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This article has been accepted for publication in a future issue of this journal, but has not been
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information: DOI 10.1109/TPDS.2013.2295793, IEEE Transactions on Parallel and Distributed Systems
IEEE TRANSACTIONS ON PARALLEL AND DISTRIBUTED SYSTEMS, VOL. , NO. , 2013
A Complex Network Approach to Topology

Control Problem in Underwater Acoustic
Sensor Networks
Linfeng Liu, Ye Liu, and Ningshen Zhang
AbstractUnderwater acoustic sensor networks (UASNs) have been developed for a set of underwater applications, including
resource exploration, pollution monitoring, and tactical surveillance. Topology control techniques of UASNs are significantly
different from those of terrestrial wireless sensor networks, due to the properties of underwater environments and acoustic
communications. This research begins with a scale-free network model for calculating edge probability, which is used to generate
initial topology randomly. Subsequently, a topology control strategy based on complex network theory (TCSCN) is put forward
to construct a double clustering structure, where there are two kinds of cluster-heads to ensure connectivity and coverage,
respectively. The performance of TCSCN is analyzed through simulation experiments that indicate a well-constructed topology,
where (1,)-Coverage and (1,)-Connectivity can be achieved while optimizing energy consumption and propagation delay as
much as possible.
Index Termsunderwater acoustic sensor networks; topology control; complex network theory; energy consumption; propagation delay.
I NTRODUCTION
Underwater acoustic sensor networks (UASNs) [1], [2]

are the technology that enables various underwater
applications, and the interest in UASNs is growing.
UASNs consist of underwater sensors (anchored nodes and surface sinks) that perform collaborative
monitoring tasks over a three-dimensional (3D) deployment space. Anchored nodes are equipped with
floating buoys inflated by pumps, and the depth of the
anchored node is regulated by adjusting the length
of the wire. The buoyant force from buoys is far
greater than the gravity of nodes. As shown in Fig. 1,
the measurements of environmental events are locally
monitored by the anchored nodes, and transferred to
a surface sink by multi-hops.
Both electromagnetic waves and laser waves are
not suitable for underwater transmission, and acoustic communication [3] is the typical physical layer
technology in UASNs. Therefore, the distinguishing
feature of UASNs is propagation delay because acoustic waves are much slower than electromagnetic waves (the speed of acoustic waves is approximately 1500m/s). Consequently, propagation delay
in UASNs cannot be neglected. Another inevitable
issue regarding UASNs is signal irregularity (signal
is not uniform in all directions), which is caused
L. Liu and N. Zhang are with the School of Computer, Nanjing
University of Posts and Telecommunications, China. E-mail: liulinfeng@gmail.com
Y. Liu is with the Suzhou Institute for Advanced Study, University of
Science and Technology of China, China. E-mail: yeliu@ustc.edu.cn
Fig. 1. Architecture of a UASN
by various factors, such as antenna directions and

gains, transmitting power, battery status, signal-tonoise ratio threshold, and obstacles [4]. In particular, various obstacles are distributed in underwater
environments: thus, signals are more easily reflected,
diffracted, or scattered during propagation [5], so
probabilistic coverage and connectivity problems are
more appropriate for acoustic detection applications.
Signal irregularity directly or indirectly affects the
performance of network protocols, such as the MAC,
routing, localization and topology control. Therefore,
signal irregularity is a non-negligible issue, especially
in UASNs. Moreover, the battery power of nodes is
limited. Batteries usually cannot be easily replaced
underwater, and solar energy is rarely exploited as
well. As a result, another primary aim of UASNs is
to reduce energy consumption and increase network
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lifetime [6]. Node mobility (nodes may deviate away

from original positions by some external force) is also
an important issue because of the hostile underwater
environments (e.g., water current and underwater
creature touch), and this issue has been studied thoroughly in our early work [24]. Moreover, the node failure is another vital issue in UASNs, and this problem
can be solved by increasing the radii of neighboring
node or migrating Autonomous Underwater Vehicles
(AUVs) [9] to recover the topology. This paper focuses
on topology formation, and the problems of node mobility and node failure are ignored temporarily. In this
paper, topology control of UASNs is defined as the
art of coordinating the decisions of nodes regarding
their communication and sensing ranges to generate
a network topology with desired properties ((1,)Coverage and (1,)-Connectivity)1 , while minimizing
energy consumption and propagation delay.
The complex network theory is an analytic theory
to describe a variety of network structures developed
based on statistical physics and several important
characteristics of the network structures are discovered. In addition, hierarchical structure is very suitable for large scale network management, and the
election of cluster-heads is the chief process of forming hierarchical topology. The cluster-heads should be
selected from all sensors to construct a topology backbone, while ordinary nodes (the nodes cant become
cluster-heads) monitor events periodically and turn
off the radio when idle.
This research explores topology control problem
through complex network theory [7], [8] and distinguishes two kinds of cluster-heads to simultaneously preserve probabilistic connectivity and coverage.
UASNs can be abstracted and analyzed as complex
networks, especially as scale-free networks which are
one type of complex networks whose degrees distribution follows a power law, at least asymptotically.
The scale-free structure is preferred in the topology
control problem of UASNs, because in UASNs the
upper nodes should bear heavier data-relaying mission, and the characteristic of power law distribution
can help to achieve load balancing. However, the
scale-free characteristic of UASNs structure has not
been exploited adequately for the topology formation.
Moreover, the topology control objectives in UASNs,
especially the probabilistic connectivity and coverage,
has not been paid enough attention in most of the
existing research.
The main contributions of this paper are as follows.
We first provide a mathematical network model to
describe the topology control problem, and this model
embodies three most typical characteristics of UASNs,
1. (1,)-Coverage indicates that every node should be covered
by at least another node, and the coverage probability must be not
less than ; (1,)-Connectivity indicates that there should be at least
one path from any sensor node to one of the sinks, and the path
connectivity probability must be not less than .
that is, large propagation delay, signal irregularity,

and rapid energy consumption. Then, a scale-free
model ECM (Edges Constructed Model) based on
complex network theory is established to generate
an initial topology, which eventually evolves into a
double clustering structure by our proposed TCSCN
(Topology Control Strategy based on Complex Network theory).
BACKGROUND
The problem of topology control for wireless sensor

networks (WSNs) and UASNs has been extensively
studied. The early representative topology control
algorithm proposed by Li et al. [10], i. e., local minimum spanning tree (LMST), can effectively reduce
transmission power while maintaining global connectivity. In [11], the topology control problem in
heterogeneous ad hoc networks was formulated as an
integer linear or a mixed integer linear programming
problem. The research produced a network topology
that minimized the maximum energy consumption of
nodes. To maximize network life and ensure message
delivery, a topology control algorithm that exploited
the edge of the centrality concept, i. e., edge betweenness centrality, was proposed [12]. Forghani et al. [13]
improved network life and decreased average energy
consumption by reducing the transmission power of
nodes and periodically choosing the active path.
Several topology control algorithms for UASNs that
combined the characteristics of acoustic communication and underwater environments have been proposed. Wang et al. [14] proposed a topology control
algorithm FiYG for 3D UASNs, this algorithm can
construct topology locally and efficiently. In [15], a
strategy adjustment algorithm that can generate a
network topology with global connectivity and full
coverage while optimizing some (or all) of other
service metrics (propagation delay, bandwidth and
transmission success rate), was proposed.
Related research on coverage and connectivity
problems was also reviewed, and such problems were
solved mainly for 2D WSNs. For instance, the PEAS
protocol [16] was designed to address both coverage
and connectivity issues, but it could not guarantee
the required probability for coverage and connectivity.
Other algorithms satisfying integrated coverage and
connectivity for 2D WSNs, were presented in [17],
[18], [19]. The problem in 3D networks is surprisingly more difficult than 2D networks (such as the
neighbors deployment, signal model, signal range,
nodes depths and so on), and the aforementioned
algorithms cannot be directly applied to 3D UASNs.
Zhang et al. [20] examined the low-connectivity and
full-coverage problem in the domain of lattice for
3D WSNs, wherein the degree of connectivity cannot
exceed 4. In the investigation conducted by Hefeeda et al. [21], a connectivity maintenance protocol
that provided probabilistic coverage and connectivity,

i. e., probabilistic connectivity maintenance protocol
(PCMP), was put forward; in this protocol, the nodeto-node packet delivery rate was introduced as the
probability of communication. In [22], special mobile
nodes (mules) were deployed in the space to further
improve probabilistic coverage and connectivity. Ref.
[23] has done an elaborate study on integrated coverage and connectivity. The configuration of networks
was declared to achieve both requested coverage degrees and satisfactory communication capacity effectively. In Ref. [24], a distributed radius determination
algorithm for spherical crown mobility was proposed
by us, and the generated topology met both full coverage and global connectivity while optimizing energy
consumption as much as possible. In aforementioned
literatures, the scale-free feature of topology was not
yet exploited and utilized.
Relevant research has been conducted on using
complex network theory to solve the topology control problem as well. [25] proposed a fault-tolerant
topology control algorithm AWSF which introduced
the scale-free characteristic of complex networks to
WSNs topology to minimize transmission delay and
increase robustness. Ruela et al. [26], [27] developed a
heuristic approach based on genetic algorithms (GA)
to find a network configuration with a communication
structure presenting complex network characteristics.
In [28], the inter-agent communication space was
found from the most connected hubs of a scale-free
sensor network, and decentralized cluster formation
was considered in scale-free multi-agent sensor grids.
In [29], the survivability was improved by resorting to
complex network theory, and the simulation suggested that the generated topology shows a good survivability under random and deliberate attacks. However, these previous studies applied complex network
theory to generate a topology directly. Actually, for
the purpose of energy reduction and load balancing,
UASN topology should be a special scale-free network
structure. This motivates the complex network theory
solution advocated in this paper, which can considerably optimize the topology.
P ROBLEM F ORMULATION
Suppose that a set of sinks are deployed on a horizontal plane of water, and plenty of anchored sensors
are evenly deployed in an underwater convex space
D IR3 , the volume of which is L W H. The
topology of UASNs can be represented as a graph
G(V, E), the types of sensor nodes and sinks are
different, so they are abstracted into two sets: the set
of anchored nodes is V = {V1 , V2 , , VN } 2 , the set
of surface
sinks is S
= {S1 , , SM }. The set of links
is E (V S) (V S). In this study, cluster-heads
2. The subscript number of the node is the opposite of its depth
(i. e., V1 is the deepest node).
should provide both coverage and connectivity for

ordinary nodes. Each ordinary node should belong
to two cluster-heads, one for maintaining paths to
sinks (called Con-Head) and another for guaranteeing
local coverage (called Cov-Head). A single clusterhead is promised to simultaneously plays the roles of
both Con-Head and Cov-Head for an ordinary node
if necessary. UASN switches between SLEEP (interval
TS ) and AWAKE (interval TA ). In SLEEP state, all
Cov-Heads actively perceive the environment in their
sensing range, and data is forwarded to sinks by ConHeads; in AWAKE state, only ordinary nodes obtain
the perception data, which is also forwarded by ConHeads.
3.1 Model Description
Nodes. Vk V, its current communication radius,
sensing radius, and residual energy are denoted as
RC(k), RS(k), and RE(k), respectively. We suppose
that 0 RC(k) RC , 0 RS(k) RS , 0
RE(k) RE . RC , RS and RE are the maximum
communication radius, maximum sensing radius and
maximum battery energy, respectively. Any ordinary
node Vk can be in either SLEEP or AWAKE state; if
Vk is in SLEEP, then RS(k) = RC(k) = 0. Vi , Vj V,
the distance is referred to as d(i, j). The coordinate of
Vk is expressed as a triplet (xk ,yk ,hk ), where xk , yk ,
and hk are the X-axis, Y-axis, and Z-axis coordinates,
respectively.
Links. Vi , Vj V, if d(i, j) RC(i), then (i, j) E
is an unidirectional connectivity link (Con-Link); if
d(i, j) RS(i), then (i, j) is an unidirectional coverage
link (Cov-Link). The delay on link (i, j) is denoted as
TD (i, j).
Paths. Vi V, Sj S, if Con-Links (i, i1 ), (i1 , i2 ), ,
(j2 , j1 ), (j1 , j) exist, then a path from Vi to sinks exist.
All these paths form a path set Pat(i), and the mth
path is marked as Patm (i, S).
3.2 Definitions and Assumptions
To clarify the UASN model and simplify the problem,
several assumptions (A1 to A3) and definitions (D1 to
D4) are given,
A1. Sufficient sinks are evenly spread on the water
surface, and all nodes are static (the maximum offsetting angle of nodes [24] is regarded as 0.) and evenly
distributed in D.
A2. An ordinary node can communicate only with its
Con-Head, and the Con-Head can communicate only
with one or more of its neighboring Con-Heads.
A3. If Vk V, RC(k) = RC , and RS(k) = RS ,
then G(V, E) must satisfy (1,)-Coverage and (1,)Connectivity. Fig. 2 illustrates the probabilistic sensing or communication phenomenon, the smaller the
distance between nodes, the greater probability of
sensing or communication is obtained.
where
E(k) = RS(k) + P0 (RC(k))
= RS(k) + P0 RC(k) 10RC(k)(f )/10
(7)
The communication consumption is calculated according to the characteristics of the underwater acoustic communication, where and are predefined
parameters, P0 is the minimum received power level
to guarantee the required quality of reception [34],
and (RC(k)) is the signal attenuation [35]. The enFig. 2. Probabilistic Sensing/Communication
ergy spreading factor and absorption coefficient are
denoted by ( [1, 2]) and (f ), respectively.
D4. P ropagation delay f unction. The propagation
D1. Coverage f unction. The coverage probability delay function is computed as
function is defined as
T (i, S)
(8)
delay(G) = Vi V
coverage(G) = min{max{PS (i, j)|Vi V}|Vj V} (1)
N
where PS (i, j) denotes the probability of Vi covering where T (i, S) = min { (k,k )Patm (i,S) TD (k, k )|
Vj . Formula (1) indicates every node gains the max- Patm (i, S) Pat(i)}, and TD (k, k ) [36] is given as
imum probability (called covering probability) that
d(k, k )
LS
TD (k, k ) =
+
(9)
it is sensed by neighboring nodes, and the miniB
Ruw
mum covering probability of all nodes is assigned to
coverage(G). For probabilistic sensing [30], PS (i, j) is where LS is the size of each data packet, B is the
channel capacity (in bits per second), and Ruw is the
calculated as
{
propagation speed of underwater sound.
0,
if d(i, j) > RS(i)
PS (i, j) =
exp( x
d(i,j)
2 )dx/ 2, else
(10lg RS(i) )/
3.3 Problem Objectives
(2)
where is the path loss exponent, and is the fading In summary, (1,)-Coverage, (1,)-Connectivity, reduction of propagation delay and energy consumption
parameter.
D2. Connectivity f unction. The connectivity proba- are the primary objectives of UASNs. The topology
control objectives of UASNs can be formally presented
bility function is defined as
as follows:
connectivty(G) = min {PR (i, S)| Vi V}
(3)
O1. coverage(G) .
O2. connectivity(G) .
connectivty(G) is computed as the lowest path prob O3. min consumption(G).
ability from any node to sinks. PR (i, S) indicates the
O4. min delay(G).
maximal probability of one path from Vi to any sink.
PR (i, S) is expressed as
4 A LGORITHM
PR (i, S) = max{
PC (k, k )|
In UASNs the upper nodes should bear heavier data(k,k )Patm (i,S)
relaying mission, the scale-free characteristic will be
Patm (i, S) Pat(i)}
(4) used to generate a special scale-free structure where
where PC (k, k ) represents the probability of link upper nodes are more easily converted into cluster(k, k ) appearing. According to [31], [32], rayleigh fad- heads. Firstly, complex network theory is applied
ing is appropriate for describing underwater acoustic to the edges constructed model (ECM), which can
obtain an initial scale-free topology. Then a distributed
channels, thus PC (k, k ) is written as
algorithm that extracts a double clustering structure
{
from the initial topology, i. e., TCSCN, is proposed to

0,
if
d(k,
k
)
>
RC(k)
PC (k, k ) =
(5) approximate O1 O4. The following is a description
d(k,k ) N
2
exp{( RC(k) ) / }, else
of the ECM model and TCSCN algorithm.
where is the rayleigh fading parameter.
D3. Consumption f unction. The energy consumption 4.1 Edges Constructed Model
is composed of sensing consumption [33] and comThe ECM is designed to form an initial topology
munication consumption [34], [35],
where all possible edges should be calculated based
consumption(G) =
E(k)
(6) on the assumption that all nodes use the maximum
communication radius, and the existence of edges is
Vk V
determined according to a probability. The probability

Pij of adding an edge (i, j) is defined as
iH
Pij = C1 d(i, j) PC (i, j) PS (i, j)
3
|D|/N N
(10)
where , , (0, 1), and C1 are constants. |D|
denotes the volume of deployment space. Formula
(10) suggests that with higher coverage probability
and connectivity probability, the shorter edges which
are closer to water surface, are more prone to appear.
Theorem 1 (in Appendix A) confirms that the initial
topology is a scale-free network. Other properties of
this model are analyzed and given in Theorems 2-4 (in
Appendix A). ECM is regarded as the preparation of
TCSCN. At the worst case the calculation complexity
of ECM obviously is O(N 2 ), which is bearable for any
ordinary sensor node. The statistic characteristics of
ECM are given and analyzed in Appendix B.
4.2
TCSCN
A scale-free structure is established with the evolution

of the initial topology from ECM, TCSCN is then
proposed to construct a double clustering structure
topology. TCSCN is executed round by round, and
at every round TCSCN selects some cluster-heads or
determines some nodes radii. The details of TCSCN
are as follows.
Step1. The initial topology is generated from ECM,
and all edges form set E. Every node learns the
degrees of other nodes, so the degrees of nodes are
sorted by every node independently to avoid a centralized operation. The paths from sensor nodes to
sinks should also be computed and recorded.
Step2. A cluster-head set H S is defined and
initialized. All sinks are given the maximum sensing
radius. Every node broadcasts a message with maximum communication radius to neighboring nodes
to inform the edge relations. In ascending order of
node degree, each node considers whether to be a
cluster-head. At every round, there may be a plurality
of nodes to simultaneously determine their roles and
radius provided that these nodes are continuous in the
ascending order of degree and they are not neighbors.
Step3. At current round, any adjusting node Vi
calculates and confirms whether Conditions (I) and
(II) can be established based on the assumption that
Vi has a maximum communication range and Vj has
a maximum sensing range,
(I) : max {PS (j, i)| Vj H, (j, i) E}
Case 1: Both Conditions (I) and (II) are satisfied. Vi

becomes an ordinary node, and a Cov-Head si is
selected from formula (13)
si = {Vj |min d(i, j) and (j, i) E
and PS (j, i) , Vj H}
(13)
Formula (13) means si is the nearest Cov-Head which

can cover Vi with a probability not less than . The
sensing radius of si is then updated as
{
RS(si ) , if RS(si ) RS(si )
RS(si ) =
(14)
RS(si ) , else
where RS(si ) = min {R| (si , i) E and PS (si , i) }.
Formula (14) indicates if si must enlarge its sensing
radius to cover Vi with a probability not less than ,
then si will update its sensing radius. Subsequently,
Vi selects its forwarding node fi by
fi = {Vj | max PC (i, j) PR (j, S)
and PC (i, j) PR (j, S) , Vj H }
(15)
In formula (15), fi is selected as the cluster-head via

which Vi can achieve the largest connectivity probability PR (i, S)(PR (i, S) ). If fi is a sink, then fi will
be the end of the path.
Case 2: Only Condition (I) is not
satisfied. Let Vi be a
Cov-Head and update H H Vi . fi should also be
computed as formula (15).
Case 3: Only Condition (II) is not satisfied. Vi becomes
an ordinary node. As in Case 1, si and RS(si ) should
be computed by formulas (13) and (14), respectively.
Moreover, a forwarding node fi should be chosen by
formula (16), and fi is immediately turned into a ConHead.
fi = {Vj | max PC (i, j) PR (j, S)
and PC (i, j) PR (j, S) , Vj
/H }
(16)
Formula (16) means the nodes providing larger path

probability are prone to be forwarding nodes. The
sensing
radius of fi is set to 0, and H is updated
as H fi . In above cases, once some node has determined its new role or updated radius, it should
broadcast a message to inform its neighboring nodes
of the role transformation and radius variation.
Case 4: Neither (I) nor (II) is satisfied. Let fi (computed by formula (16)) be a Con-Head and Vi be a
Cov-Head. The sensing
radius of fi is set to 0, then
H is updated as H Vi fi .
Step4. RC(i) should be computed according to formula
(17):
(11)
(II) : max{PC (i, j) PR (j, S)|Vj H, (i, j) E} (12)

Condition(I) is the judgment for Vi that whether (1,)Coverage has already been satisfied and Condition(II)
is the judgment whether (1,)-Connectivity has been
satisfied. In succession, four possible cases are discussed:
RC(i) = {R| min R and (i, fi ) E and

d(i, fi )
}
RC R
N
2 ln PR (f i ,S)
(17)
Formula (17) shows RC(i) is determined as the minimum radius by which Vi can communicate to fi with
a probability not less than . Finally, Vi broadcasts to
inform its neighboring nodes of the update of communication range, in addition, PR (i, S) = PC (i, fi )
PR (fi , S) should be recorded, and RS(i) should be set
to 0. If there are mutual cluster-heads serving for the
different adjusting nodes at the same round, then the
radius of the mutual cluster-heads will be set as the
largest of all determinations. The adjusting nodes at
next round are noticed by one of the current adjusting
nodes through one or more hops.
Step5. Repeat Steps 3 and 4 until all nodes have
determined their roles and radius.
Step6. Any node Vi senses with RS(i) and communicates with RC(i). Ordinary nodes turn off the radio
when the UASN enters the SLEEP state.
Particularly, in order to avoid the extra interactive
messages and the excessive execution time, once one
node becomes a Cov-Head or Con-Head, it is not
allowed to change the role until exhaustion of the
UASN. The flowchart and example of TCSCN implementation are depicted in Appendix C. Nodes closer
to sinks potentially take more data relay tasks [37].
For the sake of traffic balance, ECM suggests that
the deeper nodes obtain a larger node degree, thus
implying that upper nodes are more easily converted
into cluster-heads by TCSCN, then Theorem 5 can be
obtained (in Appendix A). Besides, altered TCSCN is
also suitable for UASNs with node mobility, and more
details are given in Appendix D.
5
5.1
A NALYSIS
The Quantity of Cov-Heads and Con-Heads
The probability of a node (with degree K) becoming

a Cov-Head or a Con-Head is denoted by PCVH (K)
and PCNH
(K), respectively. Suppose
the distance ds
2
satisfies 10lg ds exp( x
)dx/
2
=
. Assume that
2
RS
the neighbors of one node have the same probability

of becoming Cov-Heads or Con-Heads. If all of the
neighboring K PCH (K) cluster-heads locate outside
the scope of ds , then the node should become a CovHead, thus, PCVH (K) is calculated as
PCVH (K) {1 (
ds 3 KPCH (K)
) }
RS
(18)
where PCH (K) = PCVH (K) + PCNH (K) and

PCNH (K) {1 PCVH (K)}/K. Formula (18) is a
transcendental equation that can be solved through
Newtons iteration. According to Theorem 4, the total
number of cluster-headsis approximately
expressed
N 1
N 1 K
K+1 K
}.
as N K=1 {PCH (K) N 11
(K+1)K
5.2
Energy Consumption and Propagation Delay
PCVH (K) N Cov-Heads and PCNH (K) N Con-Heads

are generated. Despite the UASN state, all Cov-Heads
keep perceiving the environment, and all Con-Heads
keep forwarding data messages. By contrast, ordinary nodes perceive only when the UASN enters
the AWAKE state. Maximum energy consumption is

produced when all nodes adopt the maximum sensing
or communication radius. The energy consumption
is composed of three parts: the sensing consumption
from Cov-Heads, the communication consumption
from Con-Heads, and the communication consumption from ordinary nodes in AWAKE state. Consequently, the energy consumption of the UASN at a
unit time is written as,
consumption(G) PCVH (K) N RS
TA
+PCNH (K) N P0 (RC ) +
TS + TA
{1 PCVH (K) PCNH (K)} N P0 (RC )
(19)
For any node Vi , at least one path (suppose the mth

path) should exist from Vi to one of the sinks. This
path should satisfy
P (i, S) , thus indicating the
R N
d(k,k )
inequation exp{ RC(k)
N 2 } . T (i, S) is computed
as the delay sum of every hop at the path from Vi to
sinks, therefore,
LS
d(k, k )
T (i, S) = hop
+
B
Ruw
d(k,k )N
N
LS
hop
hop
+ hop
B
R
uwN
2
N RC ln
LS
hop
hop
+ hop
(20)
B
Ruw
where hop denotes the number of hops on the path.
The maximum hop is approximately computed as
RC N ln 2
. Usually, LBS is dominant in the propa3

N
{
|D|/N }
gation delay. Thus,

RC N ln 2 LS
delay(G)
{
+
B
{ 3 |D|/N }N
|D|/N
} (21)
Ruw
5.3 Approximate Ratio

In order to analyze the approximation ratio, radius
vector of V is defined as r = {r1 , r2 , . . . , rk , . . . , rN },
where rk = {RS(k), RC(k)}. The objective function
comprises consumption and propagation delay is expressed as U (r) = 1 consumption(G) + 2 delay(G).
Let the optimal result is marked as r = arg min U (r),
and r is a result of TCSCN execution. Obviously, one
can get
U (r) 1 {PCVH (K)N ds + PCNH (K)N P0 (dc )
TA
{1 PCVH (K) PCNH (K)}N P0 (dc )}
+
TS + TA
LS
H
+ 2 (
+
)
B
Ruw
where dc = N
is no more
3 |D|
N
. According to Theorem 3, AP L
ln 2
than L+W2 +H ,
thus the maximum number
of hops is
L+W
+H .
3 |D|
2
N
By the conclusion of Section 5.2,
U (r)
{1 {PCVH (K) N RS
U (r)
TA
+PCNH (K) N P0 (RC ) +
TS + TA
{1 PCVH (K) PCNH (K)} N P0 (RC )}
3
|D|/N
L+W +H
LS
+2
{
+
}}/U (r)
B
Ruw
2 3 |D|
N
1
is
there is limN
very large (assumption

A 1),
3 |D|/N
LS
+H
2 L+W
{
+
}
B
Ruw
3 |D|
2
N
= 0, and
N
limN (dc ) = limN (ln 2 ) N ( 3
3 |D|
10 10
|D|
N )
(f )
ln 2
= 0. Then one gets
U (r)
{PCVH (K) RS + PCNH (K) P0 (RC )
U (r)
TA
+
{1 PCVH (K) PCNH (K)} P0 (RC )}
TS + TA
/{PCVH (K) ds }
5.4
Complexity
The complexity of the algorithm is measured in time

complexity and message complexity.
The time-consuming of each step is as follows.
at the worst case O(N 2 ) edges are determined in
ECM. In Step 1, the sorting of node degree requires
O(N logN ) by the quick-sort method. In Step 2, initialization requires time O(N ). In Steps 3, 4 and 5,
O(N 2 ) is required to compute for the coverage and
connectivity at the worst case. In Step 6, adjusting
the nodes requires time O(N ). Therefore, the time
complexity of TCSCN is O(N 2 ), thus indicating a
bearable time cost of realization.
4N RC3
One node has 3|D| neighboring nodes. By the
description of TCSCN, both an ordinary node and a
Con Head require only one message broadcasting in
the neighboring range; a Cov Head requires updating
its coverage radius at most
4N RC3
3|D|
times, which leads
4N RC3
3|D|
to
messages broadcasting at the worst case.
Therefore, the total messages at the worst case can be
calculated as
4N RC3
3|D|
{1 PCVH (K) PCNH (K)} N +
4N RC3 2
3|D| }
3
PCVH (K) N +
4N RC3
3|D|
S IMULATION E VALUATION
TCSCN is evaluated by observing the performance

variation of different model parameters and by comparing TCSCN with other algorithms3 . TCSCN is
realized in OMNeT++. The IEEE 802.15.4 is adopted
for medium access control (MAC). The transmission
delay from the algorithm calculation and energy consumption from the receiving messages are neglected
in the simulations. Table 1 shows the values of the
parameters.
one has
When
PCNH (K) N
O(N )
As a result, the message complexity of TCSCN is

O(N 3 ). Apparently, TCSCN with node mobility has
the same complexity with TCSCN.
TABLE 1
Simulation Parameters
Parameter
N
M
|D|
RE
RC
RS
LS
B
Ruw
P0
(f )
TS
TA
Value
3000
220
40m 100m 50m
0.3
0.85
5000J
30m
15m
50B
10kbps
1500m/s
1
0.5
1
0.015
2
0.07
1.5
0.01dB/km
0.2
0.5
0.5
1.0
150s
100s
6.1 Coverage and Connectivity Probabilities

Fig. 3 illustrates the coverage probability variation
with parameter . The value of is assigned as 0.3,
0.4, 0.5, 0.6, and 0.7. Three observations are made: (a)
Coverage probability increases as N grows regardless
of . This mechanism is attributed to the deployment
density of nodes. More edges are generated by ECM
and a more optimal topology with a relatively larger
coverage probability can be sequentially formed by
TCSCN. (b) The plot with the larger is higher than
the other plots because the larger implies that the
edge with the larger coverage probability is easier to
add. This advantage is more favorable for increasing
of coverage probability. The peak of the plot (=0.7)
is 0.95. (c) Coverage probability in all plots is higher
than = 0.85, and none of the plots reaches 1, which
3. the values presented are average from 500 times simulations,
and the analysis of standard deviation is provided in Appendix F
to elaborate the deviation degree of individual data from average
value.
0.96
Gamma=0.7
Gamma=0.6
0.94
4.60
of node /J
Gamma=0.5
Gamma=0.4
Gamma=0.3
0.92
4.55
consum ption
average energy
0.90
4.50
Fig. 3. Coverage Probability Variation with
/m
s
iu
um
co
28
mm
un
in
ra
im
30
ic at
32
ion
m ax
6000
10
34
ra di
us
5000
4000
26
3000
24
8
36
38
/m
2000
22
20
1000
24
22
20
18
16
14
12
4.40
im
0.84
4.45
40
0.86
0.88
Coverage Probability
Fig. 5. Average Energy Consumption
0.55
0.50
0.40
1300
Beta=0.4
Beta=0.5
0.20
Beta=0.6
0.15
Beta=0.7
1250
1200
1150
0.10
24
22
20
18
16
14
12
10
ion
ra di
ra
iu
ic at
in
20 22
24 26
m ax
28 30
im
um
32 34
co
mm
un
6000
36
us
/m
38
40
5000
im
4000
3000
2000
1000
/m
1100
0.05
0.25
Beta=0.3
0.30
0.35
e /s
UASN lifetim
Connectivity Probability
0.45
Fig. 4. Connectivity Probability Variation with

Fig. 6. UASN Lifetime
is attributed to the fact that for the purpose of energy
conservation and delay reduction, TCSCN tends to
select the nearest Cov-Head (see formula (13)) when
coverage probability has been guaranteed.
As shown in Fig. 4, connectivity probability goes
up with the increase of N , and plots with minimal
are lower than the others. Two observations different
from Fig. 4 are made. (a) When the value of N or
is small enough (N 1500 and 0.6), connectivity
probability may be lower than . This is because one
path is composed of multiple hops, and the composition indicates that connectivity probability may be
very low, particularly when the deployment is sparse
or connectivity is not given sufficient weight in ECM.
(b) TCSCN attains higher connectivity probability although connectivity probability has been guaranteed
to exceed because each node selects its Con-Head
to maximize connectivity probability of the paths (see
formula (15)). In Fig. 4, when = 0.7 and N =6000,
the peak result (approximately 0.51) of connectivity
probability can be achieved.
Coverage is regarded as the relation between two
nodes (i. e., a Cov-Head and an ordinary node),
whereas connectivity is determined by continuous
multi-hop nodes. TCSCN accounts for the connectivity and coverage discriminatively; thus, this design has
better adaptability (Figs. 3 and 4).
6.2
Energy Consumption and Propagation Delay
The evaluation of average energy consumption and

UASN lifetime will be presented in this section. Figs.
5 and 6 measure the average energy consumption
and UASN lifetime with variations of RS and RC .

Two observations are obtained: (a) Increasing RS or
RC reduces the average energy consumption because
nodes have more neighboring nodes according to
larger RS or RC . Therefore, (1,)-Coverage and
(1,)-Connectivity are easier to achieve, and more
efficient radii can be adopted by TCSCN. (b) UASN
lifetime keeps climbing up rapidly with the increase
of RS and RC until RS = 15m and RC = 30m.
Afterwards, the augment behaves slowly. The reason
for the slowdown is that although longer maximum
radius can reduce energy consumption, it is almost
impossible to select RS and RC as the proper
sensing radius and communication radius when RS
and RC are large enough. When RS = 25m and
RC = 40m, the minimum average energy consumption (4.39 J) and the longest lifetime (1327 s) can be
reached.
The influence of and on propagation delay is
observed and analyzed in Fig. 7 4 , where varies
from 0.10 to 0.60, and varies from 0.40 to 0.90.
Fig. 7 shows the increase in leads to the decrease
of propagation delay, which is attributed to the fact
that paths with higher connectivity probability can
be found when becomes larger, and these paths
also reduce the propagation delay. The phenomenon
presented in this simulation is consistent with the
conclusions in Section 5.2. When is larger than
0.50, most of the curves suddenly fall to 0 because
4. In Fig. 7, the numerical value 0 denotes the failed topological
formation.
1600
600
1400
UASN Lifetime /s
400
300
200
1200
1000
800
FiYG
PCMP
600
GA
AWSF
100
400
0.9
h
re
200
1000
2000
3000
6000
il
a
old
g
ra
0.5
sh
0.4
0.6
y th
re
5000
0.4
ilit
4000
0.5
ab
prob
ro
0.3
ity
ctiv
it
0.6
0.2
ne
C on
0.1
th
0.7
TCSCN
0.8
ld
Propagation
Delay /ms
500
Fig. 9. Comparision of UASN Lifetime
Fig. 7. Influence of and on Propagation Delay
Propagation Delay /ms
680
660
FiYG
640
GA
PCMP
AWSF
TCSCN
620
600
580
560
540
1000
2000
3000
4000
5000
6000
Fig. 10. Comparision of Propagation Delay

Fig. 8. Influence of RC on Propagation Delay
the topology is hardly to form when is too large.

By contrast, does not have any obvious impact on
propagation delay because the communication paths
are not affected by increased , although more CovHeads are selected.
As shown in Fig. 8, propagation delay continues
decreasing with the increase of N and RC . The
reason is that more efficient paths can be found by
TCSCN. Moreover, the rapid reduction of propagation
delay also continues until N =5000 or RC = 30m. The
minimum propagation delay (531 ms) can be obtained
when N =6000 and RC = 40m.
6.3
Comparision with Other Algorithms
This simulation compares UASN lifetime and propagation delay of TCSCN, AWSF, GA, FiYG and PCMP. Figs. 9 and 10 indicate that UASN lifetime and
propagation delay of TCSCN are considerably better
than those of other algorithms, by a wide margin.
There are two reasons: (a) AWSF, GA, FiYG and
PCMP do not exert effort to fulfill (1,)-Coverage and
(1,)-Connectivity, which implies that the topology
may be unable to generate, particularly when node
deployment is not dense enough. (b) The upper nodes
undertake more data-forwarding in 3D UASN; thus,
a topology generated by directly applying complex
network theory is not applicable. The plots of AWSF
and GA illustrate this conclusion. Moreover, although
channel collisions are prone to appear, coverage and
connectivity can be met by nodes with a relatively
minor radii when the nodes deployed more densely,
so the increase in the density generally leads to the

reduction in extension of UASN lifetime in Fig. 9.
Conversely, ECM constructs a scale-free network
structure that derives a double clustering topology,
wherein overload is balanced and paths are shortened, efficiently. TCSCN selects the proper radio to
achieve (1,)-Coverage and (1,)-Connectivity while
optimizing energy consumption and propagation delay. Therefore, UASN lifetime is longer and propagation delay is lower than those of other algorithms.
C ONCLUSIONS
This study explores the problem of energy conservation and delay reduction while maintaining both
(1,)-Coverage and (1,)-Connectivity in UASNs. A
scale-free model based on complex network theory
is used to construct a topology, and TCSCN is developed accordingly. Simulation results demonstrate
that TCSCN can effectively configure the UASN to
achieve (1,)-Coverage and (1,)-Connectivity while
optimizing energy consumption and propagation delay, as predicted by mathematical analysis. The results
also indicate that scale-free model can be applied in
UASN topology, especially in 3D hierarchical topology. Future research should focus on investigating
a self-adaptive solution to address the demand of
specific applications (e. g., transmission success rate
becomes an important issue in tactical surveillance).
In addition, in order to extend the lifetime, the tradeoff between cluster-heads vulnerability and algorithm
cost from cluster-heads rotation will be discussed and
analyzed mathematically as well.
ACKNOWLEDGMENTS
This research is supported by National Natural

Science Foundation of China under Grants Nos.
61373139, 61373137, 61300239, 61100199, 61003236;
Natural Science Foundation of Jiangsu Province under Grant No. BK2012833; Natural Science Foundation of Jiangsu Higher Education under Grant No.
12KJB520011; China Postdoctoral Science Foundation
under Grant No. 2013T60553.
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Linfeng Liu received the B. S., M. S. and

Ph. D. degrees in computer science from
the Southeast University, Nanjing, China, in
2003, 2005 and 2008, respectively. Since
June 2008, he has been on the faculty of
Nanjing University of Posts and Telecommunications, where he has also been a PostDoctoral Scholar since 2010. At present, he
is an associate professor of the Computer
School, Nanjing University of Posts and Telecommunications. He is also a member
of both ACM and CCF (China Computer Federation). His main
research interests lies in the areas of wireless sensor networks and
multihop mobile wireless networks protocols. In particular, he is now
interested in topology control problems, QoS routing and localization
algorithms in mobile UWSNs.
Ye Liu is currently an assistant professor of

school of software engineering at the University of Science and Technology of China,
Hefei, China. He received his Ph.D. degrees
in computer science from Southeast University, Nanjing, China, in 2006. He also worked
at Alcatel Shanghai Bell Labs. His area of
specialization is computer networks and distributed systems, and his current research
interests span the areas of high performance
networks, protocol design and analysis in
P2P Networks, Wireless Sensor Networks and Vehicular Ad-Hoc
Networks.
Ningshen Zhang received the B. S. degree

at Nanjing University of Information Science
and Technology in 2011, majoring Software
Engineering. At present, he is a master candidate in Nanjing University of Posts and
Telecommunications. His main research is
about wireless sensor networks, especially
topology control problems.
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A Complex Network Approach to Topology

Underwater acoustic sensor networks (UASNs) [1], [2]

Fig. 1. Architecture of a UASN

by various factors, such as antenna directions and

lifetime [6]. Node mobility (nodes may deviate away

that is, large propagation delay, signal irregularity,

The problem of topology control for wireless sensor

that provided probabilistic coverage and connectivity,

should provide both coverage and connectivity for

from the initial topology, i. e., TCSCN, is proposed to

determined according to a probability. The probability

A scale-free structure is established with the evolution

Case 1: Both Conditions (I) and (II) are satisfied. Vi

Formula (13) means si is the nearest Cov-Head which

In formula (15), fi is selected as the cluster-head via

Formula (16) means the nodes providing larger path

(II) : max{PC (i, j) PR (j, S)|Vj H, (i, j) E} (12)

RC(i) = {R| min R and (i, fi ) E and

The probability of a node (with degree K) becoming

the neighbors of one node have the same probability

where PCH (K) = PCVH (K) + PCNH (K) and

Energy Consumption and Propagation Delay

PCVH (K) N Cov-Heads and PCNH (K) N Con-Heads

the AWAKE state. Maximum energy consumption is

For any node Vi , at least one path (suppose the mth

. Usually, LBS is dominant in the propa3

gation delay. Thus,

5.3 Approximate Ratio

thus the maximum number

By the conclusion of Section 5.2,

very large (assumption

limN (dc ) = limN (ln 2 ) N ( 3

= 0. Then one gets

The complexity of the algorithm is measured in time

times, which leads

{1 PCVH (K) PCNH (K)} N +

TCSCN is evaluated by observing the performance

As a result, the message complexity of TCSCN is

6.1 Coverage and Connectivity Probabilities

Fig. 3. Coverage Probability Variation with

Fig. 5. Average Energy Consumption

Fig. 4. Connectivity Probability Variation with

Energy Consumption and Propagation Delay

The evaluation of average energy consumption and

and UASN lifetime with variations of RS and RC .

Fig. 9. Comparision of UASN Lifetime

Fig. 7. Influence of and on Propagation Delay

Propagation Delay /ms

Fig. 10. Comparision of Propagation Delay

the topology is hardly to form when is too large.

Comparision with Other Algorithms

so the increase in the density generally leads to the

This research is supported by National Natural

Linfeng Liu received the B. S., M. S. and

Ye Liu is currently an assistant professor of

Ningshen Zhang received the B. S. degree

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