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.

工程网络物理系统 (CPS) 群是一个复杂的过程。我们展示了 CPSwarm 工作台，它创建了一个自动化的设计工作流程来简化这个过程。这种形式化的工作流程指导用户在模拟和 CPS 硬件平台上进行建模、代码生成和部署。该工作台结合了现有和新兴工具来解决现实世界的 CPS 群问题。作为概念验证，我们使用工作台为搜索和救援 (SAR) 用例设计了一群无人驾驶飞行器 (UAV) 和无人驾驶地面车辆 (UGV)。我们在三个层面上评估由此产生的群体行为。首先，用于快速原型设计的抽象模拟。其次，详细模拟以检验结果的正确性。第三，在硬件上部署以证明适用性。我们根据覆盖的区域和获救的受害者来衡量群体性能。结果表明，swarm 的性能与其规模成正比。尽管有一些手动步骤，但提议的工作台显示出非常适合减轻部署大量 CPS 的复杂任务。