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I. I N T R O D U C T I O N Cyber-physical systems (CPSs) are characterized by the seamless integration and close interaction of cyber components (e.g., sensors, computation nodes, communication networks) and physical processes (e.g., mechanical devices, physical environment, humans). The cyber components monitor, analyze, and control the physical processes, and react to their changes through feedback loops. A classic example of CPSs is autonomous vehicles. These vehicles collect information ofdoi:10.1109/jproc.2018.2865229 fatcat:ofjmiclcenflpppwearglsjx74