Abstract Cyber-Physical Systems (CPSs) often operate in a critical context where it is crucial
that they behave as intended. However, the heterogeneous nature of CPSs makes them …

Digital twins (DTs) represent a key technology in the development, real-time monitoring and
optimisation of cyber–physical systems (CPSs). Such potential emerges as a result of the …

Ensuring the dependability of Cyber-Physical Systems (CPSs) poses challenges for model-
based engineering, stemming from the semantic heterogeneity of the models of …

This paper demonstrates a step on the transition towards a digital twin for a desktop version
of an agricultural robot. This includes implementation of motor control and in-door …

Digital Twins (DTs) can be constructed for many different applications, leading to substantial
differences between different case studies. To be able to learn from the challenges and …

Some agricultural robots differ in design from traditional tractors which can affect load
distribution among the wheels and the resulting soil stresses, especially when moving and …

In this work, we present the initial steps in the development of a digital twin of the agricultural
autonomous vehicle, Robotti. A model of the vehicle dynamics is initially developed in the …

The development of cyber-physical systems is heavily relying on model-driven approaches.
After deployment, these models can be utilised in a Digital Twin setting, acting as virtual …

During the development of Cyber-Physical Systems (CPSs), it is crucial to enable efficient
collaboration between different disciplines. Co-simulation plays a key role in this by allowing …

Robotic systems, either operating alone or in fleets, in order to be trusted, have to provide
certain safety guarantees to ensure no harm comes to neither humans, environment, other …