## 1 Introduction  
### Motivation  
In recent decades, ocean research and various economic activities such as the exploitation of offshore oil reserves, fish farming, and the construction industry, among others, have significantly driven the development of underwater vehicles. The need to explore ocean depths inaccessible to humans, coupled with the necessity of performing Inspection Maintenance and Repair (IMR) of underwater structures, has enabled researchers and industry to develop new technologies.  
An example of such technologies is Remotely Operated Vehicles (ROVs), mainly underwater robots teleoperated by an operator at a ground station. Another type of vehicle is Autonomous Underwater Vehicles (AUVs); these type of robots are capable of performing autonomous tasks such as inspection of an area or navigation to a specific point. Finally, Autonomous Underwater Vehicles for Intervention (I-AUV) are vehicles equipped with one or more manipulators. These robots can perform intervention tasks such as turning a valve [1] or recovering a black box. Most of the time, underwater vehicles are connected to a ground station using a tether cable, but there are also other alternatives to communicate with underwater robots.  
Underwater wireless communication is a large field of study, and researchers face significant difficulties, mainly because of the quick attenuation of the radiofrequency waves in an underwater environment. The lack of underwater functionality of Wi-Fi and other radio-frequency technologies opens the window to other communication technologies such as acoustic and optic methods. The former relies on the principle according to which, in water, acoustic waves can be propagated larger distances with less attenuation than radiofrequency waves. This means that communication links can be larger, but the counter side is that the bandwidth is considerably reduced. Finally, Visual Light Communication (VLC) is another technology that has recently gained popularity, mainly because of its high bandwidth. The challenge with this technology is that both optical modems have to be aligned, and the communication distance is very short. Table 1 shows a comparison of the mentioned underwater communications technologies.  
From Table 1, it can be deduced that VLC technology can be exploited in an underwater environment for intervention tasks, as a VLC modem can be fixed and aligned to the desired intervention area, where an underwater robot can arrive and perform a task.  
This novel technology offers great advantages in underwater wireless communications, such as great bandwidth, but the robustness of the connection remains uncertain, in addition to being sensitive to misalignment, light conditions, and water visibility, to name some of the most common problems. These are some of the reasons that network control needs to be implemented to prevent network congestion when large amounts of data such as images or point clouds are transmitted. Also, a Human-Robot Interface (HRI) can be implemented with this algorithm to increase the operability and teleoperation of the robot. Finally, it is important to consider that this underwater scenario is not the only case that experiences these problems; contexts such as intervention in radiation zones or tunnel inspections also share these communication problems.