Danny Bickson Harel Avissar Danny Dolev Stephen P. Boyd Alexander T. Ihler Dror Baron Distributed Fault Identification via Non-parametric Belief Propagation http://arxiv.org/abs/0908.2005 2009 CoRR abs/0908.2005 db/journals/corr/corr0908.html#abs-0908-2005 informal publication