@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}
}