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 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.