Data-driven acoustic communication modeling for undersea collaborative navigation

Feedback control of collaborative mobile systems requires assumptions with regards to wireless networking to bound system performance. Traditional assumptions include a physics-based signal propagation model which can be especially inaccurate in dynamic and cluttered communication environments. This paper addresses a data-driven approach for modeling signal strength. It presents local and global connectivity maps for providing greater resolution with respect to received signal strength over a bounded area. The approach may be particularly useful for enabling more flexible and robust multi-vehicle navigation.