In this paper, a digital twinning framework for indoor integrated sensing, communications, and robotics is proposed, designed, and implemented. Besides leveraging powerful robotics and ray-tracing technologies, the framework also enables 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 communication, sensing, and robotics. Experimental results showcase the feasibility and accuracy of indoor localization using digital twins and validate our implementation both qualitatively and quantitatively.

翻译：本文提出、设计并实现了一种面向室内集成感知、通信与机器人的数字孪生框架。该框架除利用强大的机器人技术与射线追踪技术外，还支持与现实传感器的集成，并能根据环境变化触发动态更新。框架设计充分考虑商业化现成组件的应用，从而促进通信、感知与机器人等不同领域的实验研究。实验结果展示了基于数字孪生的室内定位的可行性与准确性，并通过定性与定量分析验证了所提实现方案的有效性。