A motion-based communication system

For some applications in team robotics, a wireless electronic communication system is not ideal. We propose for some of these tasks that it is more appropriate to communicate through motion, that is by encoding symbols in locomotion and decoding symbols using sensor data. We discuss some of the challenges and requirements of such a system and derive for the LTI case control policies used to enact trajectories that optimize a joint expression of control energy and robustness to observation noise.