Nowadays, an increasing need of intervention robotic systems can be observed in all kind of hazardous environments. In all these intervention systems, the human expert continues playing a central role from the decision-making point of view. For instance, in underwater domains, when manipulation capabilities are required, only Remote Operated Vehicles, commercially available, can be used, normally using master-slave architectures and relaying all the responsibility in the pilot. Thus, the role

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... ayed by human-machine interfaces represents a crucial point in current intervention systems. This paper presents a User Interface Abstraction Layer and introduces a new procedure to control an underwater robot vehicle by using a new intuitive and immersive interface, which will show to the user only the most relevant information about the current mission. We conducted an experiment and found that the highest user preference and performance was in the immersive condition with joystick navigation.