Tomaselli, SalvatoreSalvatoreTomaselliLandsiedel, OlafOlafLandsiedel2026-02-032026-02-032013-07-2532nd International Conference on Computer Safety, Reliability, and Security, SAFECOMP 2013https://hdl.handle.net/11420/61263Due to their safety critical nature, Cyber-Physical Systems such as collaborative cars or smart grids demand for thorough testing and evaluation. However, debugging such systems during deployment is challenging, due to the concurrent nature of distributed systems and the limited insight that any deployed system offers. In this paper we introduce MILD; providing Minimal Intrusive Logging and Deterministic replay. MILD enables logging of events on deployed Cyber-Physical Systems and the deterministic replay in controlled environments such as system simulators. To illustrate the feasibility and low overhead of our architecture, we evaluate a prototype implementation based on Wireless Sensor Networks (WSN) in this paper.enSafetyEmbedded systemsTechnology::600: TechnologyConference Paperhttps://hal.science/hal-00848180/Conference Paper