Underwater Optical Wireless Communications in Swarm Robotics: A Tutorial

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.