{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:SZA6GJ4EZ4SJNKVQFYCIEEVNKR","short_pith_number":"pith:SZA6GJ4E","canonical_record":{"source":{"id":"2001.09859","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2020-01-24T18:36:58Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"66041bbbe97be057d1a8ff5a6c4595b3e8fc174a50993f252a232727c2065c58","abstract_canon_sha256":"dd9e199ed93823d7cf0126f84599e54d79129efd304cab589083ac77c324bb42"},"schema_version":"1.0"},"canonical_sha256":"9641e32784cf2496aab02e048212ad54787edc8c4639a21933a3613cf5f528c3","source":{"kind":"arxiv","id":"2001.09859","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2001.09859","created_at":"2026-07-05T00:36:04Z"},{"alias_kind":"arxiv_version","alias_value":"2001.09859v1","created_at":"2026-07-05T00:36:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2001.09859","created_at":"2026-07-05T00:36:04Z"},{"alias_kind":"pith_short_12","alias_value":"SZA6GJ4EZ4SJ","created_at":"2026-07-05T00:36:04Z"},{"alias_kind":"pith_short_16","alias_value":"SZA6GJ4EZ4SJNKVQ","created_at":"2026-07-05T00:36:04Z"},{"alias_kind":"pith_short_8","alias_value":"SZA6GJ4E","created_at":"2026-07-05T00:36:04Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:SZA6GJ4EZ4SJNKVQFYCIEEVNKR","target":"record","payload":{"canonical_record":{"source":{"id":"2001.09859","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2020-01-24T18:36:58Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"66041bbbe97be057d1a8ff5a6c4595b3e8fc174a50993f252a232727c2065c58","abstract_canon_sha256":"dd9e199ed93823d7cf0126f84599e54d79129efd304cab589083ac77c324bb42"},"schema_version":"1.0"},"canonical_sha256":"9641e32784cf2496aab02e048212ad54787edc8c4639a21933a3613cf5f528c3","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:36:04.592232Z","signature_b64":"eppZlWyWYh+BMMoyvmYCDO9355q1vW5vFJvE/l/zKxBXt+7Zy5NkKQIiRkKgdxVOTLBcsBGhL5ZC2BBz5O1JDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9641e32784cf2496aab02e048212ad54787edc8c4639a21933a3613cf5f528c3","last_reissued_at":"2026-07-05T00:36:04.591852Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:36:04.591852Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2001.09859","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T00:36:04Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gxG0+xxC87lP58dTx9AqS/tSAgZDOhpdgaAj5HFsgrYdsZwUVeS/MBQv/4sJO/0gFS8YbE14NNsDJ93KGT+KAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-05T09:31:53.781752Z"},"content_sha256":"81b5a19be844918845f9ec372ac24701b9e097932b0b674e8f5f6711a4fa26f6","schema_version":"1.0","event_id":"sha256:81b5a19be844918845f9ec372ac24701b9e097932b0b674e8f5f6711a4fa26f6"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:SZA6GJ4EZ4SJNKVQFYCIEEVNKR","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Detecting Deception Attacks on Autonomous Vehicles via Linear Time-Varying Dynamic Watermarking","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"math.OC","authors_text":"Anil Aswani, Arnav Joshi, Matthew Johnson-Roberson, Matthew Porter, Pedro Hespanhol, Ram Vasudevan, Sidhartha Dey","submitted_at":"2020-01-24T18:36:58Z","abstract_excerpt":"Cyber-physical systems (CPS) such as autonomous vehicles rely on both on-board sensors and external communications to estimate their state. Unfortunately, these communications render the system vulnerable to cyber-attacks. While many attack detection methods have begun to address these concerns, they are limited to linear time-invariant (LTI) systems. Though LTI system models provide accurate approximations for CPS such as autonomous vehicles at constant speed and turning radii, they are inaccurate for more complex motions such as lane changes, turns, and changes in velocity. Since these more "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2001.09859","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2001.09859/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T00:36:04Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"UDgpdUfDXxNMSTbb0FUSXlygl2LRAkfH/azo5l0dqnuujxoUnvwE9Qit9s97lFK9EVeirqwojXlpVaAajx0WDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-05T09:31:53.782130Z"},"content_sha256":"8b64bd6955d7f9afba0415d02cad9092a4555a102193a171af0c362121bce466","schema_version":"1.0","event_id":"sha256:8b64bd6955d7f9afba0415d02cad9092a4555a102193a171af0c362121bce466"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/SZA6GJ4EZ4SJNKVQFYCIEEVNKR/bundle.json","state_url":"https://pith.science/pith/SZA6GJ4EZ4SJNKVQFYCIEEVNKR/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/SZA6GJ4EZ4SJNKVQFYCIEEVNKR/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-07-05T09:31:53Z","links":{"resolver":"https://pith.science/pith/SZA6GJ4EZ4SJNKVQFYCIEEVNKR","bundle":"https://pith.science/pith/SZA6GJ4EZ4SJNKVQFYCIEEVNKR/bundle.json","state":"https://pith.science/pith/SZA6GJ4EZ4SJNKVQFYCIEEVNKR/state.json","well_known_bundle":"https://pith.science/.well-known/pith/SZA6GJ4EZ4SJNKVQFYCIEEVNKR/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:SZA6GJ4EZ4SJNKVQFYCIEEVNKR","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"dd9e199ed93823d7cf0126f84599e54d79129efd304cab589083ac77c324bb42","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2020-01-24T18:36:58Z","title_canon_sha256":"66041bbbe97be057d1a8ff5a6c4595b3e8fc174a50993f252a232727c2065c58"},"schema_version":"1.0","source":{"id":"2001.09859","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2001.09859","created_at":"2026-07-05T00:36:04Z"},{"alias_kind":"arxiv_version","alias_value":"2001.09859v1","created_at":"2026-07-05T00:36:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2001.09859","created_at":"2026-07-05T00:36:04Z"},{"alias_kind":"pith_short_12","alias_value":"SZA6GJ4EZ4SJ","created_at":"2026-07-05T00:36:04Z"},{"alias_kind":"pith_short_16","alias_value":"SZA6GJ4EZ4SJNKVQ","created_at":"2026-07-05T00:36:04Z"},{"alias_kind":"pith_short_8","alias_value":"SZA6GJ4E","created_at":"2026-07-05T00:36:04Z"}],"graph_snapshots":[{"event_id":"sha256:8b64bd6955d7f9afba0415d02cad9092a4555a102193a171af0c362121bce466","target":"graph","created_at":"2026-07-05T00:36:04Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2001.09859/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Cyber-physical systems (CPS) such as autonomous vehicles rely on both on-board sensors and external communications to estimate their state. Unfortunately, these communications render the system vulnerable to cyber-attacks. While many attack detection methods have begun to address these concerns, they are limited to linear time-invariant (LTI) systems. Though LTI system models provide accurate approximations for CPS such as autonomous vehicles at constant speed and turning radii, they are inaccurate for more complex motions such as lane changes, turns, and changes in velocity. Since these more ","authors_text":"Anil Aswani, Arnav Joshi, Matthew Johnson-Roberson, Matthew Porter, Pedro Hespanhol, Ram Vasudevan, Sidhartha Dey","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2020-01-24T18:36:58Z","title":"Detecting Deception Attacks on Autonomous Vehicles via Linear Time-Varying Dynamic Watermarking"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2001.09859","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:81b5a19be844918845f9ec372ac24701b9e097932b0b674e8f5f6711a4fa26f6","target":"record","created_at":"2026-07-05T00:36:04Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"dd9e199ed93823d7cf0126f84599e54d79129efd304cab589083ac77c324bb42","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2020-01-24T18:36:58Z","title_canon_sha256":"66041bbbe97be057d1a8ff5a6c4595b3e8fc174a50993f252a232727c2065c58"},"schema_version":"1.0","source":{"id":"2001.09859","kind":"arxiv","version":1}},"canonical_sha256":"9641e32784cf2496aab02e048212ad54787edc8c4639a21933a3613cf5f528c3","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9641e32784cf2496aab02e048212ad54787edc8c4639a21933a3613cf5f528c3","first_computed_at":"2026-07-05T00:36:04.591852Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:36:04.591852Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"eppZlWyWYh+BMMoyvmYCDO9355q1vW5vFJvE/l/zKxBXt+7Zy5NkKQIiRkKgdxVOTLBcsBGhL5ZC2BBz5O1JDw==","signature_status":"signed_v1","signed_at":"2026-07-05T00:36:04.592232Z","signed_message":"canonical_sha256_bytes"},"source_id":"2001.09859","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:81b5a19be844918845f9ec372ac24701b9e097932b0b674e8f5f6711a4fa26f6","sha256:8b64bd6955d7f9afba0415d02cad9092a4555a102193a171af0c362121bce466"],"state_sha256":"7bfaa8dac3d89d83053180449aaa95c335ac88eacfaf04cb71fd5d7ece447202"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"G7OAwgOgIWT2w6euHsOtO1UE3/5gNSha2iFct6BlRXxF0TJXPQp1Y+HbjTrGUSy2V0IVyv3mgi6ledr1xMwaAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-05T09:31:53.784559Z","bundle_sha256":"8006c67fb0d9373b661c6a942fb789ac1e20407cc616fc2fad766a0a9b4f2c8b"}}