MOSCOW — Russian troops launched their anticipated attack on Ukraine on Thursday, as President Vladimir Putin cast aside international condemnation and sanctions, warning other countries that any attempt to interfere would lead to "consequences you have never seen."

Big explosions were heard before dawn in Kyiv, Kharkiv and Odesa as world leaders decried the start of an Russian invasion that could cause massive casualties and topple Ukraine's democratically elected government.

Ukrainian President Volodymyr Zelenskyy declared martial law, saying Russia has targeted Ukraine's military infrastructure. He urged Ukrainians to stay home and not to panic.

President Joe Biden pledged new sanctions to punish Russia for the aggression that the international community had expected for weeks but could not prevent through diplomacy.

Putin justified it all in a televised address, asserting that the attack was needed to protect civilians in eastern Ukraine — a false claim the U.S. had predicted he would make as a pretext for an invasion. He accused the U.S. and its allies of ignoring Russia's demands to prevent Ukraine from joining NATO and for security guarantees. He also credulously claimed that Russia does not intend to occupy Ukraine but will move to "demilitarize" it and bring those who committed crimes to justice.

Biden in a written statement condemned the "unprovoked and unjustified attack," and he promised that the U.S. and its allies would "hold Russia accountable." Biden said he planned to speak to Americans on Thursday after a meeting of the Group of Seven leaders. More sanctions against Russia were expected to be announced Thursday.

Ukraine's Foreign Minister Dmytro Kuleba described the assault as a "full-scale invasion" and said Ukraine will "defend itself and will win. The world can and must stop Putin. The time to act is now."

In the capital, Kyiv Mayor Vitaly Klitschko advised residents to stay home unless they are involved in critical work and to prepare go-bags with necessities and documents if they need to evacuate. An Associated Press photographer in Mariupol reported hearing explosions and seeing dozens of people with suitcases heading for their cars to leave the city.

The Russian military said it struck Ukrainian air bases and other military assets and had not targeted populated areas. The Russian Defense Ministry statement said the military was using precision weapons and claimed that "there is no threat to civilian population."

Anton Gerashchenko, an adviser to Ukraine's interior minister, said on Facebook that the Russian military had launched missile strikes on Ukrainian military command facilities, air bases and military depots in Kyiv, Kharkiv and Dnipro.

After the initial explosions in Kyiv, people could be heard shouting in the streets. Then a sense of normality returned, with cars circulating and people walking in the streets as a pre-dawn commute appeared to start in relative calm.

Beyond casualties that could overwhelm Ukraine's government, the consequences of the conflict and resulting sanctions levied on Russia could reverberate throughout the world, affecting energy supplies in Europe, jolting global financial markets and threatening the post-Cold War balance on the continent.

Asian stock markets plunged and oil prices surged as the attack began. Earlier, Wall Street's benchmark S&P 500 index fell 1.8% to an eight-month low after the Kremlin said rebels in eastern Ukraine asked for military assistance.

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Anticipating international condemnation and countermeasures, Putin issued a stark warning to other countries not to meddle, saying, "whoever tries to impede us, let alone create threats for our country and its people, must know that the Russian response will be immediate and lead to the consequences you have never seen in history."

Putin urged Ukrainian servicemen to "immediately put down arms and go home."

In a stark reminder of Russia's nuclear power, Putin warned that "no one should have any doubts that a direct attack on our country will lead to the destruction and horrible consequences for any potential aggressor." He emphasized that Russia is "one of the most potent nuclear powers and also has a certain edge in a range of state-of-the-art weapons."

Though the U.S. on Tuesday announced the repositioning of forces around the Baltics, Biden has said he will not send in troops to fight Russia.

Putin announced the military operation after the Kremlin said rebels in eastern Ukraine asked Russia for military assistance to help fend off Ukrainian "aggression," an announcement that the White House said was a "false flag" operation by Moscow to offer up a pretext for an invasion.

Putin's announcement came just hours after the Ukrainian president rejected Moscow's claims that his country poses a threat to Russia and made a passionate, last-minute plea for peace.

"The people of Ukraine and the government of Ukraine want peace," President Volodymyr Zelenskyy said in an emotional overnight address, speaking in Russian in a direct appeal to Russian citizens. "But if we come under attack, if we face an attempt to take away our country, our freedom, our lives and lives of our children, we will defend ourselves. When you attack us, you will see our faces, not our backs."

Zelenskyy said he asked to arrange a call with Putin late Wednesday, but the Kremlin did not respond.

In an apparent reference to Putin's move to authorize the deployment of the Russian military to "maintain peace" in eastern Ukraine, Zelenskyy warned that "this step could mark the start of a big war on the European continent."

"Any provocation, any spark could trigger a blaze that will destroy everything," he said.

He challenged the Russian propaganda claims, saying that "you are told that this blaze will bring freedom to the people of Ukraine, but the Ukrainian people are free."

At an emergency meeting of the U.N. Security Council called by Ukraine because of the imminent threat of a Russian invasion, members still unaware of Putin's announcement appealed to him to stop an attack. U.N. Secretary-General Antonio Guterres opened the meeting, just before the announcement, telling Putin: "Stop your troops from attacking Ukraine. Give peace a chance. Too many people have already died."

NATO Secretary-General Jen Stoltenberg issued a statement condemning "Russia's reckless and unprovoked attack on Ukraine, which puts at risk countless civilian lives. Once again, despite our repeated warnings and tireless efforts to engage in diplomacy, Russia has chosen the path of aggression against a sovereign and independent country."

European Council President Charles Michel and European Commission President Ursula von der Leyen promised to hold the Kremlin accountable.

"In these dark hours, our thoughts are with Ukraine and the innocent women, men and children as they face this unprovoked attack and fear for their lives," they said on Twitter.

Even before Putin's announcement, dozens of nations imposed sanctions on Russia, further squeezing Russian oligarchs and banks out of international markets.

The Russian Foreign Ministry has shrugged off the sanctions, saying that "Russia has proven that, with all the costs of the sanctions, it is able to minimize the damage."

The threat of war has already shredded Ukraine's economy and raised the specter of massive casualties, energy shortages across Europe and global economic chaos.

Contributing: Karmanau and Heintz reported from Kyiv. Angela Charlton in Paris; Frank Jordans in Berlin; Lorne Cook in Brussels, Frank Bajak in Boston, Robert Burns, Matthew Lee, Aamer Madhani, Eric Tucker, Ellen Knickmeyer, Zeke Miller, Chris Megerian and Darlene Superville in Washington contributed.

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