I. Introduction
Infrastructure networks such as Internet backbone and power grids are essential for our everyday lives [2]. Unfortunately, they have become attractive targets for cyber-attacks because (1) they were typically not deployed with security as a major concern initially; (2) undermining them has an enormous impact; and (3) updating/patching them entirely is very difficult due to their large scales. As a result, cyber-attacks on them have occurred frequently in recent years [3]. For example, a DDoS attack on the Domain Name Service provider Dyn Inc. in 2016 made tens of millions of users worldwide lose Internet access for hours [4]; the ’WannaCry’ ransomware attack on UK’s NHS network in 2017 eventually infected about 230,000 computers in 150 countries [5].