Towards a generic architecture for building modular cps as applied to mobile robotics

Abstract

This paper presents a generic architecture for the design of Cyber-Physical Systems (CPS) based on inexpensive and easily available hardware and open source software components. This architecture provides a framework aimed at building CPS in a robust, flexible and modular way. The presented architecture intends to ease the construction of this kind of systems together with its evolution and management. The potential of the proposed architecture is illustrated by means of a case study consisting of a mobile robotics application built with low cost hardware modules. There is a large community of users for these components and plenty of related technical information is available. As a consequence, these inexpensive components were found suitable for being used at different application domains, including research and education.