Cyber Physical Systems (CPS) development approaches tend to start from the physical (hardware) perspective, and the software is the final element in the process. However, this approach is unfit for the more software-intensive world that is increasingly iterative, connected, and constantly online. Many constraints prevent the application of iterative, incremental, and agile development methodologies, which now are the norm for many other fields of software. Time-consuming system validation can

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... ly start when both hardware and software components are ready, which implies that the software delivery and quality is almost always the final bottleneck in the CPS development and integration. Also organizational issues raise concerns -CPS development teams are nowadays often geographically distributed, which can result in delays in the process, shortcomings, and even mistakes. In this paper, we propose using our envisioned open-source Virtual Reality-based Integrated software Development Environment (VRIDE) for developing the next generation, increasingly software-intensive CPSs in efficient ways.