Internet of Digital Twin: Framework, Applications, and Enabling Technologies

Intelligent physical systems, such as smart vehicles and robotic arms, are increasingly integrated into both industrial and everyday applications. However, the systems typically face hardware limitations that constrain their computational capacities. Digital twin systems offer a solution by creating real-time digital replicas of physical systems that enhance computational efficiency, overcoming physical limitations. Moreover, multiple digital twins that hold complementary knowledge can conveniently collaborate to share information and computational resources, further improving the performance of physical systems by forming an Internet of Digital Twin (IoDT). This paper presents a comprehensive investigation of the digital twin network, tracing the evolution of digital twins and providing a classification of the key technologies, functional frameworks, and application domains of IoDT. This paper delves into the IoDT communication framework by studying the fundamental communication modes of IoDT, exploring its integration with advanced technologies such as edge computing, blockchain, 5G/6G networks, and machine learning to facilitate data transmission, interaction, and omni-directional sensing. By offering a broad perspective, the paper aims to deepen stakeholders’ understanding of current research and potential future developments, encouraging further exploration of IoDT technologies and their evolution.