A Randomized Scheduling Framework for Privacy-Preserving Multi-robot Rendezvous given Prior Information

TL;DR

This paper presents a randomized scheduling framework for multi-robot rendezvous that enhances privacy using pointwise maximal leakage, achieving effective coordination even with reduced communication rates.

Contribution

It introduces a novel randomized scheduling approach that improves privacy guarantees in multi-robot rendezvous while maintaining successful coordination.

Findings

Lower transmission rates yield stronger privacy guarantees.

The rendezvous is successfully achieved under the proposed randomized scheduling.

Numerical simulations confirm the effectiveness of the method.

Abstract

Privacy has become a critical concern in modern multi-robot systems, driven by both ethical considerations and operational constraints. As a result, growing attention has been directed toward privacy-preserving coordination in dynamical multi-robot systems. This work introduces a randomized scheduling mechanism for privacy-preserving robot rendezvous. The proposed approach achieves improved privacy even at lower communication rates, where privacy is quantified via pointwise maximal leakage. We show that lower transmission rates provide stronger privacy guarantees and prove that rendezvous is still achieved under the randomized scheduling mechanism. Numerical simulations are provided to demonstrate the effectiveness of the method.