{"id":"https://openalex.org/W3002718811","doi":"https://doi.org/10.1109/ccta41146.2020.9206278","title":"Detecting Deception Attacks on Autonomous Vehicles via Linear Time-Varying Dynamic Watermarking","display_name":"Detecting Deception Attacks on Autonomous Vehicles via Linear Time-Varying Dynamic Watermarking","publication_year":2020,"publication_date":"2020-08-01","ids":{"openalex":"https://openalex.org/W3002718811","doi":"https://doi.org/10.1109/ccta41146.2020.9206278","mag":"3002718811"},"language":"en","primary_location":{"id":"doi:10.1109/ccta41146.2020.9206278","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta41146.2020.9206278","pdf_url":null,"source":{"id":"https://openalex.org/S4306498667","display_name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2001.09859","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004640896","display_name":"Matthew Porter","orcid":"https://orcid.org/0000-0002-1598-3447"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Porter","raw_affiliation_strings":["University of Michigan,Department of Mechanical Engineering,Ann Arbor,MI,USA,48103","\u2020University of Michigan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Department of Mechanical Engineering,Ann Arbor,MI,USA,48103","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"\u2020University of Michigan","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013901790","display_name":"Sidhartha Dey","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sidhartha Dey","raw_affiliation_strings":["Robotics Institute, University of Michigan,Ann Arbor,MI,USA,48103","\u2020University of Michigan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Michigan,Ann Arbor,MI,USA,48103","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"\u2020University of Michigan","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111922808","display_name":"Arnav Joshi","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Arnav Joshi","raw_affiliation_strings":["University of Michigan,Department of Mechanical Engineering,Ann Arbor,MI,USA,48103","\u2020University of Michigan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Department of Mechanical Engineering,Ann Arbor,MI,USA,48103","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"\u2020University of Michigan","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049322619","display_name":"Pedro Hespanhol","orcid":"https://orcid.org/0000-0002-2946-0153"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pedro Hespanhol","raw_affiliation_strings":["University of California Berkeley,Department of Industrial Engineering and Operations Research,Berkeley,CA,USA,94720","\u2020University of Michigan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California Berkeley,Department of Industrial Engineering and Operations Research,Berkeley,CA,USA,94720","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"\u2020University of Michigan","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014893911","display_name":"Anil Aswani","orcid":"https://orcid.org/0000-0001-5777-7185"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anil Aswani","raw_affiliation_strings":["University of California Berkeley,Department of Industrial Engineering and Operations Research,Berkeley,CA,USA,94720","University of California\u2013Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California Berkeley,Department of Industrial Engineering and Operations Research,Berkeley,CA,USA,94720","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California\u2013Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089990642","display_name":"Matthew Johnson\u2010Roberson","orcid":"https://orcid.org/0000-0002-0506-907X"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Johnson-Roberson","raw_affiliation_strings":["University of Michigan,Department of Naval Architecture,Ann Arbor,MI,USA,48103","University of California\u2013Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Department of Naval Architecture,Ann Arbor,MI,USA,48103","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"University of California\u2013Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053632225","display_name":"Ram Vasudevan","orcid":"https://orcid.org/0000-0003-1978-0572"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ram Vasudevan","raw_affiliation_strings":["University of Michigan,Department of Mechanical Engineering,Ann Arbor,MI,USA,48103","\u2020University of Michigan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Department of Mechanical Engineering,Ann Arbor,MI,USA,48103","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"\u2020University of Michigan","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.594,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.88450175,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10917","display_name":"Smart Grid Security and Resilience","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10917","display_name":"Smart Grid Security and Resilience","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9927999973297119,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10761","display_name":"Vehicular Ad Hoc Networks (VANETs)","score":0.9891999959945679,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/carsim","display_name":"CarSim","score":0.6579587459564209},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5738353729248047},{"id":"https://openalex.org/keywords/lti-system-theory","display_name":"LTI system theory","score":0.554050862789154},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5405210256576538},{"id":"https://openalex.org/keywords/linear-system","display_name":"Linear system","score":0.4998447895050049},{"id":"https://openalex.org/keywords/cyber-physical-system","display_name":"Cyber-physical system","score":0.4106200933456421},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35473883152008057},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29160165786743164},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17546451091766357},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16822269558906555},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15118056535720825}],"concepts":[{"id":"https://openalex.org/C2776053266","wikidata":"https://www.wikidata.org/wiki/Q5037194","display_name":"CarSim","level":3,"score":0.6579587459564209},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5738353729248047},{"id":"https://openalex.org/C87698059","wikidata":"https://www.wikidata.org/wiki/Q1808960","display_name":"LTI system theory","level":3,"score":0.554050862789154},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5405210256576538},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.4998447895050049},{"id":"https://openalex.org/C179768478","wikidata":"https://www.wikidata.org/wiki/Q1120057","display_name":"Cyber-physical system","level":2,"score":0.4106200933456421},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35473883152008057},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29160165786743164},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17546451091766357},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16822269558906555},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15118056535720825},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/ccta41146.2020.9206278","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta41146.2020.9206278","pdf_url":null,"source":{"id":"https://openalex.org/S4306498667","display_name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2001.09859","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2001.09859","pdf_url":"https://arxiv.org/pdf/2001.09859","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3002718811","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2001.09859","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2001.09859","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2001.09859","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2001.09859","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2001.09859","pdf_url":"https://arxiv.org/pdf/2001.09859","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320307103","display_name":"Ford Motor Company","ror":"https://ror.org/00g2tkw06"},{"id":"https://openalex.org/F4320333609","display_name":"Center for Long-Term Cybersecurity, University of California Berkeley","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3002718811.pdf","grobid_xml":"https://content.openalex.org/works/W3002718811.grobid-xml"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W402869233","https://openalex.org/W1655377165","https://openalex.org/W1974945677","https://openalex.org/W1976625337","https://openalex.org/W2039427951","https://openalex.org/W2063698478","https://openalex.org/W2543248853","https://openalex.org/W2555431798","https://openalex.org/W2566510693","https://openalex.org/W2603165544","https://openalex.org/W2759023011","https://openalex.org/W2764130219","https://openalex.org/W2798302089","https://openalex.org/W2959364614","https://openalex.org/W2963445270","https://openalex.org/W2963964906","https://openalex.org/W2964303506","https://openalex.org/W2973012476","https://openalex.org/W2974102404","https://openalex.org/W3094377270","https://openalex.org/W3098881644","https://openalex.org/W3130529786","https://openalex.org/W3193929047","https://openalex.org/W4241908502","https://openalex.org/W4388297583","https://openalex.org/W6731781941","https://openalex.org/W6790633310"],"related_works":["https://openalex.org/W3090033131","https://openalex.org/W1030728038","https://openalex.org/W2549401596","https://openalex.org/W3007603436","https://openalex.org/W1530348526","https://openalex.org/W2525459741","https://openalex.org/W2323786700","https://openalex.org/W2731479418","https://openalex.org/W2182079908","https://openalex.org/W296935808","https://openalex.org/W3109512906","https://openalex.org/W2969149023","https://openalex.org/W2998191096","https://openalex.org/W1980238736","https://openalex.org/W2604207187","https://openalex.org/W2037633999","https://openalex.org/W2730456471","https://openalex.org/W2319070754","https://openalex.org/W3135593740","https://openalex.org/W1991087163"],"abstract_inverted_index":{"Cyber-physical":[0],"systems":[1,130],"(CPS)":[2],"such":[3,56,73],"as":[4,57,74],"autonomous":[5,58,222],"vehicles":[6,59],"rely":[7],"on":[8],"both":[9],"on-board":[10],"sensors":[11],"and":[12,63,78,190,218,246,269],"external":[13],"communications":[14,21],"to":[15,26,35,42,108,112,119,183,196,208,224,259],"estimate":[16],"their":[17],"state.":[18],"Unfortunately":[19],"these":[20,37,83],"render":[22],"the":[23,109,136,148,157,179,198,227,237],"system":[24,49,95],"vulnerable":[25],"cyber-attacks.":[27],"While":[28],"many":[29],"attack":[30],"detection":[31],"methods":[32],"have":[33],"begun":[34],"address":[36],"concerns":[38],"they":[39,66],"are":[40,67,87],"limited":[41],"linear":[43,92],"time-invariant":[44],"(LTI)":[45],"systems.":[46,121,233],"Though":[47],"LTI":[48,99],"models":[50,96,100],"provide":[51],"accurate":[52],"approximations":[53],"for":[54,69,128,156,181,231],"CPS":[55],"at":[60],"constant":[61],"speed":[62],"turning":[64,247],"radii":[65],"inaccurate":[68],"more":[70,84,88],"complex":[71,85],"motions":[72,86],"lane":[75],"changes":[76,79],"turns":[77],"in":[80,147,186,213,266],"velocity.":[81],"Since":[82],"suitably":[89],"described":[90],"by":[91],"time-varying":[93,158,244],"(LTV)":[94],"rather":[97],"than":[98],"Dynamic":[101,204,264],"Watermarking":[102,205,265],"which":[103,252],"adds":[104],"a":[105,140,163,173,187,209,219,240,267],"private":[106],"excitation":[107],"input":[110,143],"signal":[111],"validate":[113],"measurements":[114],"has":[115],"recently":[116],"been":[117],"extended":[118],"LTV":[120,129,263],"However":[122],"this":[123],"extension":[124],"does":[125],"not":[126],"allow":[127],"that":[131],"require":[132],"several":[133],"steps":[134],"before":[135],"ef":[137],"ect":[138],"of":[139,160,165,172,200,229],"given":[141],"control":[142],"can":[144],"be":[145,184,260],"seen":[146],"measurement":[149],"signal.":[150],"Additionally":[151],"there":[152],"is":[153,206,257],"no":[154],"consideration":[155],"effects":[159,199],"auto-correlation.":[161,201],"Furthermore":[162],"proof":[164,228],"concept":[166,230],"was":[167],"only":[168],"provided":[169],"using":[170,262],"simulations":[171],"simplified":[174],"model.":[175],"This":[176],"paper":[177],"relaxes":[178],"requirement":[180],"inputs":[182],"visible":[185],"single":[188],"step":[189],"constructs":[191],"an":[192],"auto-correlation":[193],"normalizing":[194],"factor":[195],"remove":[197],"In":[202,234],"addition,":[203],"applied":[207],"high-fidelity":[210],"vehicle":[211,238],"model":[212],"CarSim":[214],"<sup":[215],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[216],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">TM</sup>":[217],"1/10":[220],"scale":[221],"rover":[223],"further":[225],"reinforce":[226],"realistic":[232],"each":[235],"case,":[236],"follows":[239],"predefined":[241],"path":[242],"with":[243],"velocity":[245],"radii.":[248],"A":[249],"replay":[250],"attack,":[251],"replays":[253],"previously":[254],"recorded":[255],"measurements,":[256],"shown":[258],"detectable":[261],"quick":[268],"repeatable":[270],"manner.":[271]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
