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http://hdl.handle.net/10397/105534
Title: | TRiForm : formation control for underwater sensor networks with measurement errors | Authors: | Wu, H Yang, Z Cao, J Lai, L |
Issue Date: | Jul-2020 | Source: | IEEE transactions on vehicular technology, July 2020, v. 69, no. 7, p. 7679-7691 | 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 |
Publisher: | Institute of Electrical and Electronics Engineers | Journal: | IEEE transactions on vehicular technology | ISSN: | 0018-9545 | EISSN: | 1939-9359 | DOI: | 10.1109/TVT.2020.2989363 | Rights: | ©2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The following publication H. Wu, Z. Yang, J. Cao and L. Lai, "TRiForm: Formation Control for Underwater Sensor Networks With Measurement Errors," in IEEE Transactions on Vehicular Technology, vol. 69, no. 7, pp. 7679-7691, July 2020 is available at https://doi.org/10.1109/TVT.2020.2989363. |
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Cao_Triform_Formation_Control.pdf | Pre-Published version | 1.74 MB | Adobe PDF | View/Open |
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