CILC: Cryptographically-secure Inter-agent Loop Closure Candidate Detection for Multi-Agent Collaborative SLAM
This paper proposes CILC, a system that uses Secure Multi-Party Computation (SMPC) to detect loop closure candidates in multi-agent SLAM without exchanging global descriptors in the clear, protecting against compromised agents. Experiments validate real-time performance on visual and LiDAR descriptors with reduced information leakage.
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[Submitted on 7 Jul 2026]
Title:CILC: Cryptographically-secure Inter-agent Loop Closure Candidate Detection for Multi-Agent Collaborative SLAM
View a PDF of the paper titled CILC: Cryptographically-secure Inter-agent Loop Closure Candidate Detection for Multi-Agent Collaborative SLAM, by Andrew Fishberg and 2 other authors
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Abstract: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 no protection against a compromised swarm member. We show this threat is concrete by demonstrating how a corrupted agent can reconstruct approximations of an honest agent's imagery and trajectory from its public GD broadcasts. To address this, we propose CILC (Cryptographically-secure Inter-agent Loop Closure candidate detection), a first-of-its-kind system leveraging Secure Multi-Party Computation (SMPC) to detect ILC candidates without exchanging GDs in the clear. Rather than securing the entire CSLAM pipeline, we apply SMPC only to ILC candidate detection (i.e., GD similarity comparison), a privacy-sensitive yet computationally lightweight step, yielding an advantageous privacy-to-overhead trade-off. We validate in both simulation and hardware experiments that CILC remains real-time and communication-feasible across multimodal GDs (visual and LiDAR), while mitigating information leakage to a compromised swarm agent.
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2607.06700 [cs.RO]
(or arXiv:2607.06700v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2607.06700
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Andrew Fishberg [view email] [v1] Tue, 7 Jul 2026 18:20:09 UTC (4,947 KB)
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