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Authors: Jalil Boudjadar and Mirgita Frasheri

Affiliation: Department of Electrical and Computer Engineering, Aarhus University, Denmark

Keyword(s): Autonomous Mobile Robots, Digital Twins, Runtime Monitoring, Performance Analysis, Uncertainty Mitigation, Validation.

Abstract: Autonomous mobile robots are increasingly deployed in various application domains, often operating in environments with uncertain conditions. Such robots rely on the state and performance assessments at runtime to autonomously control the robot functionality. However, uncertainty can significantly impact the robot sensors and actuators making it challenging to assess the robot state and quantify its performance reliably. This paper proposes a digital twin (DT) asset for the runtime estimation and validation of state and performance for a mobile autonomous robot "Turtlebot3" (TB3) operating under uncertainties, namely Lidar sensor obstruction and unknown floor friction and density. The proposed DT setup enables real-time state synthesis post-uncertainty, so that to estimate the performance and validate it using TeSSLa monitors, and compute mitigation actions. To maintain the robot autonomy, our DT intervenes only when an uncertainty is identified. The experimental results demonstrate that our DT enables to eliminate 70% of the related uncertainty while it mostly maintains the real-time synchronization with the physical TB3 robot operating a frequency of 0.2s. (More)

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Paper citation in several formats:
Boudjadar, J. and Frasheri, M. (2025). A Digital Twin Enabled Runtime Analysis and Mitigation for Autonomous Robots Under Uncertainties. In Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-770-2; ISSN 2184-2809, SciTePress, pages 96-104. DOI: 10.5220/0013772600003982

@conference{icinco25,
author={Jalil Boudjadar and Mirgita Frasheri},
title={A Digital Twin Enabled Runtime Analysis and Mitigation for Autonomous Robots Under Uncertainties},
booktitle={Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2025},
pages={96-104},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013772600003982},
isbn={978-989-758-770-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - A Digital Twin Enabled Runtime Analysis and Mitigation for Autonomous Robots Under Uncertainties
SN - 978-989-758-770-2
IS - 2184-2809
AU - Boudjadar, J.
AU - Frasheri, M.
PY - 2025
SP - 96
EP - 104
DO - 10.5220/0013772600003982
PB - SciTePress

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