Underwater human-robot communication: A case study with human divers

Despite advances in underwater technology, human divers are still employed to carry out a wide variety of dangerous underwater tasks. To enable a diver to complete tasks safer and more efficiently, it is proposed that an Underwater Robotic Assistant (UWRA) could act as a robotic dive buddy. For example, the UWRA could ferry tools from the surface, carry scientific samples, and provide illumination in dark environments. However, one of the major hurdles to operating autonomous systems below the water´s surface is that high-frequency radio signals are greatly attenuated by water. This severely limits the type of commands a diver can issue to the robot. Thus, one of the contributions of this paper is an analysis of the types of Underwater Human-Robot Communication (UHRC) that are possible between a diver and a UWRA. Following the analysis, we discuss implementation of a few of the proposed methods of UHRC where an underwater robot assists a diver during the installation of an underwater mechanical platform.