  Cyber Physical Systems have been going into a transition phase from
individual systems to a collecttives of systems that collaborate in order to
achieve a highly complex cause, realizing a system of systems approach. The
automotive domain has been making a transition to the system of system approach
aiming to provide a series of emergent functionality like traffic management,
collaborative car fleet management or large-scale automotive adaptation to
physical environment thus providing significant environmental benefits (e.g air
pollution reduction) and achieving significant societal impact. Similarly,
large infrastructure domains, are evolving into global, highly integrated
cyber-physical systems of systems covering all parts of the value chain. In
practice, there are significant challenges in CPSoS applicability and usability
to be addressed, i.e. even a small CPSoS such as a car consists several
subsystems Decentralization of CPSoS appoints tasks to individual CPSs within
the System of Systems. CPSoSs are heterogenous systems. They comprise of
various, autonomous, CPSs, each one of them having unique performance
capabilities, criticality level, priorities and pursued goals. all CPSs must
also harmonically pursue system-based achievements and collaborate in order to
make system-of-system based decisions and implement the CPSoS functionality.
This survey will provide a comprehensive review on current best practices in
connected cyberphysical systems. The basis of our investigation is a dual layer
architecture encompassing a perception layer and a behavioral layer. Perception
algorithms with respect to scene understanding (object detection and tracking,
pose estimation), localization mapping and path planning are thoroughly
investigated. Behavioural part focuses on decision making and human in the loop
control.
