A Digital Twinning Platform for Integrated Sensing, Communications and Robotics

Abstract

In this paper, a digital twinning framework for indoor integrated sensing, communications, and robotics is pro-posed, designed, and implemented. Besides leveraging powerful robotics and ray-tracing technologies, the framework also en-ables integration with real-world sensors and reactive updates triggered by changes in the environment. The framework is designed with commercial, off-the-shelf components in mind, thus facilitating experimentation in the different areas of commu-nication, sensing, and robotics. Experimental results showcase the feasibility and accuracy of indoor localization using digital twins and validate our implementation both qualitatively and quantitatively.