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Samy Kamkar - pwnat: NAT to NAT client-server communication edit / delete
Hole-punching by forged ICMP. Neat, and the paper does have some description of how well it works in practice.
to firewall hole-punching icmp nat networking proxy ... on 14 October 2016
ferm - for Easy Rule Making edit / delete
Preprocessor for iptables. Seems to work nicely.
to firewall iptables networking software ... on 22 January 2012
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| - firewall | |
| 1 | + hole-punching |
| 1 | + icmp |
| 1 | + iptables |
| 1 | + nat |
| 2 | + networking |
| 1 | + proxy |
| 1 | + software |
tasty by Adam Sampson.