Event coverage hole repair algorithm based on multi-AUVs in multi-constrained three-dimensional underwater wireless sensor networks

It is important for underwater wireless sensor networks (UWSNs) to satisfy the diverse monitoring demands in harsh and perilous three-dimensional underwater environments. After the monitoring missions and demands transform, a large number of underwater event coverage holes will appear. Traditional network repair strategies cannot be applied to the ever-changing underwater monitoring missions and the harsh multi-constrained three-dimensional underwater environments. Multiple autonomous underwater vehicles (multi-AUVs) have strong adaptability and flexibility in perilous and harsh three-dimensional underwater environments. First, an underwater event coverage hole (UECH) repair model under various constraints is proposed. Next, a multi-agent event coverage hole repair algorithm (MECHR), which combines multi-agent strategy with diversity archive strategy, is proposed to repair UECHs in UWSNs. The presented algorithm symmetrically completes subtasks through information exchange and interactive operations with other agents. Unlike existing repair strategies, the MECHR algorithm can effectively repair a large number of UECHs resulted by the transformations in underwater monitoring scenes and demands. The MECHR algorithm can adapt to a wide range of harsh scenes and multi-constrained three-dimensional underwater environments. Eventually, the effect of the MECHR algorithm is verified through underwater repair simulation experiments, which can adapt to the constantly changing three-dimensional underwater monitoring environments.
Keywords: multi-AUVs; event coverage holes; multi-constrained situations; route planning; underwater wireless sensor networks