  Human-robot teaming offers great potential because of the opportunities to
combine strengths of heterogeneous agents. However, one of the critical
challenges in realizing an effective human-robot team is efficient information
exchange - both from the human to the robot as well as from the robot to the
human. In this work, we present and analyze an augmented reality-enabled,
gesture-based system that supports intuitive human-robot teaming through
improved information exchange. Our proposed system requires no external
instrumentation aside from human-wearable devices and shows promise of
real-world applicability for service-oriented missions. Additionally, we
present preliminary results from a pilot study with human participants, and
highlight lessons learned and open research questions that may help direct
future development, fielding, and experimentation of autonomous HRI systems.
