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Combining Detection and Verification for Secure Vehicular Cooperation Groups

Coordinated vehicles for intelligent traffic management are instances of cyber-physical systems with strict correctness requirements. A key building block for these systems is the ability to establish a group membership view that accurately captures the locations of all vehicles in a particular area of interest. In this article, we formally define view correctness in terms of soundness and completeness and establish theoretical bounds for the ability to verify view correctness. Moreover, we present an architecture for an online view detection and verification process that uses the information available locally to a vehicle. This architecture uses an SMT solver to automatically prove view correctness (if possible). We evaluate this architecture using both synthetic and trace-based scenarios and demonstrate that the ability to verify view correctness is on par with the ability to detect view violations.