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.

中文翻译：

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群体机器人中的水下光无线通信：教程


水下群体机器人技术是一个新兴课题。与单独的自动驾驶车辆相比，移动代理之间需要高容量的通信链路。在本教程中，我们将研究合适的通信技术，重点是基于 LED 的水下光无线通信。全面概述了采用光无线通信的水下群体机器人技术的挑战、进展和实际方面。本教程包括以下主题： (1) 通道建模基础知识； (2)水下光无线通信物理层传输技术； (3)数据链路层方面和混合传输方案； (4)环境光和干扰抑制； (5)实现方面。最后对今后的工作提出了建议。本教程面向具有电气和信息工程背景或感兴趣的读者。