Sensor attacks on Lie group dynamics transfer successfully only if they commute with the nominal flow via a Lie bracket condition, confining them to an invariant subspace where residuals remain unaltered.
Bloch.Nonholonomic Mechanics and Control
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How Sensor Attacks Transfer Across Lie Groups
Sensor attacks on Lie group dynamics transfer successfully only if they commute with the nominal flow via a Lie bracket condition, confining them to an invariant subspace where residuals remain unaltered.