TRiForm: Formation Control for Underwater Sensor Networks with Measurement Errors

Hejun Wu; Zhongheng Yang; Jiannong Cao; Liqian Lai

doi:10.1109/TVT.2020.2989363

TRiForm: Formation Control for Underwater Sensor Networks with Measurement Errors

Hejun Wu, Zhongheng Yang, Jiannong Cao, Liqian Lai

Research output: Journal article publication › Journal article › Academic research › peer-review

4 Citations (Scopus)

Abstract

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.

Original language	English
Article number	9075397
Pages (from-to)	7679-7691
Number of pages	13
Journal	IEEE Transactions on Vehicular Technology
Volume	69
Issue number	7
DOIs	https://doi.org/10.1109/TVT.2020.2989363
Publication status	Published - Jul 2020

Keywords

Formation Control
Graph Rigidity
Localization
Mobile Sensor Node
Underwater Wireless Sensor Networks

ASJC Scopus subject areas

Automotive Engineering
Aerospace Engineering
Electrical and Electronic Engineering
Applied Mathematics

More information

10.1109/TVT.2020.2989363

Cite this

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title = "TRiForm: Formation Control for Underwater Sensor Networks with Measurement Errors",

abstract = "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.",

keywords = "Formation Control, Graph Rigidity, Localization, Mobile Sensor Node, Underwater Wireless Sensor Networks",

author = "Hejun Wu and Zhongheng Yang and Jiannong Cao and Liqian Lai",

note = "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: wuhejun@mail.sysu.edu.cn; yangzhh36@mail2.sysu.edu.cn). Publisher Copyright: {\textcopyright} 1967-2012 IEEE. Copyright: Copyright 2020 Elsevier B.V., All rights reserved.",

year = "2020",

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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: wuhejun@mail.sysu.edu.cn; yangzhh36@mail2.sysu.edu.cn). Publisher Copyright: © 1967-2012 IEEE. Copyright: Copyright 2020 Elsevier B.V., All rights reserved.

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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.

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TRiForm: Formation Control for Underwater Sensor Networks with Measurement Errors

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Keywords

ASJC Scopus subject areas

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