A formal description of a Cyber-Physical system should include a rigorous specification of the computational and physical components involved, as well as their interaction. Such a description, thus, lends itself to a compositional model where every module in the model specifies the behavior of a (computational or physical) component or the interaction between different components. We propose a framework based on Soft Constraint Automata that facilitates the component-wise description of such systems and includes the tools necessary to compose subsystems in a meaningful way, to yield a description of the entire system. Most importantly, Soft Constraint Automata allow the description and composition of components' preferences as well as environmental constraints in a uniform fashion. We illustrate the utility of our framework using a detailed description of a patrolling robot, while highlighting methods of composition as well as possible techniques to employ them.

Detection and Diagnosis of Deviations in Distributed Systems of Autonomous Agents
1st Workshop on Verification and Validation of Cyber-Physical Systems, V2CPS 2016
Computer Security

Kappé, T.W.J, Arbab, F, & Talcott, C. (2016). A compositional framework for preference-aware agents. In Electronic Proceedings in Theoretical Computer Science (pp. 21–36). doi:10.4204/EPTCS.232.6