Universal approximation using radial-basis-function networks
Neural Computation
Near-optimal sensor placements in Gaussian processes
ICML '05 Proceedings of the 22nd international conference on Machine learning
AquaNodes: an underwater sensor network
Proceedings of the second workshop on Underwater networks
A survey of practical issues in underwater networks
ACM SIGMOBILE Mobile Computing and Communications Review
Decentralized, Adaptive Coverage Control for Networked Robots
International Journal of Robotics Research
Self-deployment of sensors for maximized coverage in underwater acoustic sensor networks
Computer Communications
Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms
Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms
Autonomous depth adjustment for underwater sensor networks
Proceedings of the Fifth ACM International Workshop on UnderWater Networks
A gradient optimization approach to adaptive multi-robot control
A gradient optimization approach to adaptive multi-robot control
Qute: quality-of-monitoring aware sensing and routing strategy in wireless sensor networks
Proceedings of the fourteenth ACM international symposium on Mobile ad hoc networking and computing
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Understanding the dynamics of bodies of water and their impact on the global environment requires sensing information over the full volume of water. We develop a gradient-based decentralized controller that dynamically adjusts the depth of a network of underwater sensors to optimize sensing for computing maximally detailed volumetric models. We prove that the controller converges to a local minimum. We implement the controller on an underwater sensor network capable of adjusting their depths. Through simulations and experiments, we verify the functionality and performance of the system and algorithm.