@article{martin2018quantitative,
  title     = {Quantitative analysis of security in distributed robotic frameworks},
  volume    = {100},
  issn      = {0921-8890},
  doi       = {10.1016/j.robot.2017.11.002},
  journal   = {Robotics and Autonomous Systems},
  publisher = {Elsevier BV},
  author    = {Martín, Francisco and Soriano, Enrique and Cañas, José M.},
  year      = {2018},
  month     = {Feb},
  pages     = {95--107}
}