A Framework to Enable Eco-Cyber-Physical Systems for Robotics-Focused Digital Twins in Smart Farming

Abstract

This paper introduces the R-ECPS (Robotics-focused Eco-Cyber-Physical System) framework for the development of robotics-enabled digital twins, integrating human knowledge into the decision-making process. Our framework adapts ECPS and Digital Twin (DT) definitions to agricultural field robotics. We illustrate its application by envisioning an autonomous digital twin for smart livestock management. The presented preliminary implementation includes a digital testbed, an autonomous environmental parameter mapping algorithm, and a foraging model. Development choices are the result of interdisciplinary collaboration across field robotics, biology, and nutrition. Initial results from a proof-of-concept trial reveal both challenges and opportunities for improvement. Despite limitations in the use case early implementation, our framework provides a roadmap for future steps and aims at laying the foundation for advancing robotics-focused agricultural digital twins.