  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.
