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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 roledoi:10.1109/mcg.2015.118 pmid:26571515 fatcat:hxlbkkg2lbca3paomhgdnh2f2m