Dynamic Relay Selection for USV-Aided Smart Ocean IoT

For the marine data transmission process assisted by autonomous underwater vehicles (AUVs) and unmanned surface vehicles (USVs), we joint consider both the energy consumption and relay services cost with the impacts of the social reciprocity relationship. In particular, a long-term dynamic relay access process is designed due to the time-varying status and the mobility of vehicles. Aiming at minimizing the transmission cost, we formulate a dynamic relay selection model with the utility function of the weighted average of the services costs and energy consumption under the long-term end-to-end latency constraint. Furthermore, an efficient solution is proposed which converts the reciprocity-aided dynamic optimization problem into the infinite time horizon average one restricted by the average delay constraint in the collection of penalty processes based on the drift-plus-penalty method. Numerical simulations demonstrate the convergence behavior and the effectiveness of the developed dynamic selection algorithm.