TY  - JOUR
T1  - Digital Twin-Based Communication Optimization Method
for Mission Validation of Swarm Robot
AU  - Kim, Gwanhyeok 
AU  - Kim, Hanjin 
AU  - Kwon, Junhyung 
AU  - Ha, Beomsu 
AU  - Huh, Seok Haeng 
AU  - Koo, Jee Hoon 
AU  - Sohn, Ho Jung 
AU  - Kim, Won-Tae 
JO  - KIPS Transactions on Computer and Communication Systems
PY  - 2023
DA  - 2023/1/30
DO  - https://doi.org/10.3745/KTCCS.2023.12.1.9
KW  - Digital Twin
KW  - HILS(Hardware-in-the-loop Simulation)
KW  - Swarm Robot
KW  - Network Optimization
AB  - Robots are expected to expand their scope of application to the military field and take on important missions such as surveillance
and enemy detection in the coming future warfare. Swarm robots can perform tasks that are difficult or time-consuming for a single
robot to be performed more efficiently due to the advantage of having multiple robots. Swarm robots require mutual recognition and
collaboration. So they send and receive vast amounts of data, making it increasingly difficult to verify SW. Hardware-in-the-loop simulation
used to increase the reliability of mission verification enables SW verification of complex swarm robots, but the amount of verification
data exchanged between the HILS device and the simulator increases exponentially according to the number of systems to be verified.
So communication overload may occur. In this paper, we propose a digital twin-based communication optimization technique to solve
the communication overload problem that occurs in mission verification of swarm robots. Under the proposed Digital Twin based Multi
HILS Framework, Network DT can efficiently allocate network resources to each robot according to the mission scenario through the
Network Controller algorithm, and can satisfy all sensor generation rates required by individual robots participating in the group. In
addition, as a result of an experiment on packet loss rate, it was possible to reduce the packet loss rate from 15.7% to 0.2%.