Human-robot interaction underwater: Communication and safety requirements

Safety is of particular interest when performing research related to human-robot interaction in unpredictable and hazardous underwater environment. Special attention is devoted to safety requirements within FP7 project 'CADDY-Cognitive Autonomous Diving Buddy' in order to reduce hazards during experiments, since divers relying on technology for life support are exposed to additional risk of trauma as a consequence of impact with a marine vehicle. This paper focuses on the risk assessment of human-robot interaction in the underwater environment within the scope of CADDY project. Each vehicle comprising the CADDY fleet is analyzed for a number of risks, and an overall assessment is provided showing the appropriateness of selected vehicles for the application. Also, the acoustic communication scheme used in the project is described, as a means of efficient and robust navigation data exchange for the purpose of minimizing the risk of trauma due to unwanted contact between the vehicles and the diver.