CARS: A Wrappings-Based Test Bed for Self* Cyber-Physical Systems and Their Integration

CARS (Computational Architectures for Reflective Systems) is a test bed for integration of heterogeneous autonomous cyber-physical systems (robotic vehicles). The test bed is organized around four "games" which test individual operation, competition, and both time-asynchronous and time-synchronous collaboration. We describe our design philosophy and then briefly discuss the design of the physical agents and the Wrappings software used to control them, as well as the method used to evaluate performance. Finally, we relate some results of our experiments so far and suggest both topics for future work on the CARS test bed and larger challenges for interwoven systems.