I. Introduction
Applications of underwater robots include natural resource detection, scientific ocean exploration, environmental monitoring, and tactical surveillance, to name a few. Large scientific data file transfer and multimedia data streaming are expected for underwater robots during exploration tasks. In recent years, tremendous progress has been made in the field of Underwater Optical Wireless Communication (UOWC), bringing advantages in terms of a wide bandwidth—in the scale of hundreds of MHz—and a short transmission latency—in the scale of several ns. Nevertheless, the major bottleneck of UOWC is the high attenuation of the optical signal due to absorption or scattering caused by particles. The noise current at the receiver also introduces interference to received signals [1], [2].