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This paper reports on the lessons learned from the design, simulation\u2010based evaluation, and field testing of two protocols. Two areas for possible improvements are proposed and evaluated using simulations. Finally, we present suggestions drawn from field experience for improving the design, simulation, and evaluation of protocols for use in a harsh underwater environment. Copyright \u00a9 2008 John Wiley &amp; Sons, Ltd.<\/jats:p>","DOI":"10.1002\/wcm.655","type":"journal-article","created":{"date-parts":[[2008,7,28]],"date-time":"2008-07-28T13:37:17Z","timestamp":1217252237000},"page":"1075-1088","source":"Crossref","is-referenced-by-count":8,"title":["Development of routing protocols for the solar\u2010powered autonomous underwater vehicle (SAUV) platform"],"prefix":"10.1002","volume":"8","author":[{"given":"Radim","family":"Barto\u0161","sequence":"first","affiliation":[]},{"given":"Steven G.","family":"Chappell","sequence":"additional","affiliation":[]},{"given":"Rick J.","family":"Komerska","sequence":"additional","affiliation":[]},{"given":"Matthew M.","family":"Haag","sequence":"additional","affiliation":[]},{"given":"Sai S.","family":"Mupparapu","sequence":"additional","affiliation":[]},{"given":"Emmanuel","family":"Agu","sequence":"additional","affiliation":[]},{"given":"Ian","family":"Katz","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2008,7,28]]},"reference":[{"key":"e_1_2_1_2_2","unstructured":"JalbertJC BakerJ DuchesneyJ et al.Solar\u2010powered autonomous underwater vehicle development. 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