KEPT: Conformal Prediction Keepout Planning for Enclosed-Space Navigation Under Degraded Sensing

KEPT proposes a navigation method for enclosed spaces such as tunnels and mines, using conformal prediction to calibrate keepouts around mapped walls under degraded sensing, and adjusting the margin according to a label-free degradation severity estimate to maintain coverage. The planning and control layer enforces a braking-distance condition on the keepout at plan time and on every command, using the measured tracking residual as its only margin and never altering the keepout.