Secured Multi-robotic Active Localization without Exchange of Maps: A Case of Secure Cooperation Amongst Non-trusting Robots

Abstract

Secure multiparty protocols have found applications in numerous domains, where multiple nontrusting parties wish to evaluate a function of their private inputs. In this paper, we consider the case of multiple robots wishingto localize themselves, with maps as their private inputs. Though localization of robots has been a well studied problem, only recent studies have shown how to actively localize multiple robots through coordination. In all such studies, localization has typically been achieved through  constructing a publicly known global map. Here, we show how a similar solution can be given in the case of nontrusting robots, which do not wish to disclose their local maps.