IEEE Robotics & Automation Magazine - September 2021 - 71

4) Mission status: When the AUV is executing a mission, the
current status of the mission is displayed, e.g., carrying
equipment and mission completed.
Example Use Case and Challenges
The following example illustrates a typical use case and the
challenges. The related field trial emulates an archaeological
mission. It was designed in cooperation with the Diver Alert
Network Europe to take safety and ergonomic aspects in the
evaluation into account. The test was done in Biograd na
Moru, Croatia, in 2016. Figure 4 depicts the overall mission.
The field trial tested many system functionalities, not only gesture-based
communication. Therefore, only the photo and
boat commands happened to be used, along with the gestures
for the start and the end of the communication. More commands
and also full missions were tested in other trials in 2017
at the Brodarski Institute in Zagreb, Croatia (Figure 5). But the
Biograd field trial nicely illustrates the challenges: there is, for
example, reduced visibility compared to experiments in a pool,
and the sea was rough on several days, causing motion blur as
neither the divers nor the AUV could keep still on the spot.
Figure 4(c) shows an example where the photo command
is incorrectly classified by the gesture recognition
front end. Note that, due to the interpreter back end, the
error was captured and remedied, indicating the importance

IEEE Robotics & Automation Magazine - September 2021

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