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11 December 2013 /Mark Benson

Here is the original paper on DTLS, the security basis for CoAP/UDP from Nagendra Modadugu and Eric Rescorla:

Applications that are based on reliable transport can be secured using TLS, but no compelling alternative exists for securing datagram-based applications. In this paper we present DTLS, a datagram-capable version of TLS.

Well written.