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This paper describes a novel group based programming abstraction called a 'Bundle' for Cyber Physical Systems (CPS). Similar to other programming abstractions, a Bundle creates logical collections of sensing devices. However, previous abstractions were focused on Wireless Sensor Networks (WSN) and did not address key aspects of CPS. Bundles elevate the programming domain from a single WSN to complex systems of systems by allowing the programming of applications involving multiple CPSs that are controlled by different administrative domains and support mobility both within and across CPSs.
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