On-line adaptation of underwater acoustic transmission rates to optimize communications for collaborative AUV missions

A framework for on-line characterization of, and intelligent adaptation to, changing communication environment conditions is implemented on autonomous underwater vehicles (AUVs). Adopted by the authors to optimize use of the communications channel during collaborative shallow water AUV missions, this framework has application to a variety of on-line communications environment estimation scenarios within the robotics community. A software database tracks the success of data transmitted between multiple agents, providing communications layer visibility into current channel conditions. In the author´s AUV implementation, a rate selector chooses optimal transmission rates given current conditions. Outcomes are improvements in bandwidth, reduction in modem power draw, and increased visibility into data success compared to traditional, constant-rate acoustic communication patterns.