Adaptive decentralized control of underwater sensor networks 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. We develop a gradientbased 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. We implement the controller on an underwater sensor network capable of adjusting their depths. Through simulations and experiments, we verify the functionality and performance of the system and algorithm. Categories and Subject Descriptors C.3 [Special-Purpose and Application-Based Systems]: Microprocessor/microcomputer application; C.4 [Performance of Systems]: Measurement techniques; J.2 [Physical Sciences and Engineering]: Earth and atmospheric sciences General Terms Algorithms, Design, Experimentation, Measurement Keywords Depth Adjustment, Ocean, Sensing, Sensor Network

• Type: Journal
• Year: 2010
• Where: SENSYS
• Authors: Carrick Detweiler, Marek Doniec, Mingshun Jiang, Mac Schwager, Robert Chen, Daniela Rus
• Keywords: Sensing, Sensor Network, Sensor Networks, SENSYS 2010, Underwater Sensor