Exploiting information content in relative motion

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 Ropf². 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.