Biomimetic Digital Twin of Future Embodied Internet for Advancing Autonomous Vehicles and Robots

Area of Science:

• Robotics
• Software Engineering
• Biomimetics

Background:

• Efficient module coordination is crucial for biomimetic robots, mimicking biological systems.
• Inter-process communication in autonomous systems is complex and time-consuming for researchers.
• Existing middleware solutions like ROS can be cumbersome.

Purpose of the Study:

• To simplify inter-module communication in autonomous systems.
• To introduce a novel, lightweight communication abstraction framework.
• To reduce the complexity of developing distributed robotic systems.

Main Methods:

• Proposed the DigitalTwinPort framework, inspired by hardware port connectivity.
• Implemented the framework in C++.
• Validated the framework using an autonomous surface vehicle (ASV) for the RobotX Challenge.

Main Results:

• DigitalTwinPort simplifies distributed system development.
• Reduced configuration overhead compared to traditional middleware.
• Enhanced synchronization between digital and physical components.
• Demonstrated unified and scalable communication.

Conclusions:

• DigitalTwinPort offers a lightweight, object-oriented solution for inter-module communication.
• The framework facilitates seamless interaction between software modules and networked devices.
• This work supports future digital twin architectures in embodied Internet systems.