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With teleoperation being the contemporary standard for Human Robot Interaction (HRI), research into multi-modal communication (MMC) has focused on development of advanced Operator Control Units (OCU) supporting control of one or more robots. However, with advances being made to improve the perception, intelligence, and mobility of robots, a need exists to revolutionize the ways in which Soldiers interact with robotic team members. Within this future vision, mixed-initiative Soldier-Robot (SR) teams will work collaboratively sharing information back-and-forth in a fluid natural manner using combinations of communication methods. Therefore, new definitions are required to focus research efforts to support next-generation MMC. After a thorough survey of the literature and a scientific workshop on the topic, this paper aims to operationally define MMC, Explicit Communication, and Implicit Communication to encompass the shifting paradigm of HRI from a controller/controlled relationship to a cooperative team mate relationship. This paper presents the results from a survey of the literature and a scientific workshop that inform proposed definitions for multi-modal, explicit, and implicit communication. An illustrative scenario vignette provides context and specific examples of each communication type. Finally, future research efforts are summarized.

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