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Understanding of intent is one of the most complex traits of highly efficient teams. Combining elements of verbal and non-verbal communication along with shared mental models about mission goals and team member capabilities, intent requires knowledge about both task and teammate. Beginning with the traditional models of communication, accounting for teaming factors, such as situation awareness, and incorporating the sensing, reasoning, and tactical capabilities available via autonomous systems, a revised model of team communication is needed to accurately describe the unique interactions and understanding of intent which will occur in human-robot teams. This paper focuses on examining the issue from a system capability viewpoint, identifying which system capabilities can mirror the abilities of humans through the sensor and computing strengths of autonomous systems, thus creating a team …