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Architecture Mode

SAFE Only

ZK-SNARK verification, Bloom filters, recipient binding

CDS Baseline

Traditional guard with blocking/downgrading

SAFE vs CDS

Side-by-side comparison of both architectures

Updates per Second50 Hz

Track update rate for bandwidth/compute calculations

Scenario Type

Benign

All honest partners, clean tracks

Mixed Quality

Heterogeneous fidelity, some attacks

Replay / Stale

35% of tracks are valid-but-stale replays

Data Incest

Fusion loops trigger Bloom filter detection

Adversarial

Coordinated attack: proof spoofing, replays, outliers, and incest

Degraded

Reduced sensor fidelity with mixed attacks

Coalition Topology

3-Node Chain

Linear A → B → C topology

5-Node Chain

Extended linear A → B → C → D → E topology

Mesh Network

Fully connected 5-node mesh

Ring Topology

Circular 4-node topology with feedback

Authorization Mix

All nodes at SECRET level

Seed Configuration

Seeds per scenario

Random seeds will be generated (1-20)

Tracks per Seed

10-500 tracks per seed

RQ3: Dissemination & Lineage