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Our main insight is that due to model inaccuracies, control-based intrusion detection techniques have a high detection threshold to avoid false positives. ... We demonstrate the attacks on eight RV systems including three real vehicles, in the presence of an Intrusion Detection System (IDS) using control-based techniques to monitor RV's runtime behavior and ... time-event invariants to detect anomalies. CORGIDS  derives correlations between physical properties using hidden Markov models and uses these correlations as invariants. ...doi:10.14288/1.0394081 fatcat:6lzy3ptfo5cjzprwj4c4evxw2m