On the relationship between capacity and distance in an underwater acoustic communication channel
WUWNet '06 Proceedings of the 1st ACM international workshop on Underwater networks
Coordinated Path-Following in the Presence of Communication Losses and Time Delays
SIAM Journal on Control and Optimization
Overview of networking protocols for underwater wireless communications
IEEE Communications Magazine
Task allocation for networked autonomous underwater vehicles in critical missions
IEEE Journal on Selected Areas in Communications
Bio-inspired communications for coordination among autonomous underwater vehicles
Sarnoff'10 Proceedings of the 33rd IEEE conference on Sarnoff
A distributed adaptive sampling soluting using autonomous underwater vehicles
Proceedings of the Seventh ACM International Conference on Underwater Networks and Systems
Minimizing position uncertainty for under-ice autonomous underwater vehicles
Computer Networks: The International Journal of Computer and Telecommunications Networking
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In order to take measurements in space and time from the undersampled vast ocean, it is necessary to employ multiple autonomous underwater vehicles, such as gliders, that communicate and coordinate with each other. These vehicles need to form a team in a specific formation, steer through the 3D region of interest, and take application-dependent measurements such as temperature and salinity. In this article, team formation and steering algorithms relying on underwater acoustic communications are proposed in order to enable glider swarming that is robust against ocean currents and acoustic channel impairments (e.g., high propagation and transmission delay, and low communication reliability). Performance of the proposed algorithms is evaluated and compared against existing solutions, which do not rely on underwater communications, using different ocean current models.