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...nd Autonomous Systems Network [37] are a couple of examples of such underwater networked sensing systems. The deployment and coverage analysis of such underwater sensing systems has also been studied =-=[38]-=-. However, almost all of these platforms and networked systems are targeted towards and deployed in open ocean environments. Open sea is an extremely vast environment that presents its own unique chal...

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...valuated when i) number of vehicles, ii) team formation geometry, and iii) team target trajectory are provided. I. INTRODUCTION In the recent years, UnderWater Acoustic Sensor Networks (UW-ASNs) [1], =-=[2]-=- have been deployed to study dynamic oceanographic phenomena such as variations of salinity and temperature, fish migration, and phytoplankton growth for environmental and disaster monitoring (e.g., c...

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...improve coverage and provide connectivity with the surface stations has been proposed and compared in terms of coverage and connectivity with the optimal centralized solutions from the literature. In =-=[13]-=-, deployment strategies for two-dimensional and three-dimensional communication architectures for UWSNs have been developed to determine the minimum number of sensors to be deployed to achieve optimal...

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...the network nodes operatesautonomously to form a communications network and providesconnectivity to the destination to deliver the data throughoutshops with an acceptable bit error rate (BER) [1].sIn =-=[2]-=-, 2D and 3D structures for underwater sensor networkssare proposed where the main objective was to determine thesminimum number of sensors and redundant sensor nodes forsachieving communication covera...

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...ld of distributed sensor networks can be f ound i n [ 2]. Recently, O SDP of m oving s ensors was addressed in [ 3] and [ 4]. Deployment pr oblem involving underwater acoustic sensors was analyzed in =-=[5]-=-. Variations of OSDP were also discussed in [6] and [7]. It is important to realize that, although the deterministic detection m odel i s c onsidered f requently i n l iterature, t he detection p roce...

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...prove energy efficiency. 1. INTRODUCTION One unique type of delay tolerant networks in underwater sensor networks (UWDTN) can form largely due to the drifting of deployed sensors with the oceanic current forces [1]. The oceanic current driven mobility can be very different depending on the water body in question, e.g., shallow water with tidal current and deep water current with gyre. In addition, the current mobility can be different at different levels of depthes. Models of ideal one-layer current and multilayer currents are introduced where vertical velocity is balanced by floating devices [2]. While a few land-based DTN routing protocols have been evaluated for different types of UWDTN, a single copy DTN routing protocol PASR has been proposed that takes the unique features of oceanic currents and the 3D underwater sensor network deployment into the protocol design [1]. The protocol uses prediction based on the current model and the geographic direction of the sink. However, as discovered in a few papers, periodicity in oceanic current forces can be weak, and time-slotted topology graph can be hard to achieve in reality. In this paper, we introduce a routing protocol, Routing with...

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...s the sensor to the anchor. Underwater sensors are able to relay information to the surface station via multi-hop paths. Existing deployment strategies for underwater sensor networks, as discussed in =-=[26]-=-, guarantee that the network topology be always connected. Therefore, we assume that at least one path from every sensor to the surface station always exists, and that higher sensor density increases ...

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...s the sensor to the anchor. Underwater sensors are able to relay information to the surface station via multi-hop paths. Existing deployment strategies for underwater sensor networks, as discussed in =-=[5]-=-, guarantee that the network topology be always connected. Therefore, we assume that at least one path from every sensor to the surface station always exists, and that higher sensor density increases ...

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... energy to overcome the force of current, even to travel at its normal speed. It is assumed that under ideal case ocean current does not change with depth and are present only in the horizontal plane =-=[17]-=-. The force −→ F c acting on an AUV due to underwater current is given as, −→ F c = CcσAAUV · ( −→ V c − −→ V AUV ), (5) where −→ Vc [m/s] is the horizontal velocity of underwater current, −→ V AUV [m...

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...ot rely on underwater communications, using different ocean current models. Ó 2012 Elsevier B.V. All rights reserved. 1. Introduction In the recent years, underwater acoustic sensor networks (UWASNs) =-=[2,3]-=- have been deployed to study dynamic oceanographic phenomena such as variations of salinity and temperature, fish migration, and phytoplankton growth for environmental and disaster monitoring (e.g., c...