Work

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

Year: 2025

Type: article

Abstract: Efficient coordination among software modules is essential for biomimetic robotic systems, much like the interaction among organs in a biological organism. However, implementing inter-process or inter-module communication in autonomous systems remains a complex and time-consuming task, particularly for new researchers. Simplifying inter-module communication is the central focus of this study. To address this challenge, we propose the DigitalTwinPort framework, a novel communication abstraction inspired by the port-based connectivity of embedded hardware systems. Unlike middleware-dependent solutions such as ROS, the proposed framework provides a lightweight, object-oriented structure that enables unified and scalable communication between software modules and networked devices. The concept is implemented in C++ and validated through an autonomous surface vehicle (ASV) developed for the RobotX Challenge. Results demonstrate that the DigitalTwinPort simplifies the development of distributed systems, reduces configuration overhead, and enhances synchronization between digital and physical components. This work lays the foundation for future digital twin architectures in embodied Internet systems, where software and hardware can interact seamlessly through standardized digital ports.

Source: Biomimetics

DOI: 10.3390/biomimetics10110774

Authors: Ming Xie, Xiaohui Wang

Institutions: Nanyang Technological University, Chinese Academy of Sciences, Shenyang Institute of Computing Technology (China), University of Chinese Academy of Sciences

Language: English

Topic: Robotics and Automated Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Industry, innovation and infrastructure

Open Access status: gold

Estimated APC paid: $2,654