@incollection{ames2006homogeneous,
  title={Homogeneous semantics preserving deployments of heterogeneous networks of embedded systems},
  author={Ames, Aaron D and Sangiovanni-Vincentelli, Alberto and Sastry, Shankar},
  booktitle={Networked Embedded Sensing and Control},
  pages={127--154},
  year={2006},
  url = {http://ames.caltech.edu/Ames_NESC05.pdf},
  publisher={Springer, Berlin, Heidelberg}
}

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