The use of digital twin for mobile robot swarm task allocation

• Published in: Manufacturing letters 2024-10, Vol.41, p.1200-1208
• Main Authors: Alremeithi, Khalifa, Sealy, Winston
• Format: Article
• Language: English
• Subjects: Digital Twins; Docker; MQTT; Swarm robots
• ISSN: 2213-8463; 2213-8463
• DOI: 10.1016/j.mfglet.2024.10.001

Cyber-physical systems, with the advent of the Internet of Things (IoT), have paved the way for the rise of the Industrial Internet of Things (IIoT) in industrial environments. A significant manifestation of this synergy is the Digital Twin—a virtual representation of industrial entities, including robots. This paper examines the fusion of digital twins in swarm robotics, emphasizing communication, and task allocation among robots. This study employs several mobile robots interconnected via a wireless network, each equipped with a Raspberry Pi and specific sensors. A centralized server, acting as both a Docker host and a Docker registry, facilitates task allocation. The results indicate effective communication among robots, with the digital twin playing an instrumental role in safety assessment and task allocation, as well as deploying Docker containers using Portainer and GitLab APIs. Unity3D aids in visualizing IMU motion and orientation. The motivation behind this study stems from the need to enhance efficiency and safety in industrial settings through advanced automation and coordination in swarm robotics. This research not only demonstrates the feasibility of integrating digital twins with IoT-enabled robots but also sets the stage for future investigations into more complex task allocation and safety protocols in industrial environments. By leveraging digital twins in swarm robotics, we open new pathways for research into more adaptive, responsive, and efficient industrial systems.