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Paper Abstract and Keywords
Presentation 2025-09-16 17:45
Trajectory Verification System for Autonomous Mobile Robots Using Multi-Modal Environmental Sensing and Zero-Knowledge Proof
Nakajiima Arata, Miyaji Hideaki, Yamamoto Hiroshi (Ritsumeikan Univ) IA2025-25
Abstract (in Japanese) (See Japanese page) 
(in English) With autonomous mobile robots spreading in smart cities, coordination between robots from different companies and integrated management including facilities is becoming important.
When multiple companies run services in a facility, a system for sharing robot operation information is essential.
Facility operators want to ensure safe robot operation, but robot companies worry about sharing confidential information like travel paths and sensor data with outside parties.
A method is needed to prove robot operation validity without disclosing detailed travel history.
This study focuses on technology that observes environmental information specific to time and space, using zero-knowledge proof (ZKP) technology to analyze data. This develops a system that estimates and verifies autonomous mobile robot position without disclosing sensor data or travel trajectories.
Previous studies proposed position estimation using CSI (Channel State Information) as environmental information, but CSI depends heavily on facility communication environment, with decreased accuracy in low-communication environments.
This study researches a system focusing on acoustic information as environmental information.
Acoustic information can be observed quickly and enables more accurate self-position estimation compared to CSI.
Combining acoustic information with CSI, we aim to build a system that efficiently acquires environmental information, keeps movement history confidential, and proves to operators that robots passed through specific locations.
Keyword (in Japanese) (See Japanese page) 
(in English) Zero-Knowledge Proof / position estimation / Wi-Fi sensing / CSI / Acoustic sensing / / /  
Reference Info. IEICE Tech. Rep., vol. 125, no. 178, IA2025-25, pp. 57-62, Sept. 2025.
Paper # IA2025-25 
Date of Issue 2025-09-09 (IA) 
ISSN Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF IA2025-25

Conference Information
Committee IA  
Conference Date 2025-09-16 - 2025-09-17 
Place (in Japanese) (See Japanese page) 
Place (in English) Hokkaido Univ. 
Topics (in Japanese) (See Japanese page) 
Topics (in English) Internet Operation and Management, Network Architecture, Communication Protocols, IoT, etc. 
Paper Information
Registration To IA 
Conference Code 2025-09-IA 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Trajectory Verification System for Autonomous Mobile Robots Using Multi-Modal Environmental Sensing and Zero-Knowledge Proof 
Sub Title (in English)  
Keyword(1) Zero-Knowledge Proof  
Keyword(2) position estimation  
Keyword(3) Wi-Fi sensing  
Keyword(4) CSI  
Keyword(5) Acoustic sensing  
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1st Author's Name Nakajiima Arata  
1st Author's Affiliation Ritsumeikan University (Ritsumeikan Univ)
2nd Author's Name Miyaji Hideaki  
2nd Author's Affiliation Ritsumeikan University (Ritsumeikan Univ)
3rd Author's Name Yamamoto Hiroshi  
3rd Author's Affiliation Ritsumeikan University (Ritsumeikan Univ)
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Speaker Author-1 
Date Time 2025-09-16 17:45:00 
Presentation Time 25 minutes 
Registration for IA 
Paper # IA2025-25 
Volume (vol) vol.125 
Number (no) no.178 
Page pp.57-62 
#Pages 6 
Date of Issue 2025-09-09 (IA) 

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