Eric, Peter and John look at the arbitrage between the Chicago S&P500 e-mini future and the New York S&P500 SPDR. This is a nice case, because there are no fancy statistical strategies involved: high speed traders simply trade on short-run deviations between these two essentially identical securities. Some cool graphs capture the basic message.
First, we get to look at the quantum-mechanical limits of asset pricing. At a one hour frequency, the two securities are perfectly correlated.
It's not obvious this activity "adds liquidity." If you leave a SPY limit order standing, then the fast traders will pick you off when they see the ES rise before you do. The authors call this "sniping."