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@inproceedings{nams2015, title = {On-line adaptation of underwater acoustic transmission rates to optimize communications for collaborative AUV missions}, booktitle = {OCEANS 2015 - MTS/IEEE Washington}, author = {Dainis Nams and Mae L. Seto and John J. Leonard}, pages = {1-8}, month = {October}, year = {2015}, keywords = {autonomous underwater vehicles;modems;underwater acoustic communication;autonomous underwater vehicle;collaborative shallow water AUV mission;communication environment condition;communication layer visibility;communication optimization;data transmission;modem power draw reduction;online communication environment estimation scenario;robotics community;software database;underwater acoustic transmission rate online adaptation;Acoustics;Adaptation models;Bandwidth;Collaboration;Modems;Phase shift keying;Vehicles}, abstract = {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.}}