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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2402.17130 |
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| _version_ | 1866917598965268480 |
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| author | Lepowsky, Eric Snyder, David Glaser, Alexander Majumdar, Anirudha |
| author_facet | Lepowsky, Eric Snyder, David Glaser, Alexander Majumdar, Anirudha |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2402_17130 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Privacy-Preserving Map-Free Exploration for Confirming the Absence of a Radioactive Source Lepowsky, Eric Snyder, David Glaser, Alexander Majumdar, Anirudha Robotics 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. |
| title | Privacy-Preserving Map-Free Exploration for Confirming the Absence of a Radioactive Source |
| topic | Robotics |
| url | https://arxiv.org/abs/2402.17130 |