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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-usabilityaspects. Both binaries and source code are available, enabling researchers andcompanies to adopt the proposed architecture as a standalone solution or tointegrate it in more comprehensive implementations. Due to its scalability, theproposed architecture can be easily employed to develop shared Mixed Realityexperiences involving multiple robots and human teammates in complexcollaborative scenarios.

RICO-MR: An Open-Source Architecture for Robot Intent Communication through Mixed Reality