Swarm Metaverse for Multi-Level Autonomy Using Digital Twins

. 2023 May 19;23(10):4892. doi: 10.3390/s23104892

Algorithm 1 Swarm control in the proposed metaverse

Input:

Π_{m o d e l s}

β_{m o d e l s}

T_{m a x}

s e n d_d i g i t a l_t w i n_d a t a

1:
$Π_{t w i n s}$ ← initialiseDigitalTwins( $Π_{m o d e l s}$ )
2:
$β$ ← initialiseVirtualControlAgents( $β_{m o d e l s}$ )
3:
t ← 0
4:
while t $\leq T_{m a x}$ do
5:
t ← t + 1
6:
$x_{p h y s}, y_{p h y s}, θ_{p h y s}$ ← getPhysicalSwarmData( )
7:
updateDigitialTwinsData( $Π_{t w i n s}$ , $x_{p h y s}, y_{p h y s}, θ_{p h y s}$ )
8:
updatedGUI( $Π_{t w i n s}$ , $β$ )
9:
$ς$ ← getHumanCommand( )
10:
$ζ \leftarrow$ translateCommands( $ς$ )
11:
for i in length( $ζ$ ) do
12:
executeCommand( $β [i]$ , $σ [i]$ )
13:
end for
14:
applySheepBehaviours( $Π_{t w i n s}$ , $β$ )
15:
if $s e n d_d i g i t a l_t w i n_d a t a$ then
16:
sendDigitalTwinPositionsAndHeadings( $Π_{t w i n s}$ )
17:
updatePhysicalRobotPositions( )
18:
else
19:
sendControlAgentPositions( $β$ )
20:
for each physical robot do
21:
applySheepBehaviour( )
22:
end for
23:
end if
24:
end while