Abstract
A wide variety of programming abstractions have been developed for cyber-physical systems. These approaches provide support for the composition of cyber-physical systems from generic units of application functionality. This paper surveys the current state-of-the-art in composition mechanisms for cyber physical systems and reviews each approach in terms of its support for composition analysis, re-use and adaptation. We then review approaches for modeling and verifying cyber-physical application compositions and conclude by proposing promising research directions that will address these shortcomings.