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Ocean covers 70.8% of the Earth's surface, and it plays an
important role in supporting all life on Earth. Nonetheless, more
than 80% of the ocean's volume remains unmapped, unobserved and
unexplored. In this regard, Underwater Sensor Networks (USNs),
which offer ubiquitous computation, efficient communication and
reliable control, are emerging as a promising solution to
understand and explore the ocean. In order to support the
application of USNs, accurate position information from sensor
nodes is required to correctly analyze and interpret the data
sampled. However, the openness and weak communication
characteristics of USNs make underwater localization much more
challenging in comparison to terrestrial sensor networks. In this
book, we focus on the localization problem in USNs, taking into
account the unique characteristics of the underwater environment.
This problem is of considerable importance, since fundamental
guidance on the design and analysis of USN localization is very
limited at present. To this end, we first introduce the network
architecture of USNs and briefly review previous approaches to the
localization of USNs. Then, the asynchronous clock, node mobility,
stratification effect, privacy preserving and attack detection are
considered respectively and corresponding localization schemes are
developed. Lastly, the book's rich implications provide guidance on
the design of future USN localization schemes. The results in this
book reveal from a system perspective that underwater localization
accuracy is closely related to the communication protocol and
optimization estimator. Researchers, scientists and engineers in
the field of USNs can benefit greatly from this book, which
provides a wealth of information, useful methods and practical
algorithms to help understand and explore the ocean.
Autonomous underwater vehicles (AUVs) are emerging as a promising
solution to help us explore and understand the ocean. The global
market for AUVs is predicted to grow from 638 million dollars in
2020 to 1,638 million dollars by 2025 - a compound annual growth
rate of 20.8 percent. To make AUVs suitable for a wider range of
application-specific missions, it is necessary to deploy multiple
AUVs to cooperatively perform the localization, tracking and
formation tasks. However, weak underwater acoustic communication
and the model uncertainty of AUVs make achieving this challenging.
This book presents cutting-edge results regarding localization,
tracking and formation for AUVs, highlighting the latest research
on commonly encountered AUV systems. It also showcases several
joint localization and tracking solutions for AUVs. Lastly, it
discusses future research directions and provides guidance on the
design of future localization, tracking and formation schemes for
AUVs. Representing a substantial contribution to nonlinear system
theory, robotic control theory, and underwater acoustic
communication system, this book will appeal to university
researchers, scientists, engineers, and graduate students in
control theory and control engineering who wish to learn about the
core principles, methods, algorithms, and applications of AUVs.
Moreover, the practical localization, tracking and formation
schemes presented provide guidance on exploring the ocean. The book
is intended for those with an understanding of nonlinear system
theory, robotic control theory, and underwater acoustic
communication systems.
Ocean covers 70.8% of the Earth's surface, and it plays an
important role in supporting all life on Earth. Nonetheless, more
than 80% of the ocean's volume remains unmapped, unobserved and
unexplored. In this regard, Underwater Sensor Networks (USNs),
which offer ubiquitous computation, efficient communication and
reliable control, are emerging as a promising solution to
understand and explore the ocean. In order to support the
application of USNs, accurate position information from sensor
nodes is required to correctly analyze and interpret the data
sampled. However, the openness and weak communication
characteristics of USNs make underwater localization much more
challenging in comparison to terrestrial sensor networks. In this
book, we focus on the localization problem in USNs, taking into
account the unique characteristics of the underwater environment.
This problem is of considerable importance, since fundamental
guidance on the design and analysis of USN localization is very
limited at present. To this end, we first introduce the network
architecture of USNs and briefly review previous approaches to the
localization of USNs. Then, the asynchronous clock, node mobility,
stratification effect, privacy preserving and attack detection are
considered respectively and corresponding localization schemes are
developed. Lastly, the book's rich implications provide guidance on
the design of future USN localization schemes. The results in this
book reveal from a system perspective that underwater localization
accuracy is closely related to the communication protocol and
optimization estimator. Researchers, scientists and engineers in
the field of USNs can benefit greatly from this book, which
provides a wealth of information, useful methods and practical
algorithms to help understand and explore the ocean.
Autonomous underwater vehicles (AUVs) are emerging as a promising
solution to help us explore and understand the ocean. The global
market for AUVs is predicted to grow from 638 million dollars in
2020 to 1,638 million dollars by 2025 - a compound annual growth
rate of 20.8 percent. To make AUVs suitable for a wider range of
application-specific missions, it is necessary to deploy multiple
AUVs to cooperatively perform the localization, tracking and
formation tasks. However, weak underwater acoustic communication
and the model uncertainty of AUVs make achieving this challenging.
This book presents cutting-edge results regarding localization,
tracking and formation for AUVs, highlighting the latest research
on commonly encountered AUV systems. It also showcases several
joint localization and tracking solutions for AUVs. Lastly, it
discusses future research directions and provides guidance on the
design of future localization, tracking and formation schemes for
AUVs. Representing a substantial contribution to nonlinear system
theory, robotic control theory, and underwater acoustic
communication system, this book will appeal to university
researchers, scientists, engineers, and graduate students in
control theory and control engineering who wish to learn about the
core principles, methods, algorithms, and applications of AUVs.
Moreover, the practical localization, tracking and formation
schemes presented provide guidance on exploring the ocean. The book
is intended for those with an understanding of nonlinear system
theory, robotic control theory, and underwater acoustic
communication systems.
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