Abstract
This article handles building underwater sensor networks autonomously using multiple surface ships. For building underwater sensor networks in 3D workspace with many obstacles, this article considers surface ships dropping underwater robots into the underwater workspace. We assume that every robot is heterogeneous, such that each robot can have a distinct sensing range while moving with a distinct speed. The proposed strategy works by moving a single robot at a time to spread out the underwater networks until the 3D cluttered workspace is fully covered by sensors of the robots, such that no sensing hole remains. As far as we know, this article is novel in enabling multiple heterogeneous robots to build underwater sensor networks in a 3D cluttered environment, while satisfying the following conditions: (1) Remove all sensing holes. (2) Network connectivity is maintained. (3) Localize all underwater robots. In addition, we address how to handle the case where a robot is broken, and we discuss how to estimate the number of robots required, considering the case where an obstacle inside the workspace is not known a priori. Utilizing MATLAB simulations, we demonstrate the effectiveness of the proposed network construction methods.
Highlights
Sensor networks can perform various autonomous tasks in dangerous and harsh environments
Utilizing MATLAB simulations, we demonstrate the effectiveness of the proposed network construction methods
For complete monitoring of the cluttered workspace, it is required to build sensor networks such that no sensing hole exists in the workspace
Summary
Sensor networks can perform various autonomous tasks in dangerous and harsh environments. As a method to build underwater sensor networks autonomously, this article considers surface ships dropping underwater robots into the underwater 3D workspace. We develop coverage control so that once the robots are located at their designated target positions, the 3D workspace is continuously monitored by the deployed robots. The proposed coverage methods work by moving a single robot at a time to spread out the 3D sensor network, until the 3D workspace is fully covered without sensing holes. The proposed coverage methods result in underwater sensor networks without sensing holes, while localizing all robots. As far as we know, this article is novel in enabling multiple heterogeneous robots to build underwater sensor networks in a 3D cluttered environment, while satisfying the following conditions: 2.
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