An Abstraction Layer for Controlling Heterogeneous Mobile Cyber-Physical Systems
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Mobile Cyber-Physical Systems (CPSs) widely vary in the underlying hardware technologies and capabilities of their mobile devices. This makes the problem of developing portable high-level Mobile CPS applications difficult. To this end, this thesis present a framework that relies on abstracting the representation of the mobile CPS in a manner that allows the system to fully utilize the capabilities of the hardware while providing a simplified interface to the end-user. In addition, this framework incorporates a physics engine to handle different physics models for different robots to ensure better control. We assess the behavior of our proposed framework through real experiments conducted in our Mobile CPS lab with various iRobot Creates.