- Received February 5, 2010.
- Accepted February 25, 2010.
- Published online March 24, 2010.
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© 2010 The Royal Society
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- 1Department of Computer Science, University of California, Irvine, CA 92697-3435, USA
- 2Department of Computing, Imperial College, London SW7 2AZ, UK
- 3Department of Mathematics, Imperial College, London SW7 2AZ, UK
- *Author for correspondence ( ).