  This article presents an open-source architecture for conveying robots'
intentions to human teammates using Mixed Reality and Head-Mounted Displays.
The architecture has been developed focusing on its modularity and re-usability
aspects. Both binaries and source code are available, enabling researchers and
companies to adopt the proposed architecture as a standalone solution or to
integrate it in more comprehensive implementations. Due to its scalability, the
proposed architecture can be easily employed to develop shared Mixed Reality
experiences involving multiple robots and human teammates in complex
collaborative scenarios.
