Markus P. J. Fromherz Lara S. Crawford Haitham A. Hindi Coordinated Control for Highly Reconfigurable Systems. 1-24 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=3414&spage=1 2005 conf/hybrid/2005 HSCC db/conf/hybrid/hscc2005.html#FromherzCH05