ABSTRACT
There are many devices and machines that monitor the physical objects and must move with the physical objects they measure. In order to improve the efficiency of resource use in the system, these machines need to be controlled in a cooperative manner. This adds to the communication load on the wireless network connecting the computing resources in the system. The physical world has limitations, and some of its objects will be independent entities with different and sometimes competing needs. Sensors and actuators suffer from inaccuracies because of technique limitations in the physical world. When people are involved with the mobile CPS, the situation becomes more complex. As a result, some components in even well-designed mobile CPSs may not be perfectly controllable. In large mobile CPSs, a single, wide-area, high-speed wireless network is unlikely. Such systems need to provide a computational environment that consists of multilevel heterogeneous subsystems interacting with each other. These subsystems can have different processing capabilities, wireless communication interfaces, and time precisions in which physical objects are measured. The systems depend on a variety of smaller wireless provisioning points, which control the movement of devices along with concerns of power assumptions.
