{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,9]],"date-time":"2026-01-09T17:37:43Z","timestamp":1767980263072,"version":"3.49.0"},"reference-count":28,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2012,1,2]],"date-time":"2012-01-02T00:00:00Z","timestamp":1325462400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The micro-scale and meso-scale ocean dynamic processes which are nonlinear and have large variability, have a significant impact on the fisheries, natural resources, and marine climatology. A rapid, refined and sophisticated observation system is therefore needed in marine scientific research. The maneuverability and controllability of mobile sensor platforms make them a preferred choice to establish ocean observing networks, compared to the static sensor observing platform. In this study, marine vehicles are utilized as the nodes of mobile sensor networks for coverage sampling of a regional ocean area and ocean feature tracking. A synoptic analysis about marine vehicle dynamic control, multi vehicles mission assignment and path planning methods, and ocean feature tracking and observing techniques is given. Combined with the observation plan in the South China Sea, we provide an overview of the mobile sensor networks established with marine vehicles, and the corresponding simulation results.<\/jats:p>","DOI":"10.3390\/s120100373","type":"journal-article","created":{"date-parts":[[2012,1,2]],"date-time":"2012-01-02T11:16:53Z","timestamp":1325503013000},"page":"373-390","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["Marine Vehicle Sensor Network Architecture and Protocol Designs for Ocean Observation"],"prefix":"10.3390","volume":"12","author":[{"given":"Shaowei","family":"Zhang","sequence":"first","affiliation":[{"name":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, 114 Nanta Street, Shenyang 110016, China"},{"name":"Graduate School of Chinese Academy of Sciences, Beijing 100049, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiancheng","family":"Yu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, 114 Nanta Street, Shenyang 110016, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Aiqun","family":"Zhang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, 114 Nanta Street, Shenyang 110016, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lei","family":"Yang","sequence":"additional","affiliation":[{"name":"LTO, The South China Sea Institute of Oceanology, Chinese Academic of Science, 164 Xingangxi Road, Guangzhou 510301, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yeqiang","family":"Shu","sequence":"additional","affiliation":[{"name":"LTO, The South China Sea Institute of Oceanology, Chinese Academic of Science, 164 Xingangxi Road, Guangzhou 510301, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2012,1,2]]},"reference":[{"key":"ref_1","first-page":"61","article-title":"Introduction to the Autonomous Ocean Sampling Network (AOSN-II) program","volume":"56","author":"Fratantoni","year":"2009","journal-title":"Deep-Sea Res. II"},{"key":"ref_2","first-page":"68","article-title":"Preparing to predict: The second Autonomous Ocean Sampling Network (AOSN-II) experiment in the Monterey Bay","volume":"56","author":"Ramp","year":"2009","journal-title":"Deep-Sea Res. II"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1029\/2009JC005317","article-title":"A thin layer of phytoplankton observed in the Philippine Sea with a synthetic moored array of autonomous gliders","volume":"114","author":"Hodges","year":"2009","journal-title":"J. Geophys. Res"},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1029\/2009JC006087","article-title":"Coastal and mesoscale dynamics characterization using altimetry and gliders: A case study in the Balearic Sea","volume":"115","author":"Bouffard","year":"2010","journal-title":"J. Geophys. Res"},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"78","DOI":"10.1016\/j.dynatmoce.2010.01.001","article-title":"Impact of data assimilation of glider observations in the Ionian Sea (Eastern Mediterranean)","volume":"50","author":"Dobricic","year":"2010","journal-title":"Dynam. Atmos. Oceans"},{"key":"ref_6","unstructured":"Ooi, B.H., Zheng, H., Kurniawati, H., Cho, W., Dao, M.H., Wei, J., Zemskyy, P., Tkalich, P., Malanotte-rizzoli, P., and Patrikalakis, N.M. (2009, January 21\u201326). Multi-Vehicle Oceanographic Feature Exploration. Osaka, Japan."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"48","DOI":"10.4031\/002533204787522703","article-title":"Underwater gliders for ocean research","volume":"38","author":"Rudnick","year":"2004","journal-title":"Mar. Technol. Soc. J"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"97","DOI":"10.1109\/MCOM.2009.4752684","article-title":"Overview of networking protocols for underwater wireless communications","volume":"47","author":"Pompili","year":"2009","journal-title":"IEEE Commun. Mag"},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Alvarez, A., Garau, B., and Caiti, A. (2007, January 10\u201314). Combining Networks of Drifting Profiling Floats and Gliders for Adaptive Sampling of the Ocean. Roma, Italy.","DOI":"10.1109\/ROBOT.2007.363780"},{"key":"ref_10","first-page":"1","article-title":"Planning and implementing trajectories for autonomous underwater vehicles to track evolving ocean processes based on predictions from a regional ocean model","volume":"26","author":"Smith","year":"2010","journal-title":"Int. J. Robot. Res"},{"key":"ref_11","unstructured":"Bouttier, F., and Courtier, P. (2002). Data Assimilation Concepts and Methods, European Centre for Medium-Range Weather Forecasts. Meteorological Training Course Lecture Series;."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"89","DOI":"10.1016\/j.ocemod.2008.01.004","article-title":"An oceanographic three-dimensional variational data assimilation scheme","volume":"22","author":"Dobricic","year":"2008","journal-title":"Ocean Model"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"589","DOI":"10.1016\/j.jhydrol.2009.07.008","article-title":"Evaluating the utility of the ensemble transform Kalman filter for adaptive sampling when updating a hydrodynamic model","volume":"375","author":"Neal","year":"2009","journal-title":"J. Hydrol"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"70","DOI":"10.1016\/j.jmarsys.2005.04.003","article-title":"A reduced-order strategy for 4D-Var data assimilation","volume":"57","author":"Robert","year":"2005","journal-title":"J. Marine Syst"},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"935","DOI":"10.1109\/JOE.2006.880429","article-title":"Multi-AUV control and adaptive sampling in Monterey Bay","volume":"31","author":"Fiorelli","year":"2006","journal-title":"IEEE J. Ocean. Eng"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"650","DOI":"10.1109\/TAC.2009.2039240","article-title":"Cooperative filters and control for cooperative exploration","volume":"55","author":"Zhang","year":"2008","journal-title":"IEEE Trans. Automat. Contr"},{"key":"ref_17","unstructured":"Jin, Z., and Bertozzi, A.L. (2007, January 12\u201314). Environmental Boundary Tracking and Estimation Using Multiple Autonomous Vehicles. New Orleans, IN, USA."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"288","DOI":"10.1109\/TCST.2007.903395","article-title":"Monitoring environmental boundaries with a robotic sensor network","volume":"16","author":"Susca","year":"2008","journal-title":"IEEE Trans. Contr. Syst. Tec"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"1475","DOI":"10.1177\/0278364910377243","article-title":"Planning and implementing trajectories for autonomous underwater vehicles to track evolving ocean processes based on predictions from a regional ocean model","volume":"29","author":"Smith","year":"2010","journal-title":"Int. J. Robot Res"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"172","DOI":"10.1016\/j.physd.2007.02.014","article-title":"Adaptive modeling, adaptive data assimilation and adaptive sampling","volume":"230","author":"Lermusiaux","year":"2007","journal-title":"Physica D"},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"48","DOI":"10.1109\/JPROC.2006.887295","article-title":"Collective motion, sensor networks, and ocean sampling","volume":"95","author":"Leonard","year":"2007","journal-title":"Proc. IEEE"},{"key":"ref_22","first-page":"173","article-title":"Routing strategies for underwater gliders","volume":"56","author":"Davis","year":"2009","journal-title":"Deep-Sea Res. II"},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"522","DOI":"10.1109\/JOE.2008.2002105","article-title":"Path planning of autonomous underwater vehicles for adaptive sampling using mixed integer linear programming","volume":"33","author":"Yilmaz","year":"2008","journal-title":"IEEE. J. Ocean. Eng"},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"437","DOI":"10.1002\/rob.20183","article-title":"Nonlinear optimization of autonomous undersea vehicle sampling strategies for oceanographic data-assimilation","volume":"24","author":"Heaney","year":"2007","journal-title":"J. Field Robot"},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Fossen, T.I. (2011). Handbook of Marine Craft Hydrodynamics and Motion Control, John Wiley & Sons Ltd.","DOI":"10.1002\/9781119994138"},{"key":"ref_26","unstructured":"Zhang, S., Yu, J., Zhang, A., and Zhang, F.M. (2011, January 9\u201313). Steady Three Dimensional Gliding Motion of an Underwater Glider. Shanghai, China."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"1240","DOI":"10.1016\/j.automatica.2007.10.006","article-title":"Nonlinear gliding stability and control for vehicles with hydrodynamic forcing","volume":"44","author":"Bhatta","year":"2008","journal-title":"Automatica"},{"key":"ref_28","unstructured":"Bhatta, P. (2006). Nonlinear Stability and Control of Gliding Vehicles. Ph.D. Thesis,."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/12\/1\/373\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T21:48:20Z","timestamp":1760219300000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/12\/1\/373"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,1,2]]},"references-count":28,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2012,1]]}},"alternative-id":["s120100373"],"URL":"https:\/\/doi.org\/10.3390\/s120100373","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2012,1,2]]}}}