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Ferrari, Riccardo M.G. (author), Teixeira, Andre M.H. (author)This article addresses the detection of stealthy attacks on sensor measurements. Inspired in authentication schemes with weak cryptographic guarantees, we propose a watermarking approach to validate the data and its source. In particular, we propose a multiplicative scheme, where the sensor outputs are watermarked by a bank of filters, then...journal article 2021