“…The general system architecture of UWSNs is shown in Figure 1 . With the knowledge of some internode distances (ranges), the targets’ position would be determined, and thus a considerable body of research has been investigated in the literature regarding localization in UWSNs [ 4 , 6 , 7 , 8 , 10 , 11 , 12 , 13 , 14 , 15 , 16 , 17 , 18 , 19 , 20 , 21 , 22 , 23 , 24 , 25 , 26 ].…”