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A platooning that groups autonomous vehicles in proximity is an example of collaboration. The intricate collaboration innately causes serious collaboration failures such as collisions. However, limited knowledge and complex dynamics of CPSoS cause several challenges in effectively analyzing the collaboration failures. Existing studies have applied pattern mining techniques to investigate various failures but have limitations when applied to collaboration failures: (1) absence of data model for continuous and discrete logs in CPSoS; (2) information loss problem by not considering the integrated relationship of the data; (3) dependence only on failed logs; (4) limited capability of fixed-size time windows. We propose a fuzzy clustering-based pattern mining approach that consists of a novel data model for CPSoS logs and comprehensive metrics for classifying and mining optimal collaboration failure patterns. In experiments on vehicle platooning, our approach exhibited the highest accuracy on pattern mining and clustering results. Further, we identified five collaboration failure scenarios in the empirical analysis of drone swarming results. The findings of this study can facilitate the effective analysis of CPSoS collaboration failures.<\/jats:p>","DOI":"10.1007\/s10664-024-10572-3","type":"journal-article","created":{"date-parts":[[2024,12,14]],"date-time":"2024-12-14T03:20:27Z","timestamp":1734146427000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Collaboration failure analysis in cyber-physical system-of-systems using context fuzzy clustering"],"prefix":"10.1007","volume":"30","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1885-3792","authenticated-orcid":false,"given":"Sangwon","family":"Hyun","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Eunkyoung","family":"Jee","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Doo-Hwan","family":"Bae","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2024,12,14]]},"reference":[{"key":"10572_CR1","doi-asserted-by":"crossref","unstructured":"Abdessalem RB, Panichella A, Nejati S, Briand LC, Stifter T (2020) Automated repair of feature interaction failures in automated driving systems. 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