wojciech Rus, Daniela L 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 2018-01-31T14:40:59Z 2018-01-31T14:40:59Z 2014-05 2014-05 2018-01-24T21:03:39Z Article http://purl.org/eprint/type/JournalArticle 2224-2708 http://hdl.handle.net/1721.1/113380 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) https://orcid.org/0000-0001-5473-3566 http://dx.doi.org/10.3390/jsan3020113 Journal of Sensor and Actuator Networks Creative Commons Attribution http://creativecommons.org/licenses/by/4.0/ application/pdf MDPI AG Multidisciplinary Digital Publishing Institute |
| spellingShingle | Detweiler, Carrick Banerjee, Sreeja Jiang, Mingshun Peri, Francesco Chen, Robert F. Chen, Robert Doniec, Marek Wojciech Rus, Daniela L Adaptive Decentralized Control of Mobile Underwater Sensor Networks and Robots for Modeling Underwater Phenomena |
| 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 |
| url | http://hdl.handle.net/1721.1/113380 https://orcid.org/0000-0001-5473-3566 |
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