Overall, CPSwarm has been driven by an iterative approach tailored to better bridge the gap between requirement analysis/elicitation and development activities. The project has been subdivided in three main phases: for each phase, the partners have defined and refactored vision scenarios and use cases for the three considered application scenarios; elicited, analysed and validated requirements (also about safety and security); developed solutions to satisfy such requirements; validated these solutions and collected lessons learned that have helped to refine the requirements of the next phase. Furthermore, the business models have been defined for all the developed components.
Starting from the conceptual architecture (see the picture below), a reference architecture has been designed in several steps. The solution is based on three main components: Modelling Library, Workbench and Deployment Toolchain, which have been implemented, validated and (a set of them) released as opensource.
The Modelling Library provides reusable parts to model aspects of the CPSoS, e.g. the members, their HW characteristics and supported functionalities, swarm-enabled behaviours and the description of the relevant environment.
The Workbench includes the Modeling Tool, based on Modelio solution, which focuses on defining the swarm composition and behaviours exploiting State Machine Notation for Control Abstraction.
The Simulation and Optimization Environment offers the possibility to simulate the designed CPSoS, swarm algorithms or optimize parameters of specific swarm algorithms for CPSoS using an evolutionary approach. The Workbench also provides libraries offering automatic code generation.
The Deployment Toolchain includes two components, i.e. the Deployment Tool, supporting over-the-air deployment of generated code to target devices, and the Monitoring & Command Tool, managing the swarm mission execution and the abstraction library, based on Robotic Operating System (ROS) that allows abstracting the CPS’ functionalities.
Finally, the Launcher offers to the user a flexible access to the CPSwarm toolchain components, also promoting a proper design workflow.
Final demonstrations of the 3 scenarios have been developed.
In the dissemination area, the partners have organized telcos and physical meetings with ESG members, released main components in the opensource community and published several research papers. The communication strategy has achieved a good engagement and repercussion around CPSwarm. The international cooperation effort has led to the collaboration with the CPS Cluster’s EU projects and with the EU projects Teamplay and Brain-IoT, the participation in several international events and finally to organize the Final CPSwarm Workshop.
For exploitation, the partners have defined these actions: to make research results and CPSwarm technology specifications publicly available to allow third party to develop compatible technologies. To release CPSwarm technologies both as a commercial or opensource products. To add the know-how gained during CPSwarm to improve expertise in CPS and IoT and to create new research lines or to utilize it in internal processes.
