Abstract
The chapter focuses on experimentation with adaptation in the field of smart cyber-physical systems (sCPS). In particular, it provides a model problem that features a coordination of autonomous cleaning robots.
The model problem is accompanied with a testbed which allows the execution of the model problem along with custom adaptation logic. The testbed can be executed as a simulation of multiple robots running or deployed on an actual TurtleBot robot.
Both the simulated and actual deployment environment are based on the same software stack. The offered simulation is precise timing-, bandwidth-, and mobility-aware and brings together a ROS-based Stage simulation of a swarm of robots and OMNeT++-based simulation of 802.15.4 wireless network, while the actual deployment is based on the TurtleBot robotic platform.
The adaptation business logic is based on the DEECo component model and points to specific places, where the user code can be easily plugged in.