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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 http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6882828}, KEYWORDS = {Cyberphysical Systems, Landmark} }