Casari knows no boundaries. He believed in me to allow me to work independently while providing all the possible support and was by my side when needed. His high standards both in research and communication have become my constant beacon in my personal and professional growth. His assistance in every aspect of research work was absolutely invaluable.Another thank you should definitely go to my tutor Prof. Albert Banchs Roca for all his help with the paperwork from the very first days of my Ph.D. I would also like to say thanks to Dr. Ivor Nissen for his introduction to the world of underwater acoustic localization research, and for always keeping an eye on my progress. I am grateful to Dr. Diamant for welcoming and hosting me at Haifa University and enduring me during numerous sea trials. All the field experience I got during my trips to Israel is still one of the most unforgettable go through during my Ph.D.Furthermore, I would like to say many thanks to Dr. Konstantin Kebkal and Evologics GmbH colleagues for hosting me at their premises in Berlin and for all the invaluable help in organizing lab and field experiments. Special thanks to Veronika Kebkal who pushed everyone to make it possible (and fun!) Also, I would like to thank Dr. Fraser Dalgleish who hosted me at Florida Atlantic University and for sharing experimental data even after I left.A huge bunch of thanks goes to all my colleagues at IMDEA Networks for all the coffee break talks, dinner drinks, board games battles, and barbeque parties. Special thanks go to the "ground-floor" team for all the evening gossip times and fun we had.Last but not least thank you goes to my wonderful family. Thanks to my parents for teaching me to value knowledge and for giving me everything I need. And the most important thanks -to my husband Sergey Samodov, who was solving all my life problems, listened to my nagging during the hardest days saying, "this too shall pass", waiting for me to come back. I couldn't have done this journey without you.