Underwater sensor network consists of number of various sensors and autonomous underwater vehicles deployed underwater to coordinate, interact and share information among them to carry out sensing and monitoring functions. Underwater environment differs from terrestrial radio environment both in terms of energy costs and channel propagation phenomena. The goal of the project is to reduce the oc...

In order to take measurements in space and time from the undersampled vast ocean, it is necessary to employ multiple autonomous underwater vehicles, such as gliders, that communicate and coordinate with each other. These vehicles need to form a team in a specific formation, steer through the 3D region of interest, and take application-dependent measurements such as temperature and salinity. In ...

We describe an approach to decentralized control and distributed data fusion that enables a team of autonomous underwater vehicles to cooperatively and autonomously localize and track a source of acoustic noise, and we report on field experiments that demonstrate the efficacy of our approach. A principal challenge of subsea coordination is the the extremely low-bandwidth acoustic communication ...

The objective of this paper is to present a downsized prototype of an Autonomous Underwater Vehicle (AUV) designed with the idea of dealing with cooperative tasks involving multiple agents. The entire system has been designed for marine and underwater environmental surveillance and protection. The agents provide an interesting point in the surveillance of shallow coastal waters and shallow wate...

This paper presents a stable schooling scheme for multiple autonomous underwater vehicles (AUVs) where the number of independent actuators for each vehicle are less than the degrees of freedom (DOF). In most of the formation schemes presented so far, the multiple dynamic agents usually have been modeled as particle systems whose motions can be expressed as simple double-integrator. Therefore, t...

Compact zero-mass pulsatile jet actuators are proposed for low speed maneuvering, ducking, and station keeping of small underwater vehicles. To this end, optimization of synthetic jets for maximal thrust generation is investigated. Flow field of such jets are initially dominated by vortex ring formation. Pinched-off vortices characterize the extremum impulse accumulated by the leading vortex ri...

Maneuverability describes a vehicle’s ability to change course or turn. Maneuverability of conventional underwater vehicles, such as torpedoes, can be determined by altering the position and length of control fins. To perform large-area surveying tasks, autonomous underwater vehicles (AUVs) generally require different maneuverability characteristics in their vertical and horizontal planes of mo...

I am in terested in establishing a framework for studying dynamics and control of underwater gliders. I am focussing on dedicated gliding vehicles that hav e the ability to change mass (or v olume) for buoyancy control and to redistribute mass for attitude control. Later on it is of in terest to consider vehicles that use glide maneuvers to complement more traditional methods of control actuati...

Recently, data collection from seabed by means of underwater wireless sensor networks (UWSN) has attracted considerable attention. Autonomous underwater vehicles (AUVs) are increasingly used as UWSNs in underwater missions. Events and environmental parameters in underwater regions have a stochastic nature. The target area must be covered by sensors to observe and report events. A ‘topology cont...

We propose a system of combining radio and underwater wireless optical communication based on buoys for real-time image and video transmission between underwater vehicles and the base station on the shore. We analysis how the BER performance is affected by the link distance and the deflection angle of the light source using Monte Carlo simulation.