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@Article{Rajhans/TAC/2013,
      AUTHOR = {Rajhans, Akshay and Bhave, Ajinkya Y. and Ruchkin, Ivan and Krogh, Bruce and Garlan, David and Platzer, Andre and Schmerl, Bradley},
      TITLE = {Supporting Heterogeneity in Cyber-Physical Systems Architectures},
      YEAR = {2014},
      MONTH = {December},
      JOURNAL = {IEEE Transactions on Automatic Control},
      VOLUME = {59},
      NUMBER = {12},
      PAGES = {3178--3193},
      PDF = {http://acme.able.cs.cmu.edu/pubs/uploads/pdf/TAS-Dec-2014.pdf},
      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 veri?cation
from that of the models in a hierarchical and compositional manner.
Throughout the paper, the theoretical concepts are illustrated using two
examples, an automotive intersection collision avoidance system and a
quadrotor.},
      NOTE = {Also available at <a href="http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6882828">http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6882828</a>},
      KEYWORDS = {Cyberphysical Systems, Landmark}
}