• cyber-physical systems
• co-simulation
• autonomous systems
• Arduino
• human-computer interaction

Autonomous Cyber-Physical Systems (CPSs) see a worldwide diffusion that is going to affect everyday life. However, the interaction between humans and autonomous systems is still needed, and in these cases, we refer to semi-autonomous systems. Human interaction in CPSs is a critical aspect, because human operators, digital controllers, and the physical world are required to interact together in a reliable way.
The mixing of operation modes, automatic and manual, makes the system design more complex, and tool support to assess the integration of the human interaction aspects in the CPS are needed.
With this thesis, we propose improvements of PVSio-web, which is a prototyping toolkit for interactive systems, in order to automatically generate interactive Functional Mock-up Units (FMUs), enabling human-in-the-loop co-simulation. The FMUs are generated from Emucharts diagrams, which are state machines. Thanks to these improvements, we describe a generated mixed-mode controller for Line Follower Robots (LFRs), communicating with a prototype dashboard. We also provide a tool to automatically deploy the content of a generated FMU on robots equipped with an Arduino board.