arxivcs.RO2026-07-07
CILC: Cryptographically-secure Inter-agent Loop Closure Candidate Detection for Multi-Agent Collaborative SLAM
Andrew Fishberg, Yixuan Jia, Jonathan P. How
Multi-agent Simultaneous Localization and Mapping (SLAM) and collaborative SLAM (CSLAM) require robots to continuously exchange global descriptors (GDs) to detect inter-agent loop closures (ILCs). While encrypted radios protect this traffic from external eavesdroppers, they offer…