We describe an approach to the model-based engineering of embedded and cyber-physical systems, based on the semantic integration of diverse discipline-specific notations and tools. Using the example of a small unmanned aerial vehicle, we explain the need for multiple notations and collaborative modelling. Learning from experience with binary comodelling based on a bespoke operational semantics, we describe current work delivering an extended approach that enables integration of multiple models and tools in a consistent tool chain, founded on an extensible semantic framework exploiting the Unifying Theories of Programming.
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