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However, underwater communication poses challenges like node mobility, long propagation delays, and limited bandwidth, requiring new solutions. This paper introduces a topology control platform, UWRPL, modeled on the RPL tree structure, with modifications for underwater environments. UWMRPL extends UWRPL to support node mobility, incorporating flexible objective functions, decision-making systems, and optimized scheduling to enhance network performance. Through extensive simulations, our proposed methods demonstrate about 8\u201323% longer network lifetime, 5\u201321% higher packet delivery ratio, and up to 30\u201350% lower end-to-end delay compared to leading protocols while also achieving more balanced energy consumption. These gains stem from reduced communication overhead, a multi-route approach to minimize congestion, and an adaptive mechanism that efficiently accommodates node movement. 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