We have seen the practical use of multi-processors in complex SoCs and systems grow in the past several years, and the discussion range from architectures through to programming models. One of the issues that poses several challenges to design and verification teams is that of multi-core debug, especially in heterogeneous systems where the processors may be from different vendors, and even when from the same vendor, may be very application-specific. In this panel, designers and researchers who have practical experience with heterogeneous multiprocessor systems, both commercial and research, will draw on those experiences.