Robot supervision/control over limited bandwidth

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I am considering using ROS for a project where we will have very limited bandwidth for communicating with the robot. Sometimes a fiber-optic link, sometimes an acoustic modem, sometimes nothing.

This seems to match the conditions in the DARPA Robotics Challenge, for which most teams used ROS. Has any set of best practices and recommended tools emerged from that?

I’m interested in links to relevant packages, research papers/technical reports, etc.