Abstract
We consider a target tracking problem in which, in addition to sensing some information about the position of a mobile target, the tracker must also ensure that the privacy of that target is preserved, even in the presence of adversaries that have complete access to the tracker’s sensor data. This kind of problem is important for many kinds of robot systems that involve communication systems or agents that cannot be fully trusted. In this paper, we (1) introduce a formal, quantitative definition for privacy, (2) describe algorithms that allow a robot to maintain conservative estimates of its performance in terms of tracking and privacy, (3) give strategies for the tracker to maximize its tracking performance, subject to constraints on the allowable privacy levels, and (4) present an implementation of these methods along with some experimental results.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Bandyopadhyay, T., Li, Y., Ang, M.H., Hsu, D.: Stealth tracking of an unpredictable target among obstacles. In: Proc. Workshop on the Algorithmic Foundations of Robotics, pp. 43–58 (2004)
Chin, F.Y., Snoeyink, J., Wang, C.A.: Finding the medial axis of a simple polygon in linear time. In: Staples, J., Katoh, N., Eades, P., Moffat, A. (eds.) ISAAC 1995. LNCS, vol. 1004, pp. 382–391. Springer, Heidelberg (1995)
Erdmann, M., Mason, M.T.: An exploration of sensorless manipulation. IEEE Transactions on Robotics and Automation 4(4), 369–379 (1988)
Erickson, L., Knuth, J., O’Kane, J.M., LaValle, S.M.: Probabilistic localization with a blind robot. In: Proc. IEEE International Conference on Robotics and Automation (2008)
Goldberg, K.Y.: Orienting polygonal parts without sensors. Algorthmica 10, 201–225 (1993)
Guilamo, L., Tovar, B., LaValle, S.M.: Pursuit-evasion in an unkown environment using gap navigation trees. In: Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (2004)
Huang, W.H., Beevers, K.R.: Topological mapping with sensing-limited robots. In: Proc. Workshop on the Algorithmic Foundations of Robotics, pp. 235–250 (2004)
Kamat, P., Xu, W., Trappe, W., Zhang, Y.: Temporal privacy in wireless sensor networks. In: Proc. IEEE International Conference on Distributed Computing Systems (2007)
Kamat, P., Zhang, Y., Trappe, W., Ozturk, C.: Enhancing source-location privacy in sensor network routing. In: Proc. IEEE International Conference on Distributed Computing Systems (2005)
Kamon, I., Rivlin, E.: Sensory-based motion planning with global proofs. IEEE Transactions on Robotics and Automation 13(6), 814–822 (1997)
LaValle, S.M., González-Baños, H.H., Becker, C., Latombe, J.-C.: Motion strategies for maintaining visibility of a moving target. In: Proc. IEEE International Conference on Robotics and Automation, pp. 731–736 (1997)
Lazanas, A., Latombe, J.C.: Landmark-based robot navigation. In: Proc. National Conference on Artificial Intelligence (AAAI) (1992)
Meggido, N.: Linear-time algorithms for linear programming in ℝ3 and related problems. SIAM Journal on Computing 12, 759–776 (1983)
Murrieta, R., Sarmiento, A., Bhattacharya, S., Hutchinson, S.A.: Maintaining visibility of a moving target at a fixed distance: The case of observer bounded speed. In: Proc. IEEE International Conference on Robotics and Automation (2004)
Murrieta-Cid, R., Tovar, B., Hutchinson, S.: A sampling-based motion planning approach to maintain visibility of unpredictable targets. Autonomous Robots 19(3), 285–300 (2005)
O’Kane, J.M.: On the value of ignorance: Balancing tracking and privacy using a two-bit sensor. Technical Report USC CSE TR-2009-001, University of South Carolina (2009)
O’Kane, J.M., LaValle, S.M.: Localization with limited sensing. IEEE Transactions on Robotics 23, 704–716 (2007)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
O’Kane, J.M. (2009). On the Value of Ignorance: Balancing Tracking and Privacy Using a Two-Bit Sensor. In: Chirikjian, G.S., Choset, H., Morales, M., Murphey, T. (eds) Algorithmic Foundation of Robotics VIII. Springer Tracts in Advanced Robotics, vol 57. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00312-7_15
Download citation
DOI: https://doi.org/10.1007/978-3-642-00312-7_15
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-00311-0
Online ISBN: 978-3-642-00312-7
eBook Packages: EngineeringEngineering (R0)