1 Introduction
A System-of-Systems (SoS) is a type of large-scale complex system that utilizes collaborative capabilities from the integration of component systems. An SoS consists of multiple Constituent Systems (CSs) as components, which have managerial and operational independence [1], and CSs might be designed and developed to achieve their own independent system-level goals. Also, CSs could be heterogeneous systems and geographically dispersed, while moving towards agreed SoS-level common goals [12]. This type of systems has become more widely required in many different domains, such as national defense, climate observation, and disaster response domains. Unlike system engineering of other types of systems, CSs of an SoS are highly autonomous and they have more independent system-level features, so the integration of multiple CSs can lead to the extremely high complexity. For this reason, there have been a lot of needs to handle SoS-specific engineering issues, and recently a number of analysis, design, development and maintenance techniques have been actively researched [2], [8], [10].