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Multi-vehicle operations in the ocean are increasingly attractive as more vehicles become commercially available, however acoustics still defines the main practical channel for long-range wireless communication underwater. Long transmission times, scheduling delays and packet losses remain obstacles to implementing real-time multi-vehicle cooperative control for marine vehicles. We present a control...
We consider the problem of maximizing underwater acoustic data transmission, by adaptively positioning a mobile relay. This is a classic exploration vs. exploitation scenario well-described by a multi-armed bandit formulation, which in its canonical form is optimally solved by the Gittins index rule. For an ocean vehicle traveling between distant waypoints, however, switching costs are significant,...
Marine robots are an increasingly attractive means for observing and monitoring in the ocean, but underwater acoustic communication (“acomms”) remains a major challenge, especially for real-time control. Packet loss occurs widely, bit rates are low, and there are significant delays. We consider here strategies for feedback control with acomms links in either the sensor-controller channel, or the controller-actuator...
We apply the stationary multi-armed bandit (MAB) formalism to the problem of maximizing underwater acoustic data transmission through adaptive positioning of a mobile relay. Shallow-water environments, in particular, show complex and variable performance across physical space. This is a classic exploration vs. exploitation scenario, since choosing to visit new sites to learn their properties may be...
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