Co-modelling and co-simulation in the engineering of systems of cyber-physical systems

We consider the role of collaborative modelling and co-simulation in the design of systems of cyber-physical systems (SoCPSs). Such systems pose particular challenges to model-based SoS engineering through the need to address the semantic heterogeneity of models of physical phenomena alongside models of the computing elements. We describe an approach to multidisciplinary design in which discrete-event models of computing elements are coupled with continuous-time models of physical processes and the environment, allowing the exploration of a design space of alternative allocations of responsibility to cyber and physical elements. We consider, using a case study based on the design of a swarming application, the challenges to be addressed in scaling this approach up from embedded systems design to systems of cyber-physical systems.