Passive Two-way Ranging (UWTWR) MAC protocol added

[yuehanjianghh]

Hi, this is the protocol UWTWR for passive two-way ranging.
AAUV (active) polling 2 NODEs alternately, and PAUV (passive) is receiving.

Looking forward to your feedback. Many thanks!

Best regards,
Yuehan

[obolo]

Hi @yuehanjianghh , looking at your PR, I noticed that you need it to rebase it over the master branch, Also, I noticed that the changes are missing the compilation directives for your module: basically you need to tell the main configure.ac and Makefile.am (that are found in DESERT_Framework/DESERT) about your new module, otherwise it won't be compiled on installation. Thank you

[yuehanjianghh]

Hi @obolo, thank you very much for pointing them out. I have rebased and updated the configure.ac and Makefile.am files. Hope it will compile now.

[ciminoV]

Hi @yuehanjianghh , I have a few questions:

• From what I understand, your protocol works only with two nodes, is there a way to generalize this protocol up to N nodes?
• What is the purpose of the passive node?
• In DESERT there are already protocols which could be adapted to do what you do in your protocol (see uwpolling and uwranging_tdoa) , have you considered them?

[fedefava86]

@yuehanjianghh i believe you basically ported the full master branch on your branch instead of rebasing yours against master. You needed to sync your fork's master with our master and then rebase the branch. I guess you need to fix the history now, otherwise we'll not able to merge this branch. thx

[yuehanjianghh]

@yuehanjianghh i believe you basically ported the full master branch on your branch instead of rebasing yours against master. You needed to sync your fork's master with our master and then rebase the branch. I guess you need to fix the history now, otherwise we'll not able to merge this branch. thx

@ fedefava86 thanks so much for the info. I wanted to rework on this branch but made this mistake. I think now it's fixed as suggested.

[yuehanjianghh]

Hi @yuehanjianghh , I have a few questions:

* From what I understand, your protocol works only with two nodes, is there a way to generalize this protocol up to N nodes?

* What is the purpose of the passive node?

* In DESERT there are already protocols which could be adapted to do what you do in your protocol (see uwpolling and uwranging_tdoa) , have you considered them?

@ciminoV thanks a lot for the great questions! I am reworking on this protocol recently and will address these comments. In case of any aspect that I may have missed, please feel free to ask.

• yes it's certainly better if the node (Buoy) number can be generalized to N, which I am working on.
• the Passive AUVnodes (PAUV) in a swarm can localize themselves by eavesdropping on active TWR (please refer to this paper accepted by IEEE MRS 2025
  0011_FI.pdf
  )
• this protocol accentuates the two-way ranging part and combines it with the passive listening node feature to serve for the swarm localization algorithm. I would improve the protocol so that the AAUV (Active AUV) node can rotate among different AUVs. Perhaps one difference with the uwpolling and uwranging_tdoa is that in uwtwr no synchronization is needed.

[fedefava86]

@yuehanjianghh i believe you basically ported the full master branch on your branch instead of rebasing yours against master. You needed to sync your fork's master with our master and then rebase the branch. I guess you need to fix the history now, otherwise we'll not able to merge this branch. thx

@ fedefava86 thanks so much for the info. I wanted to rework on this branch but made this mistake. I think now it's fixed as suggested.

confirmed, it is fixed now, thx