Towards a Generic Architecture for Building Modular CPS as Applied to Mobile Robotics

Pablo González-Nalda, Ismael Etxeberria-Agiriano, Isidro Calvo


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.


Mobile robotics; Cyber-Physical Systems; CPS; Teleoperation; Education; Raspberry Pi; Arduino.

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International Journal of Online and Biomedical Engineering (iJOE) – eISSN: 2626-8493
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