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A CPS-Based Architecture for Mobile Robotics: Design, Integration, and Localisation Experiments.

Dominika Líšková¹, Anna Jadlovská¹, Filip Pazdič²

¹Department of Cybernetics and Artificial Intelligence, Faculty of Electrical Engineering and Informatics, Technical University of Košice, Letná 9, 042 00 Košice, Slovakia.

Sensors (Basel, Switzerland)

|September 27, 2025

Summary

This study introduces MapBot, a mobile robotic platform designed as a Cyber-Physical System (CPS). This modular CPS approach enhances robotic systems with improved maintainability and real-time integration capabilities.

Keywords:

ROS2 SLAM cyber–physical systems distributed control systems embedded systems mobile robotics

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Area of Science:

Robotics
Cyber-Physical Systems
Embedded Systems

Background:

Industrial Distributed Control Systems (DCSs) and large-scale scientific infrastructures utilize layered architectures.
Mobile robotic platforms often face challenges in modularity, scalability, and integration.
Cyber-Physical Systems (CPS) offer a structured approach to designing complex embedded systems.

Purpose of the Study:

To design and implement a mobile robotic platform modeled as a five-layer Cyber-Physical System (CPS).
To demonstrate the benefits of a CPS architecture for robotic systems, including modularity, scalability, and maintainability.
To evaluate the performance of different localization techniques within the proposed CPS framework.

Main Methods:

A five-layer CPS model (component, control, coordination, supervisory, management) was developed for the MapBot platform.
The platform was implemented using modular hardware, embedded computing, diverse sensors, and communication protocols (Ethernet, I2C).
The system was integrated within the ROS2 framework, and Adaptive Monte Carlo Localization (AMCL) and pose graph SLAM were deployed for localization evaluation.

Main Results:

The CPS-based design facilitated modular development, system scalability, and integration of features like a digital twin.
Evaluation of localization techniques highlighted performance trade-offs in map quality, update frequency, and computational load.
The MapBot platform demonstrated the advantages of CPS principles for robotic systems.

Conclusions:

Cyber-Physical System (CPS) design principles provide significant advantages for mobile robotic platforms.
The proposed layered CPS architecture enhances modularity, maintainability, and real-time integration.
This approach is generalizable to other robotic and mechatronic systems requiring structured, layered control.