Abstract
Collaborative Cyber-Physical Systems (CCPSs) have gained prominence in Intelligent Transport Systems, Monitoring Epidemic Spreading, and the Industrial Internet of Things. The devices in CCPSs interact with the environment through sensors and actuators. Additionally, these devices collaborate to achieve a specific task. This collaboration and interaction introduces a new set of challenges related to spatio-temporal constraints and dependencies. Therefore, there is a growing need to understand the inherent spatio-temporal behaviors in CCPSs, as well as to identify and model them effectively. In this paper, we present a comprehensive study that focuses on the identification, characterization, and classification of spatio-temporal phenomena observed in social insect societies. By drawing parallels between the spatio-temporal behaviors exhibited by social insects and those prevalent in Collaborate Cyber-Physical Systems, we assert that similar dynamics can be leveraged to design innovative solutions that are more efficient and effective.