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Coordination with Structured Composition for Cyber-physical Systems

Structured programming has become a very successful programming paradigm as it provides locality of a program’s control flow. Similar concepts of locality are desired for the specification and development of concurrent and parallel systems. In the domain of cyber-physical systems or embedded computing it is challenging to identify such structured compositions since control flow tends to be driven by concurrently acting reactive components with often circular dataflow relations. In this paper we discuss foundations for a structured coordination language for cyber-physical systems. We study car platooning as a use case, exhibiting typical challenges of cyber-physical systems. Based on that use case we show a possible structured composition pattern and outline coordination network construction mechanisms.