Experimenting with Adaptation in Smart Cyber-Physical Systems: A Model Problem and Testbed

  • Vladimir MatenaEmail author
  • Tomas Bures
  • Ilias Gerostathopoulos
  • Petr Hnetynka


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.



The work on this paper has been partially supported by the Charles University Grant Agency project No. 391115 and Charles University institutional funding SVV-2016-260331. This work is part of the TUM Living Lab Connected Mobility (TUM LLCM) project and has been funded by the Bayerisches Staatsministerium für Wirtschaft und Medien, Energie und Technologie (StMWi).


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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • Vladimir Matena
    • 1
    Email author
  • Tomas Bures
    • 1
  • Ilias Gerostathopoulos
    • 1
    • 2
  • Petr Hnetynka
    • 1
  1. 1.Faculty of Mathematics and PhysicsCharles University in PraguePragueCzech Republic
  2. 2.Fakultät für Informatik, Technische Universität MünchenMunichGermany

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