Supporting heterogeneity in cyber-physical systems architectures

@ARTICLE{DBLP:jourals/tac/RajhansBRKGPS14,
  author    = {Akshay Rajhans and
               Ajinkya Bhave and
               Ivan Ruchkin and
               Bruce H. Krogh and
               David Garlan and
               Andr{\'e} Platzer and
               Bradley Schmerl},
  title     = {Supporting Heterogeneity in Cyber-Physical
               Systems Architectures},
  journal   = {IEEE Transactions on Automatic Control},
  year      = {2014},
  volume    = {59},
  number    = {12},
  pages     = {3178-3193},
  doi       = {10.1109/TAC.2014.2351672},
}```