Privacy-Preserving Map-Free Exploration for Confirming the Absence of a Radioactive Source

Performing an inspection task while maintaining the privacy of the inspected site is a challenging balancing act. In this work, we are motivated by the future of nuclear arms control verification, which requires both a high level of privacy and guaranteed correctness. For scenarios with limitations...

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Bibliographic Details
Published in:arXiv.org 2024-02
Main Authors: Lepowsky, Eric, Snyder, David, Glaser, Alexander, Majumdar, Anirudha
Format: Article
Language:English
Subjects:
Privacy
Verification
Online Access:Get full text
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Summary:Performing an inspection task while maintaining the privacy of the inspected site is a challenging balancing act. In this work, we are motivated by the future of nuclear arms control verification, which requires both a high level of privacy and guaranteed correctness. For scenarios with limitations on sensors and stored information due to the potentially secret nature of observable features, we propose a robotic verification procedure that provides map-free exploration to perform a source verification task without requiring, nor revealing, any task-irrelevant, site-specific information. We provide theoretical guarantees on the privacy and correctness of our approach, validated by extensive simulated and hardware experiments.
ISSN:2331-8422