Reactive localisation in underwater wireless sensor networks with self-healing

In this paper, we present a novel technique for localising an event of interest in an underwater environment monitored by an underwater sensor network. Instead of proactively localising every single node in the network as all proposed techniques set out to do, we approach localisation from a reactive angle. We reduce the localisation problem to the problem of finding 4-Node Coverage. Whenever a node detects an event, it is reactively localised using the anchor nodes, and the sink is supplied with the necessary information. By limiting the sensing range of the sensor nodes, once we have obtained the location of the node that has detected the event, we have a rough estimation of the location of the event. We show that in terms of energy consumption, this localisation technique far surpasses others.