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Publications of year 2011
Theses
  1. S. H. Dandach. Topics in Sequential Decision Making: Analysis and Applications. PhD thesis, Mechanical Engineering Department, University of California at Santa Barbara, June 2011. Keyword(s): Decision Making.
    @PhDThesis{ shd:11,
    author = {S. H. Dandach},
    title = {Topics in Sequential Decision Making: Analysis and Applications},
    school = {Mechanical Engineering Department, University of California at Santa Barbara},
    year = 2011,
    month = jun,
    pdf = {http://motion.me.ucsb.edu/pdf/phd-shd-jun11.pdf},
    keywords = {Decision Making} 
    }
    

  2. J. W. Durham. Distributed Coordination for Teams of Robots. PhD thesis, Mechanical Engineering Department, University of California at Santa Barbara, June 2011. Keyword(s): Motion Planning, Robotic Networks.
    @PhDThesis{ jwd:11,
    author = {J. W. Durham},
    title = {Distributed Coordination for Teams of Robots},
    school = {Mechanical Engineering Department, University of California at Santa Barbara},
    year = 2011,
    month = jun,
    pdf = {http://motion.me.ucsb.edu/pdf/phd-jwd-jun11.pdf},
    keywords = {Motion Planning, Robotic Networks} 
    }
    

Journal articles
  1. S. D. Bopardikar, S. L. Smith, and F. Bullo. On Vehicle Placement to Intercept Moving Targets. Automatica, 47(9):2067-2074, 2011. Keyword(s): Vehicle Routing, Robotic Networks.
    @Article{ sdb-sls-fb:09u,
    author = {S. D. Bopardikar and S. L. Smith and F. Bullo},
    title = {On Vehicle Placement to Intercept Moving Targets},
    journal = automatica,
    year = 2011,
    volume = 47,
    pages = {2067-2074},
    doi = "10.1016/j.automatica.2011.06.010",
    number = 9,
    pdf = {http://motion.me.ucsb.edu/pdf/2009u-bsb.pdf},
    keywords = {Vehicle Routing, Robotic Networks} 
    }
    

  2. F. Bullo, E. Frazzoli, M. Pavone, K. Savla, and S. L. Smith. Dynamic Vehicle Routing for Robotic Systems. Proceedings of the IEEE, 99(9):1482-1504, 2011. Keyword(s): Vehicle Routing, Robotic Networks.
    @Article{ fb-ef-mp-ks-sls:10k,
    author = {F. Bullo and E. Frazzoli and M. Pavone and K. Savla and S. L. Smith},
    title = {Dynamic Vehicle Routing for Robotic Systems},
    journal = ieeep,
    year = 2011,
    volume = 99,
    number = 9,
    pages = {1482-1504},
    doi = {10.1109/JPROC.2011.2158181},
    pdf = {http://motion.me.ucsb.edu/pdf/2010k-bfpss.pdf},
    keywords = {Vehicle Routing, Robotic Networks} 
    }
    

  3. F. Dorfler and F. Bullo. On the Critical Coupling for Kuramoto Oscillators. SIAM Journal on Applied Dynamical Systems, 10(3):1070-1099, 2011. Keyword(s): Power Networks, Nonlinear Control.
    @Article{ fd-fb:10w,
    author = {F. Dorfler and F. Bullo},
    title = {On the Critical Coupling for {K}uramoto Oscillators},
    journal = siamads,
    year = 2011,
    volume = 10,
    number = 3,
    pages = {1070-1099},
    doi = {10.1137/10081530X},
    pdf = {http://motion.me.ucsb.edu/pdf/2010w-db.pdf},
    keywords = "Power Networks, Nonlinear Control" 
    }
    

  4. F. Morbidi, F. Bullo, and D. Prattichizzo. Visibility Maintenance via Controlled Invariance for Leader-Follower Vehicle Formations. Automatica, 47(5):1060-1067, 2011.
    @Article{ fm-fb-dp:09l,
    author = {F. Morbidi and F. Bullo and D. Prattichizzo},
    title = {Visibility Maintenance via Controlled Invariance for Leader-Follower Vehicle Formations},
    journal = automatica,
    year = 2011,
    volume = 47,
    number = 5,
    pages = {1060-1067},
    doi = "10.1016/j.automatica.2011.01.065",
    pdf = {http://motion.me.ucsb.edu/pdf/2009l-mbp.pdf} 
    }
    

  5. G. Notarstefano and F. Bullo. Distributed Abstract Optimization via Constraints Consensus: Theory and Applications. IEEE Transactions on Automatic Control, 56(10):2247-2261, 2011. Keyword(s): Distributed Computing.
    @Article{ gn-fb:07z,
    author = {G. Notarstefano and F. Bullo},
    title = {Distributed Abstract Optimization via Constraints Consensus: Theory and Applications},
    journal = tac,
    volume = 56,
    number = 10,
    pages = {2247-2261},
    doi = {10.1109/TAC.2011.2164020},
    year = 2011,
    pdf = {http://motion.me.ucsb.edu/pdf/2007z-nb.pdf},
    keywords = {Distributed Computing} 
    }
    

  6. K. J. Obermeyer, A. Ganguli, and F. Bullo. A Complete Algorithm for Searchlight Scheduling. International Journal of Computational Geometry & Applications, 21(1):101-130, 2011. Keyword(s): Visibility Sensors in Robotics.
    @Article{ kjo-ag-fb:07i,
    author = {K. J. Obermeyer and A. Ganguli and F. Bullo},
    title = {A Complete Algorithm for Searchlight Scheduling},
    journal = ijcga,
    year = 2011,
    volume = 21,
    number = 1,
    pages = {101-130},
    doi = {10.1142/S0218195911003573},
    pdf = {http://motion.me.ucsb.edu/pdf/2007i-ogb.pdf},
    keywords = {Visibility Sensors in Robotics} 
    }
    

  7. K. J. Obermeyer, A. Ganguli, and F. Bullo. Multi-agent Deployment for Visibility Coverage in Polygonal Environments with Holes. International Journal on Robust and Nonlinear Control, 21(12):1467-1492, 2011. Keyword(s): Visibility Sensors in Robotics, Robotic Network.
    @Article{ kjo-ag-fb:08w,
    author = {K. J. Obermeyer and A. Ganguli and F. Bullo},
    title = {Multi-agent Deployment for Visibility Coverage in Polygonal Environments with Holes},
    journal = ijrnc,
    year = 2011,
    volume = 21,
    number = 12,
    pages = {1467-1492},
    doi = {10.1002/rnc.1700},
    pdf = {http://motion.me.ucsb.edu/pdf/2008w-ogb.pdf},
    keywords = {Visibility Sensors in Robotics, Robotic Network} 
    }
    

  8. M. Pavone, A. Arsie, E. Frazzoli, and F. Bullo. Distributed Algorithms for Environment Partitioning in Mobile Robotic Networks. IEEE Transactions on Automatic Control, 56(8):1834-1848, 2011. Keyword(s): Vehicle Routing, Robotic Networks.
    @Article{ mp-aa-ef-fb:08y,
    author = {M. Pavone and A. Arsie and E. Frazzoli and F. Bullo},
    title = {Distributed Algorithms for Environment Partitioning in Mobile Robotic Networks},
    journal = tac,
    volume = 56,
    number = 8,
    year = 2011,
    pages = {1834-1848},
    doi = {10.1109/TAC.2011.2112410},
    pdf = {http://motion.me.ucsb.edu/pdf/2008y-pafb.pdf},
    keywords = {Vehicle Routing, Robotic Networks} 
    }
    

  9. M. Pavone, E. Frazzoli, and F. Bullo. Adaptive and Distributed Algorithms for Vehicle Routing in a Stochastic and Dynamic Environment. IEEE Transactions on Automatic Control, 56(6):1259-1274, 2011. Keyword(s): Vehicle Routing.
    @Article{ mp-ef-fb:09e,
    author = {M. Pavone and E. Frazzoli and F. Bullo},
    title = {Adaptive and Distributed Algorithms for Vehicle Routing in a Stochastic and Dynamic Environment},
    journal = tac,
    year = 2011,
    volume = 56,
    number = 6,
    pages = {1259-1274},
    doi = {10.1109/TAC.2010.2092850},
    pdf = {http://motion.me.ucsb.edu/pdf/2009e-pfb.pdf},
    keywords = "Vehicle Routing" 
    }
    

  10. V. Srivastava, J. Moehlis, and F. Bullo. On Bifurcations in Nonlinear Consensus Networks. Journal of Nonlinear Science, 21(6):875-895, 2011.
    @Article{ vs-jm-fb:10c,
    author = {V. Srivastava and J. Moehlis and F. Bullo},
    title = {On Bifurcations in Nonlinear Consensus Networks},
    journal = jnls,
    year = 2011,
    volume = 21,
    number = 6,
    pages = {875-895},
    doi = {10.1007/s00332-011-9103-4},
    pdf = {http://motion.me.ucsb.edu/pdf/2010c-smb.pdf} 
    }
    

  11. V. Srivastava, K. Plarre, and F. Bullo. Randomized Sensor Selection in Sequential Hypothesis Testing. IEEE Transactions on Signal Processing, 59(5):2342-2354, 2011. Keyword(s): Decision Making.
    @Article{ vs-kp-fb:08p,
    author = {V. Srivastava and K. Plarre and F. Bullo},
    title = {Randomized Sensor Selection in Sequential Hypothesis Testing},
    journal = tsp,
    year = 2011,
    volume = 59,
    number = 5,
    pages = {2342-2354},
    doi = {10.1109/TSP.2011.2106777},
    keywords = {Decision Making},
    pdf = {http://motion.me.ucsb.edu/pdf/2008p-psb.pdf} 
    }
    

Book chapters and conference articles
  1. M. Burger, G. Notarstefano, F. Allgower, and F. Bullo. A distributed simplex algorithm and the multi-agent assignment problem. In American Control Conference, San Francisco, CA, USA, pages 2639-2644, June 2011. Keyword(s): Distributed Computing.
    @InProceedings{ mb-gn-fa-fb:10q,
    author = {M. Burger and G. Notarstefano and F. Allgower and F. Bullo},
    title = {A distributed simplex algorithm and the multi-agent assignment problem},
    booktitle = acc,
    year = 2011,
    address = {San Francisco, CA, USA},
    month = jun,
    pages = {2639-2644},
    doi = {10.1109/ACC.2011.5990932},
    pdf = {http://motion.me.ucsb.edu/pdf/2010q-bnab.pdf},
    keywords = {Distributed Computing} 
    }
    

  2. L. Carlone, V. Srivastava, F. Bullo, and G. C. Calafiore. A distributed algorithm for random convex programming. In Int. Conf. on Network Games, Control and Optimization (NetGCooP), Paris, France, pages 1-7, October 2011. Keyword(s): Distributed Computing.
    @InProceedings{ lc-vs-fb-gcc:11u,
    author = {L. Carlone and V. Srivastava and F. Bullo and G. C. Calafiore},
    title = {A distributed algorithm for random convex programming},
    booktitle = "Int.\ Conf.\ on Network Games, Control and Optimization (NetGCooP)",
    address = "Paris, France",
    year = 2011,
    month = oct,
    pages = {1-7},
    pdf = {http://motion.me.ucsb.edu/pdf/2011u-csbc.pdf},
    keywords = "Distributed Computing" 
    }
    

  3. F. Dorfler and F. Bullo. On the critical coupling strength for Kuramoto oscillators. In American Control Conference, San Francisco, CA, USA, pages 3239-3244, June 2011. Keyword(s): Power Networks.
    @InProceedings{ fd-fb:10t,
    author = {F. Dorfler and F. Bullo},
    title = {On the critical coupling strength for {K}uramoto oscillators},
    booktitle = acc,
    year = 2011,
    address = {San Francisco, CA, USA},
    month = jun,
    pages = {3239-3244},
    doi = {10.1109/ACC.2011.5991303},
    pdf = {http://motion.me.ucsb.edu/pdf/2010t-db.pdf},
    keywords = "Power Networks" 
    }
    

  4. F. Dorfler and F. Bullo. Topological equivalence of a structure-preserving power network model and a non-uniform Kuramoto model of coupled oscillators. In IEEE Conf. on Decision and Control and European Control Conference, Orlando, FL, USA, pages 7099-7104, December 2011.
    @InProceedings{ fd-fb:11j,
    author = {F. Dorfler and F. Bullo},
    title = {Topological equivalence of a structure-preserving power network model and a non-uniform {K}uramoto model of coupled oscillators},
    booktitle = cdcecc,
    year = 2011,
    address = {Orlando, FL, USA},
    month = dec,
    pages = {7099-7104},
    doi = {10.1109/CDC.2011.6160337},
    pdf = {http://motion.me.ucsb.edu/pdf/2011j-db.pdf} 
    }
    

  5. F. Dorfler, F. Pasqualetti, and F. Bullo. Distributed detection of cyber-physical attacks in power networks: A waveform relaxation approach. In Allerton Conf. on Communications, Control and Computing, Allerton, IL, USA, pages 1486-1491, September 2011. Keyword(s): Secure Control Systems.
    @InProceedings{ fd-fp-fb:11t,
    author = {F. Dorfler and F. Pasqualetti and F. Bullo},
    title = {Distributed detection of cyber-physical attacks in power networks: {A} waveform relaxation approach},
    booktitle = allerton,
    address = {Allerton, IL, USA},
    year = 2011,
    month = sep,
    pages = {1486-1491},
    doi = {10.1109/Allerton.2011.6120343},
    pdf = {http://motion.me.ucsb.edu/pdf/2011t-dpb.pdf},
    keywords = {Secure Control Systems} 
    }
    

  6. J. W. Durham, R. Carli, P. Frasca, and F. Bullo. Dynamic partitioning and coverage control with asynchronous one-to-base-station communication. In IEEE Conf. on Decision and Control and European Control Conference, Orlando, FL, USA, pages 5589-5594, December 2011.
    @InProceedings{ jwd-rc-pf-fb:11e,
    author = {J. W. Durham and R. Carli and P. Frasca and F. Bullo},
    title = {Dynamic partitioning and coverage control with asynchronous one-to-base-station communication},
    booktitle = cdcecc,
    year = 2011,
    address = {Orlando, FL, USA},
    month = dec,
    pages = {5589-5594},
    doi = {10.1109/CDC.2011.6161004},
    pdf = {http://motion.me.ucsb.edu/pdf/2011e-dcfb.pdf} 
    }
    

  7. A. MirTabatabaei and F. Bullo. On opinion dynamics in heterogeneous networks. In American Control Conference, San Francisco, CA, USA, pages 2807-2812, June 2011.
    @InProceedings{ am-fb:10s,
    author = {A. MirTabatabaei and F. Bullo},
    title = {On opinion dynamics in heterogeneous networks},
    booktitle = acc,
    year = 2011,
    address = {San Francisco, CA, USA},
    month = jun,
    pages = {2807-2812},
    doi = {10.1109/ACC.2011.5991474},
    pdf = {http://motion.me.ucsb.edu/pdf/2010s-mb.pdf} 
    }
    

  8. A. MirTabatabaei and F. Bullo. Opinion dynamics in heterogeneous networks: Convergence conjectures and theorems. In Interdisciplinary Workshop on Information and Decision in Social Networks, Boston, MA, USA, May 2011.
    @InProceedings{ am-fb:10-nonumber,
    author = {A. MirTabatabaei and F. Bullo},
    title = {Opinion dynamics in heterogeneous networks: {C}onvergence conjectures and theorems},
    booktitle = {Interdisciplinary Workshop on Information and Decision in Social Networks},
    year = 2011,
    address = {Boston, MA, USA},
    month = may 
    }
    

  9. A. MirTabatabaei, F. Bullo, and M. Khammash. Flow cytometry based state aggregation of a stochastic model of protein expression. In IEEE Conf. on Decision and Control and European Control Conference, Orlando, FL, USA, pages 4383-4388, December 2011.
    @InProceedings{ am-fb-mk:11p,
    author = {A. MirTabatabaei and F. Bullo and M. Khammash},
    title = {Flow cytometry based state aggregation of a stochastic model of protein expression},
    booktitle = cdcecc,
    year = 2011,
    address = {Orlando, FL, USA},
    month = dec,
    pages = {4383-4388},
    doi = {10.1109/CDC.2011.6161393},
    pdf = {http://motion.me.ucsb.edu/pdf/2011p-mbk.pdf} 
    }
    

  10. G. Orosz, J. Moehlis, and F. Bullo. Delayed car-following dynamics for human and robotic drivers. In ASME Int. Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Washington, DC, USA, pages 529-538, August 2011. Note: Paper no. DETC2011/MECH-48829.
    @InProceedings{ go-jm-fb:11o,
    author = {G. Orosz and J. Moehlis and F. Bullo},
    title = {Delayed car-following dynamics for human and robotic drivers},
    booktitle = {ASME Int. Design Engineering Technical Conferences \& Computers and Information in Engineering Conference},
    address = {Washington, DC, USA},
    month = aug,
    year = 2011,
    pages = {529-538},
    note = {Paper no.\ DETC2011/MECH-48829},
    pdf = {http://motion.me.ucsb.edu/pdf/2011o-omb.pdf} 
    }
    

  11. G. Orosz, J. Moehlis, F. Bullo, and G. Stépán. Dynamics of delayed car-following models: human vs. robotic drivers. In European Nonlinear Dynamics Conference (ENOC), Rome, Italy, July 2011.
    @InProceedings{ go-jm-fb-gs:11w,
    author = {G. Orosz and J. Moehlis and F. Bullo and G. St\'ep\'an},
    title = {Dynamics of delayed car-following models: human vs.\ robotic drivers},
    booktitle = {European Nonlinear Dynamics Conference (ENOC)},
    address = {Rome, Italy},
    month = jul,
    year = 2011,
    pdf = {http://motion.me.ucsb.edu/pdf/2011w-ombs.pdf} 
    }
    

  12. F. Pasqualetti, A. Bicchi, and F. Bullo. A graph-theoretical characterization of power network vulnerabilities. In American Control Conference, San Francisco, CA, USA, pages 3918-3923, June 2011. Keyword(s): Power Networks, Secure Control Systems.
    @InProceedings{ fp-ab-fb:10u,
    author = {F. Pasqualetti and A. Bicchi and F. Bullo},
    title = {A graph-theoretical characterization of power network vulnerabilities},
    booktitle = acc,
    year = 2011,
    address = {San Francisco, CA, USA},
    month = jun,
    pages = {3918-3923},
    doi = {10.1109/ACC.2011.5991344},
    pdf = {http://motion.me.ucsb.edu/pdf/2010u-pbb.pdf},
    keywords = {Power Networks, Secure Control Systems} 
    }
    

  13. F. Pasqualetti, R. Carli, and F. Bullo. A distributed method for state estimation and false data detection in power networks. In IEEE Int. Conf. on Smart Grid Communications, Brussels, Belgium, pages 469-474, October 2011. Keyword(s): Power Networks, Distributed Computing, Secure Control Systems.
    @InProceedings{ fp-rc-fb:11q,
    author = {F. Pasqualetti and R. Carli and F. Bullo},
    title = {A distributed method for state estimation and false data detection in power networks},
    booktitle = smartgridcomm,
    address = {Brussels, Belgium},
    month = oct,
    year = 2011,
    pages = {469-474},
    doi = {10.1109/SmartGridComm.2011.6102368},
    pdf = {http://motion.me.ucsb.edu/pdf/2011q-pcb.pdf},
    keywords = {Power Networks, Distributed Computing, Secure Control Systems} 
    }
    

  14. F. Pasqualetti, F. Dorfler, and F. Bullo. Cyber-physical attacks in power networks: Models, fundamental limitations and monitor design. In IEEE Conf. on Decision and Control and European Control Conference, Orlando, FL, USA, pages 2195-2201, December 2011. Keyword(s): Power Networks, Secure Control Systems.
    @InProceedings{ fp-fd-fb:11i,
    author = {F. Pasqualetti and F. Dorfler and F. Bullo},
    title = {Cyber-physical attacks in power networks: {M}odels, fundamental limitations and monitor design},
    booktitle = cdcecc,
    year = 2011,
    address = {Orlando, FL, USA},
    month = dec,
    pages = {2195-2201},
    doi = {10.1109/CDC.2011.6160641},
    pdf = {http://motion.me.ucsb.edu/pdf/2011i-pdb.pdf},
    keywords = {Power Networks, Secure Control Systems} 
    }
    

  15. V. Srivastava and F. Bullo. Hybrid combinatorial optimization: Sample problems and algorithms. In IEEE Conf. on Decision and Control and European Control Conference, Orlando, FL, USA, pages 7212-7217, December 2011.
    @InProceedings{ vs-fb:11n,
    author = {V. Srivastava and F. Bullo},
    title = {Hybrid combinatorial optimization: {S}ample problems and algorithms},
    booktitle = cdcecc,
    year = 2011,
    address = {Orlando, FL, USA},
    month = dec,
    pages = {7212-7217},
    doi = {10.1109/CDC.2011.6160651},
    pdf = {http://motion.me.ucsb.edu/pdf/2011n-sb.pdf} 
    }
    

  16. V. Srivastava and F. Bullo. Stochastic surveillance strategies for spatial quickest detection. In IEEE Conf. on Decision and Control and European Control Conference, Orlando, FL, USA, pages 83-88, December 2011. Keyword(s): Decision Making.
    @InProceedings{ vs-fb:11m,
    author = {V. Srivastava and F. Bullo},
    title = {Stochastic surveillance strategies for spatial quickest detection},
    booktitle = cdcecc,
    year = 2011,
    address = {Orlando, FL, USA},
    month = dec,
    pages = {83-88},
    doi = {10.1109/CDC.2011.6160479},
    pdf = {http://motion.me.ucsb.edu/pdf/2011m-sb.pdf},
    keywords = "Decision Making" 
    }
    

  17. V. Srivastava, R. Carli, F. Bullo, and C. Langbort. Task release control for decision making queues. In American Control Conference, San Francisco, CA, USA, pages 1855-1860, June 2011. Keyword(s): Mixed Teams, Decision Making.
    @InProceedings{ vb-rc-fb-cl:10a,
    author = {V. Srivastava and R. Carli and F. Bullo and C. Langbort},
    title = {Task release control for decision making queues},
    booktitle = acc,
    year = 2011,
    address = {San Francisco, CA, USA},
    month = jun,
    pages = {1855-1860},
    doi = {10.1109/ACC.2011.5991209},
    pdf = {http://motion.me.ucsb.edu/pdf/2010a-scbl.pdf},
    keywords = "Mixed Teams, Decision Making" 
    }
    

  18. V. Srivastava, K. Plarre, and F. Bullo. Adaptive sensor selection in sequential hypothesis testing. In IEEE Conf. on Decision and Control and European Control Conference, Orlando, FL, USA, pages 6284-6289, December 2011. Keyword(s): Decision Making.
    @InProceedings{ vs-kp-fb:10l,
    author = {V. Srivastava and K. Plarre and F. Bullo},
    title = {Adaptive sensor selection in sequential hypothesis testing},
    booktitle = cdcecc,
    year = 2011,
    address = {Orlando, FL, USA},
    month = dec,
    pages = {6284-6289},
    doi = {10.1109/CDC.2011.6160483},
    pdf = {http://motion.me.ucsb.edu/pdf/2010l-spb.pdf},
    keywords = "Decision Making" 
    }
    

Miscellaneous
  1. M. Spindler. Distributed Multi-Camera Synchronization for Smart-Intruder Detection. Master's thesis, University of Stuttgart, September 2011. Keyword(s): Camera Networks.
    @MastersThesis{ ms:11,
    author = {M. Spindler},
    title = {Distributed Multi-Camera Synchronization for Smart-Intruder Detection},
    school = {University of Stuttgart},
    year = 2011,
    month = sep,
    keywords = {Camera Networks},
    pdf = {http://motion.me.ucsb.edu/pdf/ms-spindler-sep11.pdf} 
    }
    

  2. A. Mirtabatabaei and F. Bullo. Opinion Dynamics in Heterogeneous Networks. Poster, June 2011. Note: Presented at the Workshop on Information and Decision in Social Networks.
    @Misc{ am-fbposter:11,
    author = {A. Mirtabatabaei and F. Bullo},
    howpublished = {Poster},
    month = jun,
    note = {Presented at the Workshop on Information and Decision in Social Networks},
    title = {Opinion Dynamics in Heterogeneous Networks},
    year = 2011 
    }
    

  3. F. Pasqualetti, F. Dorfler, and F. Bullo. Cyber-Physical Attacks in Power Networks: Models, Fundamental Limitations and Monitor Design, September 2011. Note: Available at http://arxiv.org/abs/1103.2795.
    @Misc{ fp-fd-fb:11-arxiv,
    author = {Pasqualetti, F. and Dorfler, F. and Bullo, F.},
    title = {Cyber-Physical Attacks in Power Networks: Models, Fundamental Limitations and Monitor Design},
    note = {Available at \ {http://arxiv.org/abs/1103.2795}},
    pdf = {http://arxiv.org/pdf/1010.1549v1},
    month = sep,
    year = 2011 
    }
    


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