{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,5]],"date-time":"2026-05-05T12:04:40Z","timestamp":1777982680424,"version":"3.51.4"},"reference-count":46,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2025,2,20]],"date-time":"2025-02-20T00:00:00Z","timestamp":1740009600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2025,2,20]],"date-time":"2025-02-20T00:00:00Z","timestamp":1740009600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100009534","name":"Universit\u00e4t Stuttgart","doi-asserted-by":"crossref","id":[{"id":"10.13039\/501100009534","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Discov Internet Things"],"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>Over the past decade, there has been a significant increase in interest in digital twin (DT) technology in a variety of domains. While research on DTs of single assets was initially prevalent, there has been a notable shift towards distributed systems of DTs, which connect to each other to collaborate. Typically, collaboration is enabled by DTs providing services that can be consumed by other DTs. In service-oriented systems, a service is typically identified by type information. However, this is not sufficient in distributed DT systems, where DTs associated with different physical entities may provide the same type of service. Consequently, selecting the appropriate service depends not only on the service type, but also on the associated physical entity. However, requiring DTs to know the mapping of services to their physical environment is not feasible for large dynamic systems. This paper presents a novel proximity-based service discovery method that allows DTs to select services based on service type and their proximity to other objects. That is, service specifications are fully abstracted from the mapping of services to physical objects, relieving DTs from maintaining information about this mapping. Furthermore, service discovery is robust to changes in the physical environment and service population. The proposed service discovery method has been implemented on top of a spatial DBMS. We argue that this implementation is optimal in terms of network utilization and latency, and perform comprehensive evaluations to show the performance of discovery queries as a function of their complexity.<\/jats:p>","DOI":"10.1007\/s43926-025-00103-x","type":"journal-article","created":{"date-parts":[[2025,2,20]],"date-time":"2025-02-20T08:27:42Z","timestamp":1740040062000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Proximity-based service discovery for distributed digital twin systems"],"prefix":"10.1007","volume":"5","author":[{"given":"Kurt","family":"Rothermel","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Otthein","family":"Herzog","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Siegfried Wu","family":"Zhiqiang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2025,2,20]]},"reference":[{"key":"103_CR1","doi-asserted-by":"publisher","DOI":"10.5281\/zenodo.14525205","author":"K Rothermel","year":"2024","unstructured":"Rothermel K, Herzog O, Zhiqiang SW. Proximity-based service discovery for distributed digital twin systems [data set]. Zenodo. 2024. https:\/\/doi.org\/10.5281\/zenodo.14525205.","journal-title":"Zenodo"},{"key":"103_CR2","unstructured":"Iic framework - the industrial internet of things vocabulary, version 3.0. Technical report, Consortium, Industry IoT (2022). https:\/\/www.iiconsortium.org\/wp-content\/uploads\/sites\/2\/2022\/04\/Industry-IoT-Vocabulary.pdf"},{"key":"103_CR3","doi-asserted-by":"publisher","unstructured":"Herzog O, Jarke M, Wu S.Z. Cooperating and competing digital twins for industrie 4.0 in urban planning contexts. Sci 5(4), 44 (2023) https:\/\/doi.org\/10.3390\/sci5040044","DOI":"10.3390\/sci5040044"},{"key":"103_CR4","doi-asserted-by":"publisher","unstructured":"Rosen R, Fischer J, Boschert S. Next generation digital twin: an ecosystem for mechatronic systems? IFAC-PapersOnLine. 2019;52(15):265\u201370. https:\/\/doi.org\/10.1016\/j.ifacol.2019.11.685. 8th IFAC Symposium on Mechatronic Systems MECHATRONICS 2019.","DOI":"10.1016\/j.ifacol.2019.11.685"},{"key":"103_CR5","doi-asserted-by":"publisher","unstructured":"Silva HD, Azevedo M, Soares AL. A vision for a platform-based digital-twin ecosystem. IFAC-PapersOnLine. 2021;54(1):761\u20136. https:\/\/doi.org\/10.1016\/j.ifacol.2021.08.088. 17th IFAC Symposium on Information Control Problems in Manufacturing INCOM 2021.","DOI":"10.1016\/j.ifacol.2021.08.088"},{"key":"103_CR6","unstructured":"Bennet H, Birkin M, Ding J, Duncan A.n, Engin Z. Towards ecosystems of connected digital twins to address global challenges. The AI for Science and Government Community at The Alan Turing Institute (2023)"},{"issue":"18","key":"103_CR7","doi-asserted-by":"publisher","first-page":"17452","DOI":"10.1109\/JIOT.2022.3156028","volume":"9","author":"Z Wang","year":"2022","unstructured":"Wang Z, Gupta R, Han K, Wang H, Ganlath A, Ammar N, Tiwari P. Mobility digital twin: concept, architecture, case study, and future challenges. IEEE Int Things J. 2022;9(18):17452\u201367. https:\/\/doi.org\/10.1109\/JIOT.2022.3156028.","journal-title":"IEEE Int Things J"},{"issue":"4","key":"103_CR8","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1145\/3507909","volume":"22","author":"A Ricci","year":"2022","unstructured":"Ricci A, Croatti A, Mariani S, Montagna S, Picone M. Web of digital twins. ACM Trans Int Technol. 2022;22(4):1\u201330. https:\/\/doi.org\/10.1145\/3507909.","journal-title":"ACM Trans Int Technol"},{"key":"103_CR9","unstructured":"Budiardjo A, Migliori D. Digital twin systems interoperability framework. techreport (July 2021)"},{"key":"103_CR10","unstructured":"Lin S.-W, Watson K, G.S, Stojanovic L, Zarkout B. Digital twin core conceptual models and services - essential models for interoperability. Technical report, Industry IoT Consortium (2023)"},{"key":"103_CR11","doi-asserted-by":"publisher","unstructured":"Carballido\u00a0Villaverde B, Alberola R.D.P, Jara A.J, Fedor S, Das S.K, Pesch D. Service discovery protocols for constrained machine-to-machine communications. IEEE Communications Surveys and Tutorials 16(1), 41\u201360 (2014) https:\/\/doi.org\/10.1109\/SURV.2013.102213.00229","DOI":"10.1109\/SURV.2013.102213.00229"},{"key":"103_CR12","doi-asserted-by":"publisher","first-page":"234","DOI":"10.2307\/143141","volume":"46","author":"WR Tobler","year":"1970","unstructured":"Tobler WR. A computer movie simulating urban growth in the detroit region. Econ Geogr Suppl Proc. 1970;46:234\u201340.","journal-title":"Econ Geogr Suppl Proc"},{"key":"103_CR13","doi-asserted-by":"publisher","unstructured":"Baskar L.D, De\u00a0Schutter B, Hellendoorn H. Hierarchical traffic control and management with intelligent vehicles. In: 2007 IEEE Intelligent Vehicles Symposium, pp. 834\u2013839 (2007). https:\/\/doi.org\/10.1109\/IVS.2007.4290220","DOI":"10.1109\/IVS.2007.4290220"},{"issue":"4","key":"103_CR14","doi-asserted-by":"publisher","first-page":"2262","DOI":"10.1109\/TITS.2020.3035841","volume":"22","author":"P Zhou","year":"2021","unstructured":"Zhou P, Chen X, Liu Z, Braud T, Hui P, Kangasharju J. Drle: Decentralized reinforcement learning at the edge for traffic light control in the iov. IEEE Trans Intell Transport Syst. 2021;22(4):2262\u201373. https:\/\/doi.org\/10.1109\/TITS.2020.3035841.","journal-title":"IEEE Trans Intell Transport Syst"},{"key":"103_CR15","doi-asserted-by":"publisher","unstructured":"Sirmatel I.I, Geroliminis N. Stabilization of city-scale road traffic networks via macroscopic fundamental diagram-based model predictive perimeter control. Control Engineering Practice 109, 104750 (2021) https:\/\/doi.org\/10.1016\/j.conengprac.2021.104750","DOI":"10.1016\/j.conengprac.2021.104750"},{"key":"103_CR16","doi-asserted-by":"publisher","unstructured":"Br\u00f6ring A, Datta S.K, Bonnet C. A categorization of discovery technologies for the internet of things. In: Proceedings of the 6th International Conference on the Internet of Things. IoT \u201916, pp. 131\u2013139. Association for Computing Machinery, New York, NY, USA (2016). https:\/\/doi.org\/10.1145\/2991561.2991570.","DOI":"10.1145\/2991561.2991570"},{"key":"103_CR17","doi-asserted-by":"crossref","unstructured":"Cheshire S, Krochmal M. Dns-based service discovery. Internet Engineering Task Force, RFC 6763 (2013)","DOI":"10.17487\/rfc6763"},{"key":"103_CR18","doi-asserted-by":"crossref","unstructured":"Cheshire S, Krochmal M. Multicast dns. Internet Engineering Task Force, RFC 6762 (2013)","DOI":"10.17487\/rfc6762"},{"key":"103_CR19","doi-asserted-by":"crossref","unstructured":"Shelby Z, Hartke K, Bormann C. The constrained application protocol (coap). Technical report (2014)","DOI":"10.17487\/rfc7252"},{"key":"103_CR20","doi-asserted-by":"publisher","unstructured":"Obidallah W.J, Raahemi B. A survey on web service discovery approaches. In: Proceedings of the Second International Conference on Internet of Things, Data and Cloud Computing. ICC \u201917. Association for Computing Machinery, New York, NY, USA (2017). https:\/\/doi.org\/10.1145\/3018896.3056773","DOI":"10.1145\/3018896.3056773"},{"key":"103_CR21","unstructured":"Chinnici R, Moreau J.-J, Ryman A, Weerawarana S. Web services description language (wsdl) version 2.0 part 1: Core language. Technical report, W3C Recommendations (2007)"},{"key":"103_CR22","doi-asserted-by":"crossref","unstructured":"Bray T. The javascript object notation (json) data interchange format. Technical report, Internet Engineering Task Force (IETF), RFC 8259 (2017)","DOI":"10.17487\/RFC8259"},{"key":"103_CR23","doi-asserted-by":"publisher","unstructured":"Malaimalavathani M, Gowri R. A survey on semantic web service discovery. In: 2013 International Conference on Information Communication and Embedded Systems (ICICES), pp. 222\u2013225 (2013). https:\/\/doi.org\/10.1109\/ICICES.2013.6508208","DOI":"10.1109\/ICICES.2013.6508208"},{"key":"103_CR24","unstructured":"Kaebisch S, McCool M, Korkan E. Web of things (wot) thing description 1.1. Technical report, W3C (December 2023). https:\/\/www.w3.org\/TR\/2023\/REC-wot-thing-description11-20231205\/"},{"key":"103_CR25","unstructured":"Cimmino A, McCool M, Tavakolizadeh F, Toumura K. Web of things (wot) discovery. Technical report, W3C (December 2023). https:\/\/www.w3.org\/TR\/2023\/REC-wot-discovery-20231205\/"},{"key":"103_CR26","unstructured":"De S, Barnaghi P, Bauer M, Meissner S. Service modelling for the internet of things. In: 2011 Federated Conference on Computer Science and Information Systems (FedCSIS), pp. 949\u2013955 (2011)"},{"key":"103_CR27","unstructured":"Cassar G, Barnaghi P, Moessner K. Probabilistic methods for service clustering. Proceedings of 4th International Workshop on Service Matchmaking and Resource Retrieval in the Semantic Web 667 (2010)"},{"key":"103_CR28","doi-asserted-by":"publisher","unstructured":"Hohl F, Kubach U, Leonhardi A, Rothermel K, Schwehm M. Next century challenges: Nexus - an open global infrastructure for spatial-aware applications. In: MOBICOM \u201999, The Fifth Annual ACM\/IEEE International Conference on Mobile Computing and Networking, pp. 249\u2013255. ACM, Seattle, USA (1999). https:\/\/doi.org\/10.1145\/313451.313549","DOI":"10.1145\/313451.313549"},{"issue":"1","key":"103_CR29","doi-asserted-by":"publisher","first-page":"20","DOI":"10.1007\/s00779-004-0270-2","volume":"9","author":"C Becker","year":"2004","unstructured":"Becker C, Duerr F. On location models for ubiquitous computing. PersUbiquitous Comput. 2004;9(1):20\u201331. https:\/\/doi.org\/10.1007\/s00779-004-0270-2.","journal-title":"PersUbiquitous Comput"},{"key":"103_CR30","unstructured":"Data distribution service (dds) version 1.4. Technical report, Object Management Group (OMG) (2015)"},{"key":"103_CR31","unstructured":"Banks A, Briggs E, Borgendale K, Gupta R. Mqtt version 5.0. Technical report, OASIS (2019)"},{"key":"103_CR32","doi-asserted-by":"crossref","unstructured":"Raptis T.P, Passarella A. A survey on networked data streaming with apache kafka. IEEE access (2023)","DOI":"10.1109\/ACCESS.2023.3303810"},{"key":"103_CR33","doi-asserted-by":"publisher","unstructured":"Tariq M.A, Koldehofe B, Bhowmik S, Rothermel K. Pleroma: a sdn-based high performance publish\/subscribe middleware. In: Proceedings of the 15th International Middleware Conference. Middleware \u201914, pp. 217\u2013228. Association for Computing Machinery, New York, NY, USA (2014). https:\/\/doi.org\/10.1145\/2663165.2663338","DOI":"10.1145\/2663165.2663338"},{"key":"103_CR34","unstructured":"Rigaux P, Scholl M, Voisard A. Spatial Databases, Transferred to digital print. edn. The Morgan Kaufmann series in data management systems. Morgan Kaufmann, San Francisco, Calif. (2011)"},{"key":"103_CR35","doi-asserted-by":"publisher","unstructured":"Picone M, Mamei M, Zambonelli F. A flexible and modular architecture for edge digital twin: Implementation and evaluation. ACM Trans. Internet Things 4(1) (2023) https:\/\/doi.org\/10.1145\/3573206","DOI":"10.1145\/3573206"},{"key":"103_CR36","doi-asserted-by":"publisher","unstructured":"Dizdarevi\u0107 J, Carpio F, Jukan A, Masip-Bruin X. A survey of communication protocols for internet of things and related challenges of fog and cloud computing integration. ACM Comput. Surv. 51(6) (2019) https:\/\/doi.org\/10.1145\/3292674","DOI":"10.1145\/3292674"},{"key":"103_CR37","volume-title":"RESTful Web Services","author":"L Richardson","year":"2007","unstructured":"Richardson L. RESTful Web Services. Sebastopol, Calif: O\u2019Reilly; 2007."},{"key":"103_CR38","unstructured":"Common object request broker architecture, version 3.4. Technical report, Object Management Group (OMG) Standards Development Organization (2021)"},{"key":"103_CR39","unstructured":"Fipa request interaction protocol specification. Technical Report SC00026H, TC Communication (December 2002). FIPA. http:\/\/www.fipa.org\/specs\/fipa00026\/SC00026H.html#_Toc26669021"},{"issue":"4","key":"103_CR40","doi-asserted-by":"publisher","first-page":"357","DOI":"10.1007\/BF01231602","volume":"3","author":"RH G\u00fcting","year":"1994","unstructured":"G\u00fcting RH. An introduction to spatial database systems. VLDB J. 1994;3(4):357\u201399. https:\/\/doi.org\/10.1007\/BF01231602.","journal-title":"VLDB J"},{"key":"103_CR41","unstructured":"Egenhofer M, Herring J.R. A mathematical framework for the definition of topological relationships. In: Fourth International Symposium on Spatial Data Handling (1991)"},{"key":"103_CR42","doi-asserted-by":"crossref","unstructured":"Clementini E, Di\u00a0Felice P, Van\u00a0Oosterom P. A small set of formal topological relationships suitable for end-user interaction. In: International Symposium on Spatial Databases, pp. 277\u2013295 (1993). Springer","DOI":"10.1007\/3-540-56869-7_16"},{"key":"103_CR43","doi-asserted-by":"crossref","unstructured":"E, C, J, S, Egenhofer J.M. Modelling topological spatial relations: Strategies for query processing. Computers & graphics 18(6), 815\u2013822 (1994)","DOI":"10.1016\/0097-8493(94)90007-8"},{"key":"103_CR44","unstructured":"Herring J.R. Opengis\u00aeimplementation standard for geographic information - simple feature access - part 2: Sql option. OpenGIS\u00aeImplementation Standard OGC 06-104r4, Version: 1.2.1, Open Geospatial Consortium Inc. (August 2010). https:\/\/www.ogc.org\/standard\/sfs\/"},{"key":"103_CR45","doi-asserted-by":"publisher","unstructured":"Mossakowski T, Moratz R. Qualitative reasoning about relative direction of oriented points. Artificial Intelligence 180-181, 34\u201345 (2012) https:\/\/doi.org\/10.1016\/j.artint.2011.10.003","DOI":"10.1016\/j.artint.2011.10.003"},{"key":"103_CR46","volume-title":"PostGIS in Action","author":"RO Obe","year":"2021","unstructured":"Obe RO, Hsu LS. PostGIS in Action. Shelter Island: Third edition edn. Manning; 2021."}],"container-title":["Discover Internet of Things"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s43926-025-00103-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s43926-025-00103-x\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s43926-025-00103-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,20]],"date-time":"2025-02-20T08:27:54Z","timestamp":1740040074000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s43926-025-00103-x"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,2,20]]},"references-count":46,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2025,12]]}},"alternative-id":["103"],"URL":"https:\/\/doi.org\/10.1007\/s43926-025-00103-x","relation":{"has-preprint":[{"id-type":"doi","id":"10.36227\/techrxiv.173398212.21936847\/v1","asserted-by":"object"}]},"ISSN":["2730-7239"],"issn-type":[{"value":"2730-7239","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,2,20]]},"assertion":[{"value":"21 December 2024","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"3 February 2025","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"20 February 2025","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare no competing interests.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing interests"}}],"article-number":"14"}}