Dynamic Network Models
Dynamic Network Models
Abstract
We analyze random networks that change over time. First we analyze a dynamic Erdős-Renyi
model, whose edges change over time. We describe its stationary distribution, its convergence
thereto, and the SI contact process on the network, which has relevance for connectivity and
the spread of infections. Second, we analyze the effect of node turnover, when nodes enter and
leave the network, which has relevance for network models incorporating births, deaths, aging,
and other demographic factors.
1 Introduction
We present here a theoretical analysis of some dynamic models of undirected random networks.
We have two major contributions in this paper. First, we analyze a dynamic Erdős-Renyi model,
in particular its stationary distribution, its convergence thereto, and the SI contact process on the
network, which has relevance for connectivity and the spread of infections. Second, we analyze the
effect of node turnover (when nodes enter and leave the network) on dynamic Erdős-Renyi networks
and preferential attachment networks, which has relevance for network models incorporating births,
deaths, aging, and other demographic factors. By analyzing a dynamic network model, this work
brings together two streams of literature, one in the social sciences that focuses on the statistical
problem of fitting dynamic network models to data and one in mathematics and physics that focuses
on analyzing the properties of static networks and processes on them. In the next section we present
an overview of the existing literature. In section 3 we analyze the dynamic Erdős-Renyi G(n, p)
1
2 Literature
Work on dynamic random graphs in the social sciences dates back to 1977 [16, 31]. In [16], Holland
and Leinhardt describe a general framework for modeling the evolution of a graph as a continuous
time Markov chain where one edge changes at a time. They focus on directed networks and a
simplification of their simplest model is essentially the dynamic Erdős-Renyi model we discuss in the
next section, which is sometimes referred to as the “binomial” model. The driving problem in this
stream of literature is to develop and parameterize models that can describe and explain longitudinal
social network data (i.e., data at multiple points in time of the network, the characteristics of both
the nodes and links). Thus this literature has focused its attention on developing models with
sophisticated dependence structure and the statistical tools necessary to fit them to data. See [28]
for a current snapshot of the field and [27] for a more thorough overview. Our work complements
this stream of research by using similar models but instead of examining statistical questions we
focus on analytical aspects such as how long will it take an infection to spread through the entire
Node Turnover In section 4 focuses specifically on node turnover. In the social science literature,
[17] has looked at the simulation and statistical aspects of a similar problem. They extend the
popular and flexible stochastic actor-oriented framework to incorporate changing node sets. Our
contribution is to analyze the connection between the turnover process and the structural properties
Analysis of static random graphs There is a large literature in physics and math analyzing
static random graphs and processes on them. Two of the most popular focuses of this line of
work are Erdős-Renyi networks and preferential attachment models. Rigorous results for Erdős-
Renyi networks date back to the 1959 paper by Gilbert [13] while preferential attachment models
were popularized by Barabási and Alberts in 1999 [1]. In addition rigorous probabilistic analyses,
approximations are popular in this stream of literature as they greatly increase the range of models
2
that can be analyzed. Of particular note are mean-field approximations that describe the network
as a set of differential equations tracking over time the number of nodes with certain characteristics
such as having a certain degree, being infected, or a combination of the two. The books [9] and
[3] provide an overview of this stream of literature with the former more mathematically rigorous
works is due to ability to prove many results about the size of their connected components [10].
These results can be interpreted as the final epidemic size of an SI contact process. The mean-
where x is the fraction of infected nodes, β is the rate of infection across each edge, and d is the
average degree. However, we are not aware other, more rigorous work characterizing the SI con-
tact process on Erdős-Renyi networks. The related SIS contact process has been studied using a
models and small-world networks, where the analysis for small-world networks applies just as well
to Erdős-Renyi networks.
Dynamic Erdős-Renyi model The only previous analysis of the dynamic Erdős-Renyi model
we are aware of is [12]. In 2009, [12] laments: “ ‘What is the dynamic analog of the Erdős-Rnyi
random graph model G(n, p)?’ No one appears to have defined such a thing[.]” The authors then
model provides the authors a more realistic, time-correlated network noise structure for tracking
threatening behavior in networks. Their analysis limits itself to noting that the graph at any fixed
time is an Erdős-Rnyi graph and likewise for the union or intersection of the graph over an interval
of time. We significantly expand upon this analysis to the extent that we suggest that the analytical
Dynamic Random Geometric Graphs A similar analysis to ours for dynamic Erdős-Renyi
graphs has been made for dynamic random geometric graphs [22], which have important applica-
3
tions for mobile ad-hoc networks. These are graphs where the vertices (the communication nodes)
are embedded in Rd and their locations follow random walks. Edges exist between any two vertices
whose distance is below a threshold (i.e., the nodes can communicate). The authors determine
asymptotics for the length of the periods where the graph is connected and the length of time
Preferential Attachment One can also view the preferential attachment model and its varia-
tions as dynamic random graphs because in the preferential attachment model nodes and edges are
added over time. See [4, 5] for two recent surveys. These models differ in three significant ways
from the dynamic Erdős-Renyi model we study: they are in discrete time; the number of nodes
and edges grows without bound (even in those models that allow for node and edge removal);
and most importantly these models focus on the (asymptotic) structure of the resulting (infinite)
graph and view the dynamics as merely a means of generating that structure. We see the dynamic
Erdős-Renyi model, with its finite size, as being uniquely suited for focusing on the dynamics of
Pair Model The above exhausts the mathematically rigorous analysis of dynamic random graphs
we were able to find. We now survey the work using some approximations to analyze dynamic
random graphs. In addition to the flexible mean-field approximations, a pair model has been
to analyze dynamic networks. In fact, the first analytical approximation for disease spread on a
dynamic network is the pair-model [8]. This is an ODE model that goes beyond the standard mean-
field models by having dependent variables for the number of single infected males, females, and
pairs (one each for the kind where only the male is infected, only the female, and both partners).
It approximates a dynamic network of constant size by allowing partnerships to form and dissolve.
More recently, this approach has been used in the physics literature to approximate stylized disease
Rewiring While the network dynamics studied with pair-models and mean-field approximations
include models with edges appearing and disappearing (the previously mentioned [8, 23]) or with
two pairs of nodes swapping edges (the previously mentioned [30]), they most often use a “rewiring”
network dynamic. Rewiring involves changing one endpoint of an edge at a time and is motivated
4
by the process generating the long-range links of a small-world network. While disease spread on
a dynamic network with rewiring has sometimes been analyzed using a pair model approximation
[15], it is most often studied by a combination of simulation and the mean-field approximation. The
models range from ones where the detachment and attachment probabilities of rewiring depend on
node degree [20, 25] and centrality [11] to models where the rewiring is based on the state of the node
(e.g., preferentially breaking links between susceptible and infected nodes) [14, 15, 24, 26, 29]. These
not know of any work analyzing the dynamic Erdős-Renyi model using a mean-field approximation
or a pair model despite it being amenable to these approaches and it being simpler than most of
the models mentioned previously (with possibly the exception of [8]). Instead of using an ODE
approximation that elides the network structure (such as a mean-field approximation or a pair
Node-turnover Our model of node turn-over finds a power-law degree distribution and is an
extension of either the dynamic Erdős-Renyi model or the preferential attachment model. Our
model has similarities to variations of the preferential attachment model which also allow for node
removals. The most similar are the Cooper-Frieze-Vera [7] and Chung-Lu [6] models. As in our
model (the one extending the preferential attachment model), these models add edges to new nodes
based on a preferential attachment rule and delete nodes uniformly at random. (These models also
allow for some events other than node addition or removal.) Nevertheless, these models, like all
the variations of preferential attachment models we are aware of and all the dynamic models in
the survey [5], differ fundamentally from our model because their number of nodes goes to infinity,
while in ours the number remains roughly constant, which we believe is helpful for many modeling
applications. The only analysis of network models with node turnover whose number of nodes does
not go to infinity is recent work in 2010 by Christel Kamp [18, 19] who simulates a mean-field
approximation of a fatal disease spreading on a network. We do not look at disease spread with
our model of node turn-over and focus more on deriving analytical results.
5
3 Dynamic G(n, p) networks
Definition and Stationary Distribution In our model we suppose that we have n nodes and
we let eij (t) equal 1 if there is an edge between nodes i and j and 0 otherwise.
We first present a model extending the simplest random networks, the Erdős-Renyi G(n, p)
graphs. As in those graphs, we assume the state of each potential edge, eij , is independent, but
instead of each edge being a Bernoulli random variable, eij (t) is a telegraph process, a 2-state
CTMC with rate λ from 0 → 1 and rate µ from 1 → 0. The rate at which this CTMC completes a
cycle is α := µλ/(µ + λ) and its stationary distribution is ēij ∼ Bernoulli(p) where p := λ/(µ + λ).
Thus the stationary distribution of the graph is a G(n, p) graph. We will sometimes denote this
dynamic graph as G(n, λ, µ) or G(n, p, α). Obviously, α = 0 is the case of a static G(n, p) graph.
Note that µ = α/p and λ = α/(1 − p). We will let d := (n − 1)p denote the expected degree of any
node in steady-state.
Convergence to Stationary Distribution The distribution of the edge state approaches the
α
stationary distribution exponentially at a rate λ + µ = p(1−p) . Specifically, Pr[eij (t) = 1] −
p = (Pr[eij (0) = 1] − p)e−(λ+µ)t . Now let’s consider the distribution of k edges, Ek (t) :=
(e1 (t), . . . , ek (t)), converging to their stationary distribution, Ēk := (ē1 , . . . , ēk ). We will con-
sider the case with the slowest convergence where p ≤ 1/2 and for every edge ei (0) = 1. This will
simplify the calculations without affecting the rates of convergence. A sensible measure of conver-
gence is the total-variation distance and the related mixing time. The total-variation between any
two measures ξ and ν is the largest difference across all events: T V (ξ, ν) := supE |ξ(E) − ν(E)|.
The mixing time τ is the time until T V (Ek (t), Ēk ) = 1/4. The mixing times below are fast. The
1
Theorem 1. Suppose that k → ∞. If p constant, then τ ∼ 2(λ+µ) log k and if p := c/k for some
c log k
c, then τ ∼ αk .
SI Contact Process Now let’s look at the SI contact process with a rate of infection β across
each edge. This is sometimes called the “contagion” or “diffusion” process. Two important special
6
1. β = ∞. This case is a dynamic analog of graph connectivity. We will discuss this in detail
subsequently.
For the SI process we want to look at the counting process X(t) counting the number of infected
nodes. We’re interested in both the distribution of X(t) and it’s hitting times, τk := inf{t : X(t) ≥
k}. There is a simple time-scaling: X(rt) and τk /r are equivalent to X 0 (t) and τk0 respectively,
with α0 = rα and β 0 = rβ. We assume that at time 0 we’re in steady-state, we start with a G(n, p)
graph.
3.1 Case β = ∞
This case is a dynamic analog of graph connectivity. Recall the following theorem about connectivity
of Erdős-Renyi graphs.
Theorem 2 (Theorem 2.8.1 in [9]). As n → ∞, the probability G(n, p) with p = a log n/n is
lower bound on τn . This graph has λ = α and µ = ∞. By ignoring the removal of edges we
obtain a lower bound: setting µ = 0 instead of µ = ∞. Thus the following theorem implies that
Upper bound for τn We’re going to use coupling and create a Markov birth process X 0 (t) such
that X 0 (t) ≤ X(t). We assume X 0 (0) = 0, that initially there are no edges. Then we assume only
one edge is added at a time, X 0 transitions from k to k + 1 at rate λk(n − k). Thus,
k−1
X 1 1
E[τk ] ≤ = (Hk−1 + Hn−1 − Hn−k ) (1)
λi(n − i) λn
i=1
Pk
where Hk = i=1 1/i is the kth harmonic number. Since Hk ≤ log k + 1,
1 nk
E[τk ] ≤ 2 + log (2)
λn n−k
7
and E[τn ] ≤ 2(1 + log(n − 1))/(λn). Asymptotically, Hn ∼ log n and thus, E[τn ] 2 log(n)/(λn).
Note that this differs by a factor of two from the above lower bound for the case of p = 0.
For the case of β < ∞ we resort to asymptotics as n → ∞. Proofs are in the appendix.
We start by deriving an upper bound on the time to infect a node, E[τm+1 − τm ]. To bound
this from above we assume that all edges in the network disappear. Thus there are N := m(n − m)
potential edges between infected and susceptible nodes. We build a Markov chain with N + 2 states
(0, . . . , N for the number of potential edges and an absorbing state S representing a new infection
occurring). Let tk be the expected time to reach the absorbing state when starting in state k. We
would like to determine t0 , the expected time to hitting the absorbing state S when starting in state
0, since E[τm+1 − τm ] ≤ t0 . The transition rates in state k are as follows: since there are k edges
that are currently active, we’re moving towards the absorbing state at a rate kβ. We’re moving
towards the state k − 1 at a rate kµ. We’re moving towards the state k + 1 at a rate (N − k)λ.
p
Lemma 4. For the above Markov chain, t0 ∼ π/(2βλN ) as N → ∞.
Thus
k−1 p k−1
X π/(2βλ) p X 1
E[τk ] p = π/(2βλ) p (3)
m=1 m (n − m) m=1 m (n − m)
Z k/n
1
dt = π/(2βλ) cos−1 (1 − 2k/n).
p p
E[τk ] π/(2βλ) p (4)
0 t (1 − t)
p
Hence E[τn ] π 3 /(2βλ) and does not depend on n.
p
Theorem 5. τn 2 log n/(βλn) in probability as n → ∞.
The fact that our bounds on τn do not depend on µ is reflected in figure 1 where the dependence
8
Varying h Varying µ Varying `
100 100 100
# of infected nodes
# of infected nodes
# of infected nodes
50 50 50
h = 0.01 µ = 0.09 ` = 0.015
h = 0.003 µ = 0.03 ` = 0.045
h = 0.03 µ = 0.12 ` = 0.005
0 0 0
0 50 100 150 0 20 40 60 0 50 100 150
time time time
Figure 1: The number of number of infected nodes over time as we vary parameters of a dynamic
Erdős-Renyi network with 100 nodes and default parameters µ = 0.01, λ = 0.01, and β = 0.015.
4 Node Turnover
Another way a network may change is having nodes enter and leave the network. This may be due
to birth, death, emigration, or immigration. When a node leaves, all the edges connected to that
node also disappear. We will now let N (t) be the random process counting the number of nodes in
Consider a dynamic Erdős-Renyi network and suppose each node has a constant hazard rate of 1 of
leaving the network. Then the network is still a Erdős-Renyi graph after the node leaves. Often it
will be useful to have a network whose size is roughly constant. Thus we will assume that there is
a Poisson process with rate n of new nodes entering the network. When a node enters the network,
it initially has no edges. Thus it is not quite an Erdős-Renyi graph after this event. However, the
potential edges connected to the new nodes will soon be in steady state because their mixing time
The number of nodes in the network, N (t) is a birth-death Markov process with birth rate n
and death rate N (t). The steady-state distribution is Poisson(n). A Poisson process with rate n
describes the births. Each node’s life is exponentially distributed with rate 1. Thus the deaths
occur in steady-state as a Poisson process with rate n. The entire process is time reversible.
Now consider a fixed time t or a time independent of N (·). Due to the reversibility, each
individual’s age is exponentially distributed with rate 1. A node selected uniformly at random will
9
have Poisson(n − 1) neighbors. The time T that any pair of nodes exists is an exponential random
variable with rate 2. Thus the probability that an edge exists is p0 := p(1 − E[exp(−(λ + µ)T )]) =
p(1 − (λ + µ + 1)−1 ). Thus at time t we have a G(n, p) graph but with p = p0 , a slightly smaller
edge probability.
Preferential attachment is often modeled as a process adding nodes one at a time to the network,
leading the network to grow without bound. To model a changing network of roughly constant
size, n, we will suppose that nodes are removed at the same rate as they are added. Our analysis
won’t distinguish between different ways of adding nodes at a rate of 1 per unit time (e.g., one
each discrete time step; Poisson(1) each discrete time step; or with a Poisson process in continuous
time). A key question is whether the degree distribution of the resulting dynamic network still
follows a power-law. Note that the static (infinite) preferential attachment process leads to a
degree distribution scaling as k −3 . We show that depending on the details of node removal we can
Following the original preferential attachment model, we assume that each new node creates m
links where each link connects the new node to a random node with a probability proportional to
the degree of the node. In the long-term, the total number of edges in the network is nm. The sum
of degrees of the nodes is twice that. This will remain roughly constant. Suppose k(t) is the degree
of a node of age t. Using an argument similar to one in [2], we treat k(t) as a continuous variable.
Then, k(0) = m and k 0 (t) = mk/(2nm) = k/(2n). Thus, k(t) = met/(2n) . Suppose Fl (·) is the
distribution of a node’s lifespan. Then the density of nodes with age t is fa (t) = (1 − Fl (t))/n. Let
Rt
Fa (t) := 0 fa (s)ds. Then Pr[k(t) > k] = (1 − Fa (2n log(k/m)). Differentiating,
Exponential Suppose that all nodes have an equal and constant hazard rate, 1/n of being re-
moved. Again, our analysis will not differentiate between the discrete time case where we remove
10
a random node each time step; the discrete time case where each node’s life span is a geometric
random variable with mean n; and the continuous time case where each node’s life span is an
exponential random variable with mean n. Thus Fl (t) = 1 − e−t and by (5), Pr[k(t) = k] = 2m2 /k 3
for k ≥ m. The degree distribution is a power-law with the same exponent as a (static) preferential
attachment network.
Other exponents The above analysis can be tweaked to obtain power-law degree distributions
with other exponents. Specifically, Pr[k(t) = k] = Θ(k −γ ) for γ > 1 when 1 − Fl (t) = exp(−t(γ −
1)/(2n) + o(t)), that is, each node’s hazard rate of removal is (γ − 1)/(2n). When γ = 3 we can
simply use an exponential distribution as discussed previously, but for other values of γ we need to
modify the exponential distribution to ensure that the total rate of node removal is 1 per unit time.
When we have thinner tails, γ > 3, we can increase the hazard rates for small t (i.e., for younger
nodes) to compensate. For fatter tails, 1 < γ < 3, we can compensate by either decreasing the
hazard rates for small t or truncating the degree distribution (i.e., setting a maximum node age).
FIFO Another special case is when we remove nodes in a first in first out basis, that is we remove
the oldest node first. We can model this as a discrete time process where every step we first remove
the oldest node and then add a new node. This is essentially the above case with γ = 1 and a
truncated degree distribution. Thus the age of a random node is distributed U [0, n]. Hence by (5),
√
Pr[k(t) = k] = 2/k, for k between m and m e.
5 Appendix
Proof of Theorem 1. From lemma 6, T V (Ek (t), Ēk ) = T V (Xk (p(t)), Xk (p)) where Xk (q) := Binomial(k, q)
and p(t) := p + (1 − p)e−(λ+µ)t . Define Ak (q) := {i : Pr[Xk (p) = i] ≥ Pr[Xk (q) = i]}. When q ≥ p,
Ak (q) = Z ∩ [0, kak (q)]. From the pmf of the binomial distribution we can solve for ak and obtain
1−q p(1−q)
ak (q) = log 1−p / log q(1−p) . By lemma 7,
T V (Xk (p(t)), Xk (p)) = Pr[Xk (p) ≤ kak (p(t))] − Pr[Xk (p(t)) ≤ kak (p(t))]. (6)
1
Focusing on the first claim, suppose that t = 2(λ+µ) (log k + b(p)) as k → ∞. Then k 1/2 (p(1 −
11
p))−1/2 (ak (p(t))−p) → (b(p)/2) (1 − p)/p and similarly, k 1/2 (p(t)(1−p(t)))−1/2 (ak (p(t))−p(t)) →
p
p
−(b(p)/2) (1 − p)/p. Applying the CLT to (6),
b(p) p 1
T V (Xk (p(t)), Xk (p)) → 2 φ (1 − p)/p − . (7)
2 2
numbers to (6),
Proof. The sample space is the set of k-bit strings, Ω := Zk2 . For ω := (ω1 , . . . , ωk ) ∈ Ω, let |ω|
1 X |ω|
T V (X k , Y k ) = p (1 − p)k−|ω| − q |ω| (1 − q)k−|ω| (9)
2 ω
k
1X k
= pi (1 − p)k−i − q k (1 − q)k−i (10)
2 i
i=0
Lemma 7. Let E := {ω : ξ(ω) ≥ ν(ω)} and let Ē be its complement. Then T V (ξ, ν) = ξ(E) −
P
ν(E) = ν(Ē)−ξ(Ē). Further if the sample space is countable, then T V (ξ, ν) = (1/2) ω |ξ(ω) − ν(ω)|.
Proof. Note that 1 = ξ(E) − ν(E) + ν(E) + ξ(Ē) = ν(Ē) − ξ(Ē) + ν(E) + ξ(Ē). Thus ξ(E) − ν(E) =
ν(Ē) − ξ(Ē) ≥ 0. From the construction of E, T V (ξ, ν) = max{ξ(E) − ν(E), ν(Ē) − ξ(Ē)}, proving
the first claim. Now T V (ξ, ν) = (1/2)((ξ(E)−ν(E))+(ν(Ē)−ξ(Ē))) proving the second claim.
12
Proof of theorem 3. Let p = f (t) := 1−e−λt , pn := log n/n, and tn := log n/(nλ). Choose an > 0.
Since edges are only added, the graph is connected at time t iff τn ≤ t. At time t the graph is a
G(n, p) graph with p = f (t). Let E1 be the event that a G(n, p) graph with p = p1 := f ((1−)tn ) =
Note that p1 = (1 − + o(1))pn ≤ (1 − /2)pn for large n and similarly p2 ≥ (1 + /2)pn for large
n. Then by theorem 2, Pr[E1 ] → 0 and Pr[E2 ] → 1. Thus Pr[|τn /tn − 1| ≤ ] → 1 proving the
claim.
Now define x := kN −1/2 and T (x) := tk N 1/2 . Then this recurrence becomes
T (x + N −1/2 ) − T (x)
(−λ + x(λ + µ)N −1/2 )
N −1/2
T (x + N −1/2 ) − 2T (x) + T (x − N −1/2 )
− (xµ/N ) + βxT (x) = 1. (13)
N −1
As N → ∞, this becomes the ODE, −λT 0 (x) + βxT (x) = 1 whose solution is
1 x −s2 β/(2λ)
Z
2 β/(2λ)
T (x) = ex T (0) − e ds . (14)
λ 0
Z ∞
1 2 β/(2λ)
e−s
p
T (0) = ds = π/(2βλ), (15)
λ 0
Proof of theorem 5. We determine a lower bound by constructing a graph G(t) where edges are
never removed and looking at the time until it is connected. Unlike the case of β = ∞, we assume
that the time until an edge appears between a pair of nodes is Z := Exp(λ) + Exp(β), the time
it takes for an edge to appear in the original graph and then the infection to travel across it.
13
Then G(t) equals in distribution a G(n, p) graph with p = f (t) := Pr[Z ≤ t]. We then take
p
the same approach as in theorem 3 with the modified f (t) and tn := 2 log n/(βλn). Note that
f (t) = 1 − (λe−βt − βe−λt )/(λ − β), f ((1 + )tn ) = ((1 + )2 + o(1))pn ≥ (1 + )pn for large n, and
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