An example method is described in which a processor receives a first plurality of symbols selected from a first set of symbols, translates the first plurality of symbols into a second plurality of symbols selected from an M-ary cyclic symbol set, and writes the second plurality of symbols to a surface. An additional example method is described in which a processor captures an image of at least a portion of a surface, detects a first plurality of symbols from the image, where the first plurality of symbols comprises symbols selected from an M-ary cyclic symbol set, translates the first plurality of symbols into a second plurality of symbols selected from a second set of symbols, and performs at least one task responsive to the second plurality of symbols.