Engineering swarms of cyber-physical systems (CPSs) is a complex process. We present the CPSwarm workbench that creates an automated design workflow to ease this process. This formalized workflow guides the user from modeling, to code generation, to deployment, both in simulation and on CPS hardware platforms. The workbench combines existing and emerging tools to solve real-world CPS swarm problems. As a proof-of-concept, we use the workbench to design a swarm of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) for a search and rescue (SAR) use case. We evaluate the resulting swarm behaviors on three levels. First, abstract simulations for rapid prototyping. Second, detailed simulation to test the correctness of the results. Third, deployment on hardware to demonstrate the applicability. We measure the swarm performance in terms of area covered and victims rescued. The results show that the performance of the swarm is proportional to its size. Despite some manual steps, the proposed workbench shows to be well suited to ease the complicated task of deploying a swarm of CPSs.

中文翻译：

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使用CPSwarm工作台对网络物理系统进行工程设计

网络物理系统（CPS）的工程群是一个复杂的过程。我们介绍了CPSwarm工作台，该工作台创建了一个自动化的设计工作流程来简化此过程。这种形式化的工作流程可指导用户在仿真和CPS硬件平台上从建模到代码生成再到部署。工作台结合了现有工具和新兴工具，以解决实际的CPS群体问题。作为概念验证，我们使用工作台为搜索和救援（SAR）用例设计了无人飞行器（UAV）和无人地面飞行器（UGV）的集群。我们在三个层面上评估了群体行为。首先，进行快速原型制作的抽象模拟。其次，进行详细的仿真以测试结果的正确性。第三，在硬件上进行部署以证明其适用性。我们根据覆盖区域和获救的受害者来衡量群的表现。结果表明，群集的性能与其大小成正比。尽管采取了一些手动步骤，但建议的工作台非常适合缓解部署大量CPS的复杂任务。