New updated version of the Google-official Android Security Model paper: https://arxiv.org/abs/1904.05572.
This new version includes updates for clarity, documentation of changes to Android from the 2019 version, and more!
The Android Platform Security Model (2023)

Android is the most widely deployed end-user focused operating system. With its growing set of use cases encompassing communication, navigation, media consumption, entertainment, finance, health, and access to sensors, actuators, cameras, or microphones, its underlying security model needs to address a host of practical threats in a wide variety of scenarios while being useful to non-security experts. To support this flexibility, Android's security model must strike a difficult balance between security, privacy, and usability for end users; provide assurances for app developers; and maintain system performance under tight hardware constraints. This paper aims to both document the assumed threat model and discuss its implications, with a focus on the ecosystem context in which Android exists. We analyze how different security measures in past and current Android implementations work together to mitigate these threats, and, where there are special cases in applying the security model in practice; we discuss these deliberate deviations and examine their impact.

arXiv.org

Fun story: We had a bunch of problems submitting this paper to conferences for peer review.

The reason? Reviewers had (often incorrect) beliefs about how Android evolved, and suggested that we cite or include other "fundamental" work that had apparently influenced Android's evolution and design.

The only problem here was that folks from our team -- Google's Android Security Team -- had never heard of any of the papers the reviewers cited. 🤷