SIREN: Underwater Robot-to-Human Communication with Audio

High-fidelity interaction is necessary for collaborative work between divers and autonomous underwater vehicles (AUVs). However, underwater environments are adversarial to standard forms of communication, making underwater human-robot interaction (UHRI) particularly challenging. Gestural communication has naturally become one of the most common methodologies for human-to-robot (H2R) communication in underwater environments, taking advantage of the already ubiquitous gestural languages used by divers. What then of the inverse task, robot-to-human (R2H) communication?