  Cyber-Physical Systems (CPS) have the promise of presenting the next
evolution in computing with potential applications that include aerospace,
transportation, robotics, and various automation systems. These applications
motivate advances in the different sub-fields of CPS (e.g. mobile computing and
communication, control, and vision). However, deploying and testing complete
CPSs is known to be a complex and expensive task. In this paper, we present the
design, implementation, and evaluation of Up and Away (UnA): a testbed for
Cyber-Physical Systems that use UAVs as their physical component. UnA aims at
abstracting the control of physical components of the system to reduce the
complexity of UAV oriented Cyber-Physical Systems experiments. In addition, UnA
provides an API to allow for converting CPS simulations into physical
experiments using a few simple steps. We present a case study bringing a
mobile-camera-based surveillance system simulation to life using UnA.
