## 1 Introduction
### Related Work  
Inspection and intervention robots have gained significant attention in recent years, especially because of advances in fields such as artificial intelligence and edge computing. These advances drive robotics to areas where the autonomy and robustness of robots allow for the achievement of more complex intervention missions. Despite these significant \begin{table}
\begin{tabular}{c c c c} \hline \hline
**Technology** & **Distance** & **Data Rate** & **Affecting Factors** \\ \hline Radio Frequency & Up to 10 m & Mbps & Conductivity and permittivity of the channel. \\ \hline Acoustic & Up to 20 km & Kbps & Absorption, scattering, pressure, temperature, and salinity of the water medium. \\ \hline Visual Light & Up to 100 m & Gbps & Absorption, scattering, turbidity, suspended and organic particles, and orientation of the modems. \\ \hline \hline \end{tabular}
\end{table} 
Table 1: Underwater wireless communications technologies. increases in autonomy, most of interventions in harsh environments are still performed in a teleoperated, semi-autonomous, or shared-autonomy way. In a teleoperated mode, the robot is completely controlled by an operator; an example is reported in [3], where a robot manipulator was teleoperated using a vision-based human-robot interface. A semi-autonomous system involves a human taking control in key moments of an intervention, with control intermittently changing between the robot and the human. An example of this is the research conducted in [4], where a semi-autonomous robot was used for surgery. Shared autonomy is a concept that is gaining popularity; the concept implies collaboration between humans and robots, with control dynamically distributed. This concept allows both to contribute to decision making and task execution, increasing efficiency and adaptability in complex environments. A review of this concept applied to assistive mobile robots can be found in [5]. Regardless of the level of autonomy of the robot (teleoperated or autonomous), robotic intervention systems provide a solution for tasks that humans cannot reach or perform safely. These interventions are particularly valuable in hazardous environments such as disaster recovery sites, areas contaminated by hazardous materials, or even underwater environments. Examples of this are listed below. * In ref. [6], a robotic framework was developed for telemanipulation in hazardous and unstructured environments at the European Center for Nuclear Research (CERN). * In ref. [7], the authors present two Human-Robot Interfaces (HRI) designed for underwater robot teleoperation. The primary objective was to digitize the seafloor using 3D imagery captured by underwater robots. This information was then virtually displayed through animations within a semi-immersive virtual reality/augmented reality platform. Similar to the robot interventions at CERN mentioned above, underwater robot interventions have gained popularity in recent decades. Various navigation, vision, autonomous behavior, and communications improvements have taken underwater intervention missions to the next level. Proof of this are projects such as TWINBOT [8], where autonomous cooperative transportation was proven using a task-priority algorithm that was adapted to a low-bandwidth communication system. Low-bandwidth communication in wireless underwater communication applications is common, which is why robotic platforms like the one presented in [9] use a surface vehicle as a middle link between the underwater robot and the Ground Control Station (GCS). This system is composed of a surface vehicle, a ground station with a human-robot interface, an underwater robot, and a robust communication link. In this article, the authors discuss the importance of developing a multimodal communication system and network congestion control. Multimodal underwater communications are a topic of interest in the research community mainly because of their applications in scenarios such as local area underwater networks.