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A Digital Twin (DT) is a virtual representation of a physical system that enables monitoring and control of its physical counterpart in real time. In the context of autonomous mobile robots (AMRs), a Digital Twin provides an opportunity to improve localization, navigation, and interaction of AMRs within dynamic environments. The article commences by presenting the fundamental concepts of DTs, their higher-level architecture, and levels of data integration with other cyber-physical systems. The article then delves into the conceptual design of a DT for AMRs, an area which is still underexplored in contemporary research. Ultimately, this research contributes a DT concept created in Isaac Sim for an MiR100 mobile robot, comprising a ROS-based control system, along with a demonstration of successful implementation of the digital shadow of the mobile robot. The implementation included synchronization of the robot’s position and orientation in the simulated environment. Communication between the physical robot and the Digital Shadow was established via the REST API in Python.

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The Concept of a Digital Twin of an Autonomous Mobile Robot

  • 会议论文

  • 发表日期：

    2026年

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  • Nino Natmeladze,
  • Ján Piteľ,
  • Kamil Židek,
  • Vitalii Romaniuk,
  • Amberlynn Bonello

摘要

A Digital Twin (DT) is a virtual representation of a physical system that enables monitoring and control of its physical counterpart in real time. In the context of autonomous mobile robots (AMRs), a Digital Twin provides an opportunity to improve localization, navigation, and interaction of AMRs within dynamic environments. The article commences by presenting the fundamental concepts of DTs, their higher-level architecture, and levels of data integration with other cyber-physical systems. The article then delves into the conceptual design of a DT for AMRs, an area which is still underexplored in contemporary research. Ultimately, this research contributes a DT concept created in Isaac Sim for an MiR100 mobile robot, comprising a ROS-based control system, along with a demonstration of successful implementation of the digital shadow of the mobile robot. The implementation included synchronization of the robot’s position and orientation in the simulated environment. Communication between the physical robot and the Digital Shadow was established via the REST API in Python.