@article{rajhans_supporting_2014,
	title = {Supporting Heterogeneity in Cyber-Physical Systems Architectures},
	volume = {59},
	issn = {0018-9286},
	doi = {10.1109/TAC.2014.2351672},
	abstract = {Cyber-physical systems ({CPS}) are heterogeneous, because they tightly couple computation, communication, and control along with physical dynamics, which are traditionally considered separately. Without a comprehensive modeling formalism, model-based development of {CPS} involves using a multitude of models in a variety of formalisms that capture various aspects of the system design, such as software design, networking design, physical models, and protocol design. Without a rigorous unifying framework, system integration and integration of the analysis results for various models remains ad hoc. In this paper, we propose a multi-view architecture framework that treats models as views of the underlying system structure and uses structural and semantic mappings to ensure consistency and enable system-level verification in a hierarchical and compositional manner. Throughout the paper, the theoretical concepts are illustrated using two examples: a quadrotor and an automotive intersection collision avoidance system.},
	number = {12},
	journal = {{IEEE} Transactions on Automatic Control},
	author = {Rajhans, A. and Bhave, A. and Ruchkin, I. and Krogh, B.H. and Garlan, D. and Platzer, A. and Schmerl, B.},
	month = dec,
	year = {2014},
	keywords = {Analytical models, automotive intersection collision avoidance system, autonomous aerial vehicles, collision avoidance, Computational modeling, Computer architecture, Connectors, Control design, Control Engineering, control engineering computing, control system design, {CPS}, cyber-physical system architectures, formal verification, helicopters, mobile robots, quadrotor, road traffic control, semantic mappings, {SEMANTICS}, software architecture, system-level verification, system structure heterogeneity, Unified modeling language, Vehicles},
	pages = {3178--3193},
	file = {IEEE Xplore Abstract Record:/home/ivan/zotero_data/storage/HXHFDU45/abs_all.html:text/html;IEEE Xplore Full Text PDF:/home/ivan/zotero_data/storage/MHV2ZR4C/Rajhans et al. - 2014 - Supporting Heterogeneity in Cyber-Physical Systems.pdf:application/pdf}
}