CyberEarth: a Virtual Simulation Platform for Robotics and CyberPhysical Systems The increasing sophisticated robot and intelligent system applications require universal visualization platforms which can guarantee the security and efficiency of task process execution in the situation of userprogramming and using different kinds of automated equipment. In this paper, we present a universal visualization framework to build up programdriven simulation software of complex robots and intelligent systems by integrating several opensource technical modules, including Ubuntu Linux operationsystem, QT Creator IDE environment, ROS robot operation system, OSG(OpenSceneGraph) 3D scene, osgEarth GIS(Geographic Information System)based 3D scene, and also Python based userprograming robotic script language. Many complex visualization simulation systems of complex tasks in wide area and dynamic scenarios are realized by using this framework. Based on this framework, we built a virtual simulation platform CyberEarth for robotics and CyberPhysical systems. The typical robotic simulation task, which is a visual coverage task for MultiAgentUAV, is also introduced to demonstration the universality of this platform.

An Evaluation Model for Information Distribution in MultiRobot Systems This work addresses the problem of information distribution in multirobot systems, with an emphasis on multiUAV (unmanned aerial vehicle) applications. We present an analytical model that helps evaluate and compare different information distribution schemes in a robotic mission. It serves as a unified framework to represent the usefulness (utility) of each message exchanged by the robots. It can be used either on its own in order to assess the information distribution efficacy or as a building block of solutions aimed at optimizing information distribution. Moreover, we present multiple examples of instantiating the model for specific missions. They illustrate various approaches to defining the utility of different information types. Finally, we introduce a proof of concept showing the applicability of the model in a robotic system by implementing it in Robot Operating System 2 (ROS 2) and performing a simple simulated mission using a network emulator. We believe the introduced model can serve as a basis for further research on generic solutions for assessing or optimizing information distribution.