@inproceedings{ferrari2013Virtus,
	title = {Virtual {Synchrony} {Guarantees} for {Cyber}-physical {Systems}},
	doi = {10.1109/SRDS.2013.11},
	abstract = {By integrating computational and physical elements through feedback loops, CPSs implement a wide range of safety-critical applications, from high-confidence medical systems to critical infrastructure control. Deployed systems must therefore provide highly dependable operation against unpredictable real-world dynamics. However, common CPS hardware-comprising battery-powered and severely resource-constrained devices interconnected via low-power wireless-greatly complicates attaining the required communication guarantees. VIRTUS fills this gap by providing atomic multicast and view management atop resource-constrained devices, which together provide virtually synchronous executions that developers can leverage to apply established concepts from the dependable distributed systems literature. We build VIRTUS upon an existing best-effort communication layer, and formally prove the functional correctness of our mechanisms. We further show, through extensive real-world experiments, that VIRTUS incurs a limited performance penalty compared with best-effort communication. To the best of our knowledge, VIRTUS is the first system to provide virtual synchrony guarantees atop resource-constrained CPS hardware.},
	booktitle = {2013 {IEEE} 32nd {International} {Symposium} on {Reliable} {Distributed} {Systems}},
	author = {Ferrari, F. and Zimmerling, M. and Mottola, L. and Thiele, L.},
	month = sep,
	year = {2013},
	keywords = {CPS, Computer crashes, Protocols, Receivers, Reliability, Schedules, Sensors, VIRTUS, Wireless communication, atomic multicast management, atomic view management, best-effort communication layer, cyber-physical systems, distributed processing, functional correctness, resource-constrained devices, safety-critical software, virtual synchrony guarantees, virtually synchronous executions},
	pages = {20--30}
}