“…Despite early contributions by Abadi, Lamport, and Wolper [5, 3], developing contracts for Cyber-Physical Systems [236,100] 8 and Reactive Systems [146,152,142,196], where mathematical behaviors are essential, boomed more recently in the 2000's, when de Alfaro and Henzinger proposed and popularized so-called interface theories [105,103,8]. Since then, a number of models have been proposed that can be seen as instances of contract theories, either to address a specific technical aspect (e.g., function, timing, and resources), or by following different styles and approaches (Assume/Guarantee contracts or Interfaces).…”