A reduced complexity design pattern for distributed hierarchical command and control system. Yun, H., Wu, P., Rahmaniheris, M., Kim, C., & Sha, L. In Sztipanovits, J. & Rajkumar, R., editors, ACM/IEEE 1st International Conference on Cyber-Physical Systems, ICCPS '10, Stockholm, Sweden, April 12-15, 2010, pages 42–49, 2010. ACM.
A reduced complexity design pattern for distributed hierarchical command and control system [link]Paper  doi  bibtex   
@inproceedings{DBLP:conf/iccps/YunWRKS10,
  author    = {Heechul Yun and
               Po{-}Liang Wu and
               Maryam Rahmaniheris and
               Cheolgi Kim and
               Lui Sha},
  editor    = {Janos Sztipanovits and
               Raj Rajkumar},
  title     = {A reduced complexity design pattern for distributed hierarchical command
               and control system},
  booktitle = {{ACM/IEEE} 1st International Conference on Cyber-Physical Systems,
               {ICCPS} '10, Stockholm, Sweden, April 12-15, 2010},
  pages     = {42--49},
  publisher = {{ACM}},
  year      = {2010},
  url       = {https://doi.org/10.1145/1795194.1795201},
  doi       = {10.1145/1795194.1795201},
  timestamp = {Tue, 06 Nov 2018 00:00:00 +0100},
  biburl    = {https://dblp.org/rec/conf/iccps/YunWRKS10.bib},
  bibsource = {dblp computer science bibliography, https://dblp.org}
}

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