Modelling a CPS Swarm System: A Simple ...

The CPSwarm workbench is a toolchain that facilitates the entire design process of swarms of CPS including modelling, design, optimization, simulation and deployment. This paper highlights part of the work of the CPSwarm workbench in the context of the CPSwarm H2020 project. In particular, the CPSwarm workbench allows to create a generic swarm library that can be customized by developers to design new swarm environ- ments, new swarm members and new swarm goals. This paper shows an application of the initial CPSwarm workbench by the example of a reference problem called EmergencyExit. In this example a swarm of robots needs to find an exit in an unmapped environment and leave this room through the exit as soon as possible. The example problem is further used to show the integration of Modelio, a UML/SysML modelling tool, and FREVO, an optimization tool in the CPSwarm workbench