A Novel Paradigm for Underwater Monitoring Using Mobile Sensor Networks

Abstract

This paper presents a novel autonomous environmental monitoring methodology based on collaboration and collective decision-making among robotic agents in a heterogeneous swarm developed within the project subCULTron, tested in a realistic marine environment. The swarm serves as an underwater mobile sensor network for exploration and monitoring of large areas. Different robotic units enable outlier and fault detection, verification of measurements and recognition of environmental anomalies, and relocation of the swarm throughout the environment. The motion capabilities of the robots and the reconfigurability of the swarm are exploited to collect data and verify suspected anomalies, or detect potential sensor faults among the swarm agents. The proposed methodology was tested in an experimental setup in the field in two marine testbeds: the Lagoon of Venice, Italy, and Biograd an Moru, Croatia. Achieved experimental results described in this paper validate and show the potential of the proposed approach.

Retracted: Multi‐vehicle group‐aware data protection model based on differential privacy for autonomous sensor networks

“…The data is calculated to send the desired result of the vehicle (that is, the corresponding tag), and then sent to the platform after adding noise according to the parameters assigned by the platform. (6) The platform aggregates all the data to receive the results of the vehicles and sends the aggregated results back to the data issuing vehicles. The data-sending vehicle will pay the perceived equity value to the platform, and the platform will pay the fee to the data receiving interface circuit vehicles according to the quotation of the data receiving interface circuit vehicles.…”

“…For example, methods based on differential privacy, privacy decision tree and Bayesian networks are applied to data publishing to achieve both data privacy protection and data analysis. The privacy protection scheme of Internet of vehicles based on homomorphic encryption and blockchain technology supports the privacy data to be written into the block after homomorphic encryption processing, so as to realise the distribution, sharing and computation of private data in ciphertext state [6]. Differential privacy technology A privacy protection technology that prevents differential attacks by adding noise to the original data set.…”

Development of Visual Servoing-Based Autonomous Docking Capabilities in a Heterogeneous Swarm of Marine Robots

“…The docking system described here was briefly used in the validation of the exploration paradigm described and tested in [3], and it will be combined with both exploration and high-level decision-making and scheduling algorithms described in [27] in order to enable the examination of the cumulative effects of energy transfer systems on the longevity of the subCULTron swarm as a whole, in the interest of maximizing it and ensuring satisfactory, truly autonomous long-term environmental monitoring.…”

Underwater acoustic sensor networks: Taxonomy on applications, architectures, localization methods, deployment techniques, routing techniques, and threats: A systematic review

“…Babić et al 61 proposed a new autonomous maritime environment monitoring paradigm utilizing a heterogeneous robotic swarm. While the outlier detection algorithm employed in this work is effective in its simplicity and has proven acceptable for the proof‐of‐concept tests, evaluating a range of more complicated consensus methods, such as trust‐based techniques, is one of the aims for future development.…”