Runtime Composition of Systems of Interacting Cyber-Physical Components

The description of concurrent systems as a network of interacting processes helps to reduce the complexity of the specification. The same principle applies for the description of cyber-physical systems as a network of interacting components. We introduce a transition system based specification of cyber-physical components whose semantics is compositional with respect to a family of algebraic products. We give sufficient conditions for execution of a product of cyber-physical components to be correctly implemented by a lazy runtime expansion of the product construction. Our transition system algebra is implemented in the Maude rewriting logic system. As an example, we show that, under a coordination protocol, a set of autonomous energy-aware robots can self-sort themselves on a shared physical grid.