Robotics: Science and Systems XVIII

Underwater Robot-To-Human Communication Via Motion: Implementation and Full-Loop Human Interface Evaluation

Michael Fulton, Muntaqim Mehtaz, Junaed Sattar, Owen Queeglay


Autonomous underwater vehicles (AUVs) have long lagged behind other types of robots in supporting natural communication modes for human-robot interaction. Due to the limitations of the environment, most AUVs use digital displays or topside human-in-the-loop communications as their primary or only communication vectors. Natural methods for robot-to-human communication such as robot ""gestures"" have been proposed, but never evaluated on non-simulated AUVs. In this paper, we enhance, implement and evaluate a robot-to-human communication system for AUVs called Robot Communication Via Motion (RCVM), which utilizes explicit motion phrases (kinemes) to communicate with a dive partner. We present a small pilot study that shows our implementation to be reasonably effective in person followed by a large-population study, comparing the communication effectiveness of our RCVM implementation to three baseline systems. Our results establish RCVM as an effective method of robot-to-human communication underwater and reveal the differences with more traditional communication vectors in how accurately communication is achieved at different viewpoints and types of information payloads.



    AUTHOR    = {Michael Fulton AND Muntaqim Mehtaz AND Junaed Sattar AND Owen Queeglay}, 
    TITLE     = {{Underwater Robot-To-Human Communication Via Motion: Implementation and Full-Loop Human Interface Evaluation}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2022}, 
    ADDRESS   = {New York City, NY, USA}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2022.XVIII.024}