Swimming with Robots: Human Robot Communication at Depth

Abstract—Human-robot communication is a complex prob-lem even in the terrestrial domain. Failure to properly commu-nicate instructions to a robot and receive appropriate feedback can at the very least hamper the ability of the robot to perform its task, and at worst prevent the task from being completed. The problem of providing effective communication between a robot and its operator becomes even more complex underwater. Many communication channels available in the terrestrial domain become unavailable, and communication between team members and task oversight become even more complex. This paper describes initial experiments with the AQUATablet – a robot interaction device designed to be operated by a diver tethered to, or in visual communication with, an underwater robot. The basic requirements of the device are described along with design considerations and results of initial experiment