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The past few years have witnessed a significant progress in research of underwater acoustic networks. Some MAC and routing protocols tailored for underwater acoustic networks have been proposed. However, it is difficult and costly to build real underwater network systems as well as conduct field experiments, and most researches are based on theoretical analysis and simulations. To facilitate evaluating...
This paper presents an optimal design of consensus for multi-agent systems with damping term using a directed spanning tree. Compared with the undirected connected topology, the choice of Lyapunov function can be more complicated. Concerning about the directed spanning tree, the consensus of multi-agent systems is guaranteed by analyzing the eigenstructure of the system matrix. Being different from...
Given a middle-scale underwater acoustic network, to collect data from the multiple underwater nodes, the surface destination node need to be working on mobile data collection mechanism. In this paper, compared to traditional automatic-repeat-request (ARQ) protocol, we proposed node cooperation (NC) to increase the data collection efficiency for the surface node, utilizing the fact that underwater...
The Automatic Identification System is an electronic system enabling vessels to send localization messages. Those messages are used for several uses such as fleet control, traffic control or boarding prevention. Sent messages contain errors, falsifications and undergo spoofing due to the unsecured channel of transmission, and that weakens the whole system and the safety of navigation. This paper presents...
The paper presents a real-time and reliable communication system for a newly developed hybrid underwater robotic vehicle (HURV). The surface monitoring station of the HURV is linked with the onboard underwater control system by a fine and neutral buoyance fiber, which enables the state monitoring and tele-operation mode of the vehicle based on the industrial Ethernet Modbus/TCP via the fiber-optic...
We describe the implementation of a protocol stack for multi-modal underwater networks, where multiple physical layer technologies are available to each node. This condition implies greater flexibility, by allowing each node to decide how to serve specific transmissions and traffic classes depending on system, quality-of-service, and application-specific policies implemented in a controller. In this...
We propose a protocol that automates address assignment and resolution for nodes in an underwater network. The protocol resolves address conflicts and assigns a unique address to every node. It also informs each node about the addresses of the other nodes in the network. Using this protocol, any node can perform name resolution to find the address of a particular node. The protocol works in a distributed...
This paper presents the initial implementation of an acoustic synchronization and ranging system to enable the control and cooperation of multiple Unmanned Underwater Vehicles (UUVs). Our solution is based on acoustic clock synchronization and one-way ranging. It requires minimum overhead while providing accurate and quick estimation of the relative distances among underwater nodes. The use of one-way...
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