Supplementary material for the paper "Reference Problem and ROS-Based Simulated Multi-Robot System for Experimentation with Smart Self-Adaptive Cyber-Physical Systems"

The work "Reference Problem and ROS-Based Simulated Multi-Robot System for Experimentation with Smart Self-Adaptive Cyber-Physical Systems" describe the need for self-adaptation through a reference problem and a case study from the robotics domain, and provides a ROS-based simulated multi-robot system, which simulates the managed elements of two self-adaptive systems. Our tool presents a platform for developing, testing and experimenting with novel self-adaptive approaches, and enables the researchers to skip the step of building the managed elements in self-adaptive CPSs, and to focus on creating approaches for the adaptation logic instead. This document provides supplementary material for readers interested in the more detailed technical implementation of our proposed system.