secure cooperation of autonomous mobile sensors using an underwater acoustic network安全合作自主移动使用水声传感器网络.pdfVIP

Sensors 2012, 12, 1967-1989; doi:10.3390/s120201967 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Secure Cooperation of Autonomous Mobile Sensors Using an Underwater Acoustic Network ` ` Andrea Caiti , Vincenzo Calabro , Gianluca Dini , Angelica Lo Duca and Andrea Munafo Department of Energy and Systems Engineering, Inter-University Center on Integrated System for the Marine Environment, Interdepartmental Research Center ”E.Piaggio”, University of Pisa, Largo L. Lazzarino, 1, Pisa 56126, Italy; E-Mails: andrea.caiti@dsea.unipi.it (A.C.); v.calabro@dsea.unipi.it (V.C.) Department of Information Engineering, Inter-university center on Integrated System for the Marine Environment, Interdepartmental Research Center ”E.Piaggio”, University of Pisa, Largo L. Lazzarino, 1, Pisa 56126, Italy; E-Mails: gianluca.dini@iet.unipi.it (G.D.); angelica.loduca@iet.unipi.it (A.L.D.) Author to whom correspondence should be addressed; E-Mail: munafo@dsea.unipi.it; Tel.: +39-346-217-9152; Fax: +39-050-221-7333. Received: 17 December 2011; in revised form: 27 January 2012 / Accepted: 7 February 2012 / Published: 10 February 2012 Abstract: Methodologies and algorithms are presented for the secure cooperation of a team of autonomous mobile underwater sensors, connected through an acoustic communication network, within surveillance and patrolling applications. In particular, the work proposes a cooperative algorithm in which the mobile underwater s