Resumen
This article handles building underwater sensor networks autonomously using multiple surface ships. For building underwater sensor networks in 3D workspace with many obstacles, this article considers surface ships dropping underwater robots into the underwater workspace. We assume that every robot is heterogeneous, such that each robot can have a distinct sensing range while moving with a distinct speed. The proposed strategy works by moving a single robot at a time to spread out the underwater networks until the 3D cluttered workspace is fully covered by sensors of the robots, such that no sensing hole remains. As far as we know, this article is novel in enabling multiple heterogeneous robots to build underwater sensor networks in a 3D cluttered environment, while satisfying the following conditions: (1) Remove all sensing holes. (2) Network connectivity is maintained. (3) Localize all underwater robots. In addition, we address how to handle the case where a robot is broken, and we discuss how to estimate the number of robots required, considering the case where an obstacle inside the workspace is not known a priori. Utilizing MATLAB simulations, we demonstrate the effectiveness of the proposed network construction methods.