Cyber-physical systems (CPSs) integrate physical processes, computer-based algorithms, and communication between those for control purposes. A CPS has hybrid dynamics; a combination of both time-driven and event-driven dynamics. In this respect, a CPS usually involves two layers of control; low-level (continuous-variable) controllers that are mainly responsible to enhance the performance of the system in terms of exhibiting some desired behavior, and high-level (supervisory) controllers that are mainly responsible to guarantee the safety and liveness of the system. There are many applications of CPS for which the supervisory control layer is of significant importance. For instance, vehicle collision avoidance is a safety requirement for a platooning system that needs to be satisfied by the high-level controllers.

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