ABSTRACT
The complexity of CPS has resulted in model-based design and development playing a central role in engineering CPS [3-5]. Naturally, the sensing component of CPS is critical to the modeling and management of a CPS because it provides real operational data. The goal of sensing is to provide high-quality data with good coverage of all components at low cost. However, these goals may not always be achievable. For example, we can use high-delity sensors such as loop detectors and radars to detect trafc on road, but these sensors are expensive and, hence, cannot be used to cover a large metropolitan area. Smart devices with global positioning system (GPS) (e.g., smartphones or GPS on taxis) can provide good coverage, but their data quality is low [6].
