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In a normal mobile AUV formation network, regardless of the transmission sequence generated by the control node, each node can reliably obtain its assigned transmission order and slot length directly from the control node, and the inter-node recovery mechanism does not influence whether a node stays silent.
However, when Node 2 gradually drifts from the formation to perform a specific task and moves farther away from the control node, as shown in the right figure, the increased distance makes the link between Node 2 and the control node unreliable. Since the relative positions of Node 1 and Node 3 with respect to the control node remain unchanged, the reliability of any transmission sequence is primarily determined by whether Node 2 can successfully receive the control information. |
IEEE/ICACT20260317 Slide.12
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