Remotely Detectable Keyed Communication through Motion

Abstract

A method for sending keyed messages, such as an agent's current intent, through robot motion at little cost to task performance. Requiring no retraining or extra hardware, it turns remotely detectable policy watermarking from a single-bit test into a multi-symbol channel that a key holder decodes from video or motion capture. Design heuristics for alphabet size, symbol duration, and channel allocation are validated in simulation and on four RoboMaster robots, which jointly send an 8-bit message at an aggregate 0.67 bits/s.

Paper