Abstract
In this artifact, we partially address the problem of development of smart Cyber-Physical Systems (sCPS) by providing a concrete model problem and testbed for experimenting with, comparing, and developing new adaptation techniques and algorithms pertinent to sCPS. In particular, our model problem features autonomous robots cooperating opportunistically in a highly dynamic environment with multiple sources of uncertainty and runtime failures.
Our testbed provides ROS-based Stage simulation of the model problem reified in a swarm of Turtlebot robots. The testbed ties this to timing-, bandwidth- and mobility-aware simulation of the robot communication (based on OMNeT++).
To enable fast prototyping, the testbed abstracts robots as autonomous components (implemented in Java) and allows describing robot communication via dynamic collaboration groups (ensembles). It also points to specific places in the simulation code where adaptation logic can be plugged in.