On the retrieval of underwater dispersed sensors using unmanned vehicles

Underwater sensor networks represent a rapidly growing technology to monitor the ocean environment. This paper describes a solution to the problem of retrieving underwater dispersed sensors on behalf of an unmanned vehicle: assuming that the vehicle can only measure euclidean distances from itself to the dispersed sensors, an algorithm is designed allowing the vehicle to automatically find the sensors. The solution takes explicitly into account the presence of constant ocean currents and the availability of limited on-board navigation sensors.