Social Choice and the Mathematics of Manipulation by Alan D. Taylor (Hardback, 2005)

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Honesty in voting, it turns out, is not always the best policy. Indeed, in the early 1970s, Allan Gibbard and Mark Satterthwaite, building on the seminal work of Nobel laureate Kenneth Arrow, proved that with three or more alternatives there is no reasonable voting system that is non-manipulable; voters will always have an opportunity to benefit by submitting a disingenuous ballot.
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