Supporting heterogeneity in cyber-physical systems architectures

@article{DBLP:jourals/tac/RajhansBRKGPS14,
	author = {['Akshay Rajhans', 'Ajinkya Bhave', 'Ivan Ruchkin', 'Bruce H. Krogh', 'David Garlan', 'André Platzer', '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}
}