  Engineering swarms of cyber-physical systems (CPSs) is a complex process. We
present the CPSwarm workbench that creates an automated design workflow to ease
this process. This formalized workflow guides the user from modeling, to code
generation, to deployment, both in simulation and on CPS hardware platforms.
The workbench combines existing and emerging tools to solve real-world CPS
swarm problems. As a proof-of-concept, we use the workbench to design a swarm
of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) for a
search and rescue (SAR) use case. We evaluate the resulting swarm behaviors on
three levels. First, abstract simulations for rapid prototyping. Second,
detailed simulation to test the correctness of the results. Third, deployment
on hardware to demonstrate the applicability. We measure the swarm performance
in terms of area covered and victims rescued. The results show that the
performance of the swarm is proportional to its size. Despite some manual
steps, the proposed workbench shows to be well suited to ease the complicated
task of deploying a swarm of CPSs.
