![](bg9.png)
Figure 15: Replay of a simulation the EmergencyExit ex-
ample by FREVO.
Figure 16: Simulation of the EmergencyExit example with
Stage/ROS.
blem named emergency exit was chosen. In this ex-
ample a swarm of robots needs to find an exit in a un-
mapped environment and leave this room through the
exit as soon as possible. A possible scenario matching
this problem could be fire or collapsing buildings. In
the case study, the problem was first modeled using
Modelio and then exported to FREVO for optimiza-
tion. FREVO was then used to generate a possible so-
lution by applying an evolutionary search algorithm
in order to optimize the weights for an ANN. In this
work solution had been evaluated using simulation.
Future work will include an extension of the work-
bench towards deploying the generated solution on
real systems, which will involve code generation for
embedded target systems.
ACKNOWLEDGEMENTS
We would like to thank the anonymous reviewers for
their constructive comments on the submission ver-
sion of this paper. The research leading to these re-
sults has received funding from the European Union
Horizon 2020 research and innovation programme
under grant agreement No 731946, CPSwarm Project.
REFERENCES
Auer, C., W
¨
uchner, P., and de Meer, H. (2008). A met-
hod to derive local interaction strategies for impro-
ving cooperation in self-organizing systems. In Pro-
ceedings of the Third International Workshop on Self-
Organizing Systems, Vienna, Austria.
Bagnato, A., B
´
ır
´
o, R. K., Bonino, D., Pastrone, C., Elmen-
reich, W., Reiners, R., Schranz, M., and Arnautovic,
E. (2017). Designing swarms of cyber-physical sys-
tems: The H2020 cpswarm project: Invited paper. In
Proceedings of the Computing Frontiers Conference,
CF’17, pages 305–312, New York, NY, USA. ACM.
Bagnato, A., Brosse, E., Quadri, I., and Sadovykh, A.
(2015). Into-cps: An integrated tool chain for com-
prehensive model-based design of cyber-physical sys-
tems. G
´
enie Logiciel, pages 31–35.
Bagnato, A., Brosse, E., Quadri, I., and Sadovykh, A.
(2016). SysML for modeling co-simulation orches-
tration over FMI: the INTO-CPS approach. Ada User
Journal, 37(4):215–218.
Dittrich, T. and Elmenreich, W. (2015). Comparison of a
spatially-structured cellular evolutionary algorithm to
an evolutionary algorithm with panmictic population.
In Proceedings of the 12th International Workshop
on Intelligent Solutions in Embedded Systems (WI-
SES’15), pages 145–149, Ancona, Italy.
Elmenreich, W. and de Meer, H. (2008). Self-organizing
networked systems for technical applications: A dis-
cussion on open issues. In K.A. Hummel, J. S., editor,
Proceedings of the Third International Workshop on
Self-Organizing Systems, pages 1–9. Springer Verlag.
Elmenreich, W., D’Souza, R., Bettstetter, C., and de Meer,
H. (2009). A survey of models and design methods for
self-organizing networked systems. In Proceedings of
the Fourth International Workshop on Self-Organizing
Systems, volume LNCS 5918, pages 37–49. Springer
Verlag.
Larsen, P. G., Fitzgerald, J. S., Woodcock, J., Fritzson, P.,
Brauer, J., Kleijn, C., Lecomte, T., Pfeil, M., Green,
O., Basagiannis, S., and Sadovykh, A. (2016). In-
tegrated tool chain for model-based design of cyber-
physical systems: The INTO-CPS project. In 2016
2nd International Workshop on Modelling, Analysis,
and Control of Complex CPS, CPS Data 2016, Vienna,
Austria, April 11, 2016, pages 1–6.
Lee, E. A. (2008). Cyber physical systems: Design challen-
ges. In 11th IEEE International Symposium on Object
Modelling a CPS Swarm System: A Simple Case Study
623