Efficient Heterogeneous Network-Routing Method Based on Dynamic Control Middleware for Cyber-Physical System

Figure 8

Dynamic reconfiguration in heterogeneous networks. (a) Intermediate node CD-2 is disconnected. (b) CD-3 searches for a new connection using broadcasting. (c) CD-4 transmits its routing table to CD-3. (d) CD-3 establishes a new routing path through CD-4.

(a)

(b)

(c)

(d)