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Motivated by a changing acoustic environment in the Arctic Beaufort Sea, in this article, we present a tactical decision aid framework for a human decision-maker collaborating with an autonomous underwater vehicle (AUV) to integrate the vertical sound-speed profile for underwater navigation and communication. In a predeployment phase, using modeled and real oceanographic data, we load basis function representations of the sound-speed perturbations onto one or more AUVs on deck, where a handful of weights can estimate a sound-speed profile. During deployment, these weights are updated on an AUV through a digital acoustic message to improve navigation and reciprocal communication throughout the duration of an under-ice mission. Field work applying this framework in the Beaufort Sea is presented, highlighting key decisions regarding predeployment oceanographic data assimilation, CTD cast collection, and <italic>in situ</italic> weight choice. Selected examples evaluate the framework&#x2019;s ability to adapt to a depth-limited CTD cast and the appearance of an anomalous microlens feature in the profile. We show that the framework effectively balances the need to adapt in a changing acoustic environment in real time while maintaining operator trust in an AUV&#x2019;s embedded intelligence.

An Embedded Tactical Decision Aid Framework for Environmentally Adaptive Autonomous Underwater Vehicle Communication and Navigation