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

Eric Lepowsky^1,2,†, David Snyder^1,3,†, Alexander Glaser^1,2, Anirudha Majumdar^1,3

¹Mechanical and Aerospace Engineering, Princeton University, NJ, USA.
²Program on Science and Global Security (SGS), Princeton, NJ, USA.
³Intelligent Robot Motion (IRoM) Lab, Princeton, NJ, USA.
^†E. L. and D. S. contributed equally; other authors listed alphabetically.

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.

The full paper is available here: arXiv:2402.17130

This repository is built from the following sources:

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