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Modern society is increasingly surrounded by, and accustomed to, a wide rangeof Cyber-Physical Systems (CPS), Internet-of-Things (IoT), and smart devices.They often perform safety-critical functions, e.g., personal medical devices,automotive CPS and industrial automation (smart factories). Some devices aresmall, cheap and specialized sensors and/or actuators. They tend to run simplesoftware and operate under control of a more sophisticated central controlunit. The latter is responsible for the decision-making and orchestrating theentire system. If devices are left unprotected, consequences of forged sensorreadings or ignored actuation commands can be catastrophic, particularly, insafety-critical settings. This prompts the following three questions: (1) Howto trust data produced by a simple remote embedded device? and (2) How toascertain that this data was produced via execution of expected software?Furthermore, (3) Is it possible to attain (1) and (2) under the assumption thatall software on the remote device could be modified or compromised?  In this paper we answer these questions by designing, proving security of,and formally verifying, VAPE: Verified Architecture for Proofs of Execution. Tothe best of our knowledge, this is the first of its kind result for low-endembedded systems. Our work has a range of applications, especially, toauthenticated sensing and trustworthy actuation, which are increasinglyrelevant in the context of safety-critical systems. VAPE architecture ispublicly available and our evaluation demonstrates that it incurs low overhead,affordable even for lowest-end embedded devices, e.g., those based on MSP430 orARV ATMega processors.

A Verified Architecture for Proofs of Execution on Remote Devices under Full Software Compromise