Constructing 3D Underwater Sensor Networks without Sensing Holes Utilizing Heterogeneous Underwater Robots

This article handles building underwater sensor networks autonomously using multiple surface ships. For in 3D workspace with many obstacles, this considers ships dropping robots into the workspace. We assume that every robot is heterogeneous, such each can have a distinct sensing range while moving speed. The proposed strategy works by single at time to spread out until cluttered fully covered sensors of robots, no hole remains. As far as we know, novel enabling heterogeneous build environment, satisfying following conditions: (1) Remove all holes. (2) Network connectivity maintained. (3) Localize robots. In addition, address how handle case where broken, and discuss estimate number required, considering an obstacle inside not known priori. Utilizing MATLAB simulations, demonstrate effectiveness network construction methods.