Privacy-Preserving Map-Free Exploration for Confirming the Absence of a Radioactive Source
<|reference_start|>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 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.<|reference_end|>
@article{lepowsky2024privacy-preserving,
    title={Privacy-Preserving Map-Free Exploration for Confirming the Absence of a
  Radioactive Source},
    author={Eric Lepowsky, David Snyder, Alexander Glaser, Anirudha Majumdar},
    journal={arXiv preprint arXiv:2402.17130},
    year={2024},
    archivePrefix={arXiv},
    eprint={2402.17130},
    primaryClass={cs.RO}
}