Advances in autonomy have the potential to reshape the landscape of the modern world. Yet, research on human-machine interaction is needed to better understand the dynamic exchanges required between humans and machines in order to optimize human reliance on novel technologies. A key aspect of that exchange involves the notion of transparency as humans and machines require shared awareness and shared intent for optimal team work. Questions remain however, regarding how to represent information in order to generate shared awareness and intent in a human-machine context. The current paper will review a recent model of human-robot transparency and will propose a number of methods to foster transparency between humans and machines.