DITER: Digital twin system for energy consumption estimation and management in mobile robots

This paper explores the development and implementation of a digital twin system for robotic applications, particularly focusing on mobile robots. Utilizing the Robot Operating System 2 (ROS2) and incorporating simulation tools Gazebo, our study develops a comprehensive framework that addresses energy consumption estimation and management through virtual-real synchronization. Key components include the use of a multilayer architecture—encompassing device, transmission, digital twin, application, and industry layers—and real-time monitoring and synchronising systems. A case study involving the Tello UAV showcases the practical applications and effectiveness of our system in simulating and enhancing real-world robotic operations, specifically in construction inspection tasks.