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@article{schneider2013, title = {Model-Based Adaptive Behavior Framework for Optimal Acoustic Communication and Sensing by Marine Robots}, author = {T. Schneider and H. Schmidt}, journal = {IEEE Journal of Oceanic Engineering}, pages = {522-533}, number = {3}, volume = {38}, month = {July}, year = {2013}, keywords = {acoustic transducers;autonomous underwater vehicles;mobile robots;real-time systems;robot programming;underwater acoustic communication;AUV;GRAM;MOOS-IvP marine autonomy architecture;MOOS-IvP simulation;acoustic contact;acoustic environment;acoustic sensors;autonomous underwater vehicles;behavior-based mission-oriented operating suite-interval programming marine autonomy architecture;behavior-based systems;decision horizon;embedded high-fidelity acoustic modeling infrastructure;field experiments;generic robotic acoustic model;hybrid data-based autonomous environmental adaptation framework;marine robots;model-based adaptive behavior framework;model-based autonomous environmental adaptation framework;optimal acoustic communication;optimal acoustic sensing;optimal communication;real-time estimates;virtual experiments;Acoustics;Adaptation models;Computational modeling;Modems;Object oriented modeling;Robot sensing systems;Vehicles;Robot sensing systems;underwater acoustics;underwater technology}}