Abstract
Modeling is one of the most important topics in the domain of Cyber-Physical Systems (CPS). In the field of process modelling, Business Process Modeling and Notation (BPMN) is the most used standard. However, BPMN remains limited to cater for the specific characteristics and properties of CPS such as real world properties. In this paper, we propose BPMN4CPS, which provides a set of extensions for BPMN to properly and accurately model CPS processes. In order to illustrate the applicability of BPMN4CPS, we present a case study of an ambulance drone system.
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