DejaVu: Visual Diffing of Cyber Physical Systems.

In this paper we present DejaVu, a 3D virtual world co-simulator for 'visual diffing' of cyber-physical system deployments in indoor and outdoor environments. Using faster-than-real-time simulation and efficient recording DejaVu can record days of simulation data, including environmental, sensor and network data for later replay and analysis. DejaVu enables developers to replay and compare multiple simulations simultaneously through DejaVu's visual diffing tools, highlighting differences between runs, including energy consumption, radio metrics, movement, etc. We demonstrate the diffing features of DejaVu in an CPS-enhanced evacuation case study.