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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.}}