Distributed Cyber-Physical Systems (CPS) and Edge AI networks increasingly depend on public-key authentication and key-establishment mechanisms that are vulnerable to cryptographically relevant Quantum Computers (QC). Shor's algorithm threatens widely deployed asymmetric primitives, while Grover's algorithm reduces the effective security margins of symmetric and hash-based mechanisms. Although Post-Quantum Cryptography (PQC) provides a migration path, its larger public keys, ciphertexts, and signatures introduce additional computation, memory, communication, storage, and packet-fragmentation costs that can constrain dynamic multi-agent systems. In this article, we introduce rotational secrecy, an architectural objective that limits temporal key exposure through authenticated transitions between cryptographic epochs. We present Private Authentication for Rotational Secrecy (PARS), a reference mechanism that coordinates policy-triggered key establishment, rotation, and reconciliation among authorized Physical AI agents. For deployments that need distributed agreement on security state, we further develop the PARS-Enabled Edge Security Ledger (PARS-ESL), an optional permissioned architecture maintained by authorized validators or capable edge gateways. PARS-ESL does not store high-volume operational transactions. Instead, it records authenticated state for key epochs, group membership, revocation, algorithm-suite policies, challenge validation, and recovery checkpoints. As a result, resource-constrained agents can take part as lightweight clients, and low-latency operational traffic stays outside the ledger consensus path, protected by the currently active symmetric epoch keys. Our results show that ledger-assisted post-quantum key-epoch management is feasible for selected Edge AI and CPS security-control workloads under the stated trust, compromise, connectivity, and resource assumptions.

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