Data muling over underwater wireless sensor networks using an autonomous underwater vehicle

TLDR

Data muling involves a mobile agent interacting with static agents to transfer data between locations. We present algorithms and systems for underwater data muling. The system employs an autonomous underwater vehicle that locates and hovers above static sensor nodes using vision, then uploads data over optical and acoustic links, supported by a detailed hardware and software architecture. Experimental results demonstrate the feasibility of underwater data muling with this AUV‑based system.

Abstract

We present algorithms, systems, and experimental results for underwater data muling. In data muling a mobile agent interacts with static agents to upload, download, or transport data to a different physical location. We consider a system comprising an autonomous underwater vehicle (AUV) and many static underwater sensor nodes (USN) networked together optically and acoustically. The AUV can locate the static nodes using vision and hover above the static nodes for data upload. We describe the hardware and software architecture of this underwater system, as well as experimental data