Cyber-physical systems (CPSs) are distributed assemblages of computing, communicating, and physical components that sense their environment, algorithmically assess the incoming information, and affect their physical environment. Thus, they share a common structure with other complex adaptive systems, and therefore share both the possible benefits and the probable harmful effects of emergent phenomena. Emergence is an often unexpected pattern that arises from the interactions among the individual system components and the environment. In this paper we focus on three major problems concerning emergence in the context of CPSs: how to successfully exploit emergence, how to avoid its detrimental effects in a single CPS, and how to avoid harmful emergence that arises due to unexpected interaction among several independently developed CPSs that are operating in the same environment. We review the state of the research with regard to these problems and outline several approaches that could be used to address them.

网络物理系统（CPS）是分布式的计算，通信和物理组件的组合，这些组件可以感知其环境，通过算法评估传入的信息并影响其物理环境。因此，它们与其他复杂的自适应系统具有相同的结构，因此，它们既共享可能的收益，也共享突发现象的可能有害影响。出现是一种经常发生的意外模式，它是由各个系统组件和环境之间的相互作用引起的。在本文中，我们重点关注在CPS上下文中与出现有关的三个主要问题：如何成功利用出现，如何避免在单个CPS中产生有害影响，以及如何避免由于在同一环境中运行的几个独立开发的CPS之间意外交互而产生的有害涌现。我们回顾了有关这些问题的研究现状，并概述了可用于解决这些问题的几种方法。