Towards a Digital Twin Framework for Autonomous Robots

This paper demonstrates a step on the transition towards a digital twin for a desktop version of an agricultural robot. This includes implementation of motor control and in-door localisation capabilities for the robot. Data from the physical twin is streamed to a co-simulation based on the Functional-Mockup Interface, in which a digital twin simulates the robot’s movement. Safety constraints are established inside the digital twin and a proof of concept communication is enabled when such constraints are violated.