# Biomimetic Digital Twin of Future Embodied Internet for Advancing Autonomous Vehicles and Robots

## TL;DR

This paper introduces a new framework for simplifying communication in robotic systems, validated with an autonomous surface vehicle.

## Contribution

The novel DigitalTwinPort framework offers a lightweight, middleware-independent solution for inter-module communication in autonomous systems.

## Key findings

- DigitalTwinPort reduces configuration overhead and simplifies distributed system development.
- The framework enhances synchronization between digital and physical components in autonomous systems.
- Validation on an autonomous surface vehicle shows its effectiveness in real-world applications.

## Abstract

Efficient coordination among software modules is essential for biomimetic robotic systems, much like the interaction among organs in a biological organism. However, implementing inter-process or inter-module communication in autonomous systems remains a complex and time-consuming task, particularly for new researchers. Simplifying inter-module communication is the central focus of this study. To address this challenge, we propose the DigitalTwinPort framework, a novel communication abstraction inspired by the port-based connectivity of embedded hardware systems. Unlike middleware-dependent solutions such as ROS, the proposed framework provides a lightweight, object-oriented structure that enables unified and scalable communication between software modules and networked devices. The concept is implemented in C++ and validated through an autonomous surface vehicle (ASV) developed for the RobotX Challenge. Results demonstrate that the DigitalTwinPort simplifies the development of distributed systems, reduces configuration overhead, and enhances synchronization between digital and physical components. This work lays the foundation for future digital twin architectures in embodied Internet systems, where software and hardware can interact seamlessly through standardized digital ports.