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The field of human-robot interaction has been rapidly expanding but an ever-present obstacle facing this field is developing accessible, reliable, and effective forms of communication. It is often imperative to the efficacy of the robot and the overall human-robot interaction that a robot be capable of expressing information about itself to humans in the environment. Amidst the evolving approaches to this obstacle is the use of light as a communication modality. Light-based communication effectively captures attention, can be seen at a distance, and is commonly utilized in our daily lives. Our team explored the ways light-based signals on robots are being used to improve human understanding of robot operating state. In other words, we sought to determine how light-based signals are being used to help individuals identify the conditions (e.g., capabilities, goals, needs) that comprise and dictate a robot’s current functionality. We identified four operating states (e.g., “Blocked”, “Error”, “Seeking Interaction”, “Not Seeking Interaction”) in which light is utilized to increase individuals’ understanding of the robot’s operations. These operating states are expressed through manipulation of three visual dimensions of the onboard lighting features of robots (e.g., color, pattern of lighting, frequency of pattern). In our work, we outline how these dimensions vary across operating states and the effect they have on human understanding. We also provide potential explanations for the importance of each dimension. Additionally, we discuss the main shortcomings of this technology. The first is the overlapping use of combinations of dimensions across operating states. The remainder relate to the difficulties of leveraging color to convey information. Finally, we provide considerations on how this technology might be improved going into the future through the standardization of light-based signals and increasing the amount of information provided within interactions between agents.