We present an interface for controlling mobile
robots that combines aspects of graphical trajectory specification
and state-based programming. This work is motivated by
common tasks executed by our underwater vehicles, although
we illustrate a mode of interaction that is applicable to mobile
robotics in general. The key aspect of our approach is to
provide an intuitive linkage between the graphical visualization
of regions of interest in the environment, and activities
relevant to these regions. In addition to introducing this
novel programming paradigm, we also describe the associated
system architecture developed on-board our amphibious robot.
We then present a user interaction study that illustrates the
benefits in usability of our graphical interface, compared to
conventionally established programming techniques.