Exploiting information content in relative motion

Authors:
Dhananjay Raghunathan;John Baillieul
Affiliations:
Mechanical Engineering Department, Boston University, Boston, MA;Mechanical Engineering Department, Boston University, Boston, MA
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

Citing 3
Cited 1

Tracking control of mobile robots: a case study in backstepping

Automatica (Journal of IFAC)
Mobility increases the capacity of ad hoc wireless networks

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Movement control algorithms for realization of fault-tolerant ad hoc robot networks

IEEE Network: The Magazine of Global Internetworking

Motion based communication channels between mobile robots: a novel paradigm for low bandwidth information exchange

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems

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Abstract

We present a formal protocol for communication based on modulating the relative motion between mobile agents. This type of communication is typically dependent on context in that a particular motion or gesture will indicate something related to the current activity. The focus of this article is on enabling such motion-based signaling between non-holonomic mobile agents moving in R2. A Control law that enables such signaling is presented and analyzed. Properties of signals that are amenable to such signaling are presented, as are error bounds to the sensing of such motion by the agent receiving the signal. We conclude with a presentation of potential applications and current technological challenges towards enabling these applications.