  This paper presents the current state of the art on attack and defense
modeling approaches that are based on directed acyclic graphs (DAGs). DAGs
allow for a hierarchical decomposition of complex scenarios into simple, easily
understandable and quantifiable actions. Methods based on threat trees and
Bayesian networks are two well-known approaches to security modeling. However
there exist more than 30 DAG-based methodologies, each having different
features and goals. The objective of this survey is to present a complete
overview of graphical attack and defense modeling techniques based on DAGs.
This consists of summarizing the existing methodologies, comparing their
features and proposing a taxonomy of the described formalisms. This article
also supports the selection of an adequate modeling technique depending on user
requirements.
