A Digital Twinning Platform for Integrated Sensing, Communications and Robotics

In this paper, a digital twinning framework for indoor integrated sensing,communications, and robotics is proposed, designed, and implemented. Besidesleveraging powerful robotics and ray-tracing technologies, the framework alsoenables integration with real-world sensors and reactive updates triggered bychanges in the environment. The framework is designed with commercial,off-the-shelf components in mind, thus facilitating experimentation in thedifferent areas of communication, sensing, and robotics. Experimental resultsshowcase the feasibility and accuracy of indoor localization using digitaltwins and validate our implementation both qualitatively and quantitatively.