Multi-module Cyber-Physical Systems (CPSs), such as satellite clusters, swarms of Unmanned Aerial Vehicles (UAV), and fleets of Unmanned Underwater Vehicles (UUV) are examples of managed distributed real-time systems where mission-critical applications, such as sensor fusion or coordinated flight control, are hosted. These systems are dynamic and reconfigurable, and provide a "CPS cluster-as-a-service'' for mission-specific scientific applications that can benefit from the elasticity of the cluster membership and heterogeneity of the cluster members.