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.
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Notes
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It is based on material included in a SEAMS 2016 publication by the same authors [5].
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Acknowledgements
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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Matena, V., Bures, T., Gerostathopoulos, I., Hnetynka, P. (2019). Experimenting with Adaptation in Smart Cyber-Physical Systems: A Model Problem and Testbed. In: Yu, Y., et al. Engineering Adaptive Software Systems. Springer, Singapore. https://doi.org/10.1007/978-981-13-2185-6_7
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