TY - JOUR
T1 - TRiForm: Formation Control for Underwater Sensor Networks with Measurement Errors
AU - Wu, Hejun
AU - Yang, Zhongheng
AU - Cao, Jiannong
AU - Lai, Liqian
N1 - Funding Information:
Manuscript received July 19, 2019; revised January 20, 2020 and February 28, 2020; accepted April 13, 2020. Date of publication April 21, 2020; date of current version July 16, 2020. This work was supported by the National Key R&D Program of China (2018 YFB1004801) and the National Natural Science Foundation of China (NSFC) (Grant No. 61672552 and U1611461). It was also partially supported by Shenzhen Basic Research Funding Scheme (JCYJ20170818104222072 Middleware for Distributed Control and Coordination of Robot Networks), and Hong Kong RGC Research Impact Fund (No. R5034-18). The review of this article was coordinated by Dr. B. Mon-trucchio. (Corresponding author: Hejun Wu) Hejun Wu and Zhongheng Yang are with the Key Laboratory of Machine Intelligence and Advanced Computing, Sun Yat-sen University, Guangdong 510000, China, and also with the Ministry of Education, Department of Computer Science, Sun Yat-sen University, Guangdong 510000, China (e-mail: [email protected]; [email protected]).
Publisher Copyright:
© 1967-2012 IEEE.
Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2020/7
Y1 - 2020/7
N2 - The formation control of mobile underwater wireless sensor networks (MUWSNs) is difficult due to the severe errors in distance and motion measurements. To address this problem, we propose a distributed formation control scheme, TRiForm (Triangle Formation). TRiForm constructs a virtual structure that is a rigid graph formed by triangles of nodes in an MUWSN for high reliability and efficiency in formation control. Furthermore, it utilizes the anchor information to detect and to compensate for measurement errors. We have proven the correctness of the rigidity graph construction by TRiForm. We have also evaluated TRiForm in various scenarios using simulation with the measured parameters from real underwater sensor nodes. The results show that TRiForm can successfully maintain the formations of an MUWSN and control the MUWSN to reach the predefined destination under distance and motion measurement errors.
AB - The formation control of mobile underwater wireless sensor networks (MUWSNs) is difficult due to the severe errors in distance and motion measurements. To address this problem, we propose a distributed formation control scheme, TRiForm (Triangle Formation). TRiForm constructs a virtual structure that is a rigid graph formed by triangles of nodes in an MUWSN for high reliability and efficiency in formation control. Furthermore, it utilizes the anchor information to detect and to compensate for measurement errors. We have proven the correctness of the rigidity graph construction by TRiForm. We have also evaluated TRiForm in various scenarios using simulation with the measured parameters from real underwater sensor nodes. The results show that TRiForm can successfully maintain the formations of an MUWSN and control the MUWSN to reach the predefined destination under distance and motion measurement errors.
KW - Formation Control
KW - Graph Rigidity
KW - Localization
KW - Mobile Sensor Node
KW - Underwater Wireless Sensor Networks
UR - http://www.scopus.com/inward/record.url?scp=85088500238&partnerID=8YFLogxK
U2 - 10.1109/TVT.2020.2989363
DO - 10.1109/TVT.2020.2989363
M3 - Journal article
AN - SCOPUS:85088500238
SN - 0018-9545
VL - 69
SP - 7679
EP - 7691
JO - IEEE Transactions on Vehicular Technology
JF - IEEE Transactions on Vehicular Technology
IS - 7
M1 - 9075397
ER -