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We present dynamic I/O automata (DIOA), a compositional model of dynamicsystems. In DIOA, automata can be created and destroyed dynamically, ascomputation proceeds, and an automaton can dynamically change its signature,i.e., the set of actions in which it can participate.  DIOA features operators for parallel composition, action hiding, actionrenaming, a notion of automaton creation, and a notion of behavioral subtypingby means of trace inclusion. DIOA can model mobility, using signaturemodification, and is hierarchical: a dynamically changing system of interactingautomata is itself modeled as a single automaton.  We also show that parallel composition, action hiding, action renaming, and(subject to some technical conditions) automaton creation are all monotonicwith respect to trace inclusion: if one component is replaced by another whosetraces are a subset of the former, then the set of traces of the system as awhole can only be reduced.

Dynamic Input/Output Automata: a Formal and Compositional Model for Dynamic Systems