Abstract
Underwater swarm robotics is an emerging topic. Compared to individual autonomous vehicles, high-capacity communication links are required between the mobile agents. In this tutorial, suitable communication technologies are studied, with emphasis on LED-based underwater optical wireless communications. A comprehensive overview about challenges, advances, and practical aspects of underwater swarm robotics employing optical wireless communications is provided. The tutorial includes the following topics: (1) Channel modeling fundamentals; (2) Physical layer transmission techniques for underwater optical wireless communications; (3) Data link layer aspects and hybrid transmission schemes; (4) Ambient light and interference suppression; and (5) Realization aspects. Finally, suggestions regarding future work are given. The tutorial is intended for readers with a background or interest in electrical and information engineering.
Highlights
Most wireless underwater communication modems are based on sound waves [7]–[11]
The objective of this tutorial is to provide a comprehensive overview of underwater optical wireless communication technologies that are suitable for use in agile robotic swarms
A variety of photodetectors are suitable for high-speed communications and their proven operation in several experimental testbeds and different Underwater optical wireless communication (UOWC) systems has been published in many places
Summary
R OBOTICS is a key technology for the maritime industry. Autonomous underwater vehicles (AUVs) are an impressively fast developing business. Since smaller vehicles are typically supposed for dedicated tasks and naturally provide a smaller volume, they are equipped with fewer sensors This is due to fundamental weight/volume/bouyancy versus energy constraints, and cost. AUV swarms are a recent but emerging development [5] Like their counterparts in terrestrial-based and air-based applications, called unmanned ground vehicles and unmanned aerial vehicles, AUV swarms are motivated by schools of fish, flocks of birds, and swarms of social insects. AUV swarm design undoubtedly is an interdisciplinary area, including electronics, control, robotics, mechanical, navigation, communications, artificial intelligence, and oceanic engineering. Corresponding underwater wireless communication techniques and topologies will be studied
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