{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,14]],"date-time":"2026-01-14T20:07:49Z","timestamp":1768421269477,"version":"3.49.0"},"reference-count":42,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2026,1,11]],"date-time":"2026-01-11T00:00:00Z","timestamp":1768089600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Systems"],"abstract":"<jats:p>With the advancement of digitization in the era of Industry 4.0 (I4.0), highly automated, semi-autonomous, and fully autonomous systems are emerging. Within this context, multi-agent systems (MAS) offer a promising approach for automating tasks and processes based on autonomous agents that work together in an overall system to increase the degree of system autonomy stepwise in a modular and flexible way. A critical research challenge is determining how these agents can collaboratively engage with both other agents and human operators to facilitate the gradual transition from automated to fully autonomous industrial systems. To close transparency and connectivity gaps, this study contributes with a framework for the collaboration of agents and humans in increasingly autonomous MAS based on a Digital Twin (DT). The framework specifies a standards-based data model for MAS representation and proposes to introduce a DT infrastructure as a service layer for system coordination, supervision, and interaction. To demonstrate the feasibility and assess the quality of the framework, it is implemented and evaluated in a case study in a real-world industrial scenario. Although additional long-term evaluations across different contexts are needed, the assessment of functional completeness and selected quality attributes show that the proposed framework provides a solid technical foundation that facilitates a transparent and seamless collaboration between agents and humans within increasingly autonomous industrial MAS.<\/jats:p>","DOI":"10.3390\/systems14010076","type":"journal-article","created":{"date-parts":[[2026,1,12]],"date-time":"2026-01-12T09:13:01Z","timestamp":1768209181000},"page":"76","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["From Automation to Autonomy: A Digital Twin Framework for Transparent Agent and Human Collaboration in Industrial Multi-Agent Systems"],"prefix":"10.3390","volume":"14","author":[{"ORCID":"https:\/\/orcid.org\/0009-0004-9766-8804","authenticated-orcid":false,"given":"Inga","family":"Miadowicz","sequence":"first","affiliation":[{"name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt (DLR), 51147 Cologne, North Rhine-Westphalia, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0097-7260","authenticated-orcid":false,"given":"Mathias","family":"Kuhl","sequence":"additional","affiliation":[{"name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt (DLR), 51147 Cologne, North Rhine-Westphalia, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2929-8667","authenticated-orcid":false,"given":"Daniel","family":"Maldonado Quinto","sequence":"additional","affiliation":[{"name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt (DLR), 51147 Cologne, North Rhine-Westphalia, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3542-3391","authenticated-orcid":false,"given":"Robert","family":"Pitz-Paal","sequence":"additional","affiliation":[{"name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt (DLR), 51147 Cologne, North Rhine-Westphalia, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3818-4442","authenticated-orcid":false,"given":"Michael","family":"Felderer","sequence":"additional","affiliation":[{"name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt (DLR), 51147 Cologne, North Rhine-Westphalia, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2026,1,11]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"10107","DOI":"10.1109\/ACCESS.2023.3240433","article-title":"Self-Organization in Smart Manufacturing\u2014Background, Systematic Review, Challenges and Outlook","volume":"11","author":"Pulikottil","year":"2023","journal-title":"IEEE Access"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1515\/auto-2020-0131","article-title":"Industrial autonomous systems: A survey on definitions, characteristics and abilities","volume":"69","author":"Marks","year":"2021","journal-title":"at-Automatisierungstechnik"},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Sakurada, L., and Leitao, P. (2020, January 10\u201312). Multi-Agent Systems to Implement Industry 4.0 Components. Proceedings of the 2020 IEEE Conference on Industrial Cyberphysical Systems (ICPS), Tampere, Finland.","DOI":"10.1109\/ICPS48405.2020.9274745"},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1007\/978-3-642-04143-3_1","article-title":"Industrial Application of Agent Systems: Lessons Learned and Future Challenges","volume":"Volume 5774","author":"Braubach","year":"2009","journal-title":"Multiagent System Technologies"},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"2151","DOI":"10.1007\/s00170-023-11517-8","article-title":"Agent-based manufacturing\u2014Review and expert evaluation","volume":"127","author":"Pulikottil","year":"2023","journal-title":"Int. J. Adv. Manuf. Technol."},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Sidorenko, A., Motsch, W., van Bekkum, M., Nikolakis, N., Alexopoulos, K., and Wagner, A. (2023). The MAS4AI framework for human-centered agile and smart manufacturing. Front. Artif. Intell., 6.","DOI":"10.3389\/frai.2023.1241522"},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Ferreira, J., Ribeiro, L., Neves, P., Akillioglu, H., Onori, M., and Barata, J. (2012, January 25\u201328). Visualization tool to support multi-agent mechatronic based systems. Proceedings of the IECON 2012, Piscataway, NJ, USA.","DOI":"10.1109\/IECON.2012.6389185"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"28573","DOI":"10.1109\/ACCESS.2018.2831228","article-title":"Multi-Agent Systems: A Survey","volume":"6","author":"Dorri","year":"2018","journal-title":"IEEE Access"},{"key":"ref_9","unstructured":"Ahmad, H.F. (2002, January 23\u201325). Multi-agent systems: Overview of a new paradigm for distributed systems. Proceedings of the 7th IEEE International Symposium on High Assurance Systems Engineering, HASE 2002, Tokyo, Japan."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"15","DOI":"10.1016\/j.arcontrol.2020.05.001","article-title":"Autonomy and metrics of autonomy","volume":"49","author":"Antsaklis","year":"2020","journal-title":"Annu. Rev. Control"},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Chen, H., Wen, Y., Zhu, M., Huang, Y., Xiao, C., Wei, T., and Hahn, A. (2021). From Automation System to Autonomous System: An Architecture Perspective. J. Mar. Sci. Eng., 9.","DOI":"10.3390\/jmse9060645"},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Chen, J., Abbod, M., and Shieh, J.S. (2019). Integrations between Autonomous Systems and Modern Computing Techniques: A Mini Review. Sensors, 19.","DOI":"10.3390\/s19183897"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"405","DOI":"10.1007\/s00170-023-10910-7","article-title":"A maturity model for the autonomy of manufacturing systems","volume":"126","author":"Mo","year":"2023","journal-title":"Int. J. Adv. Manuf. Technol."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"22","DOI":"10.1007\/978-3-319-27343-3_2","article-title":"A Metrics Framework for Quantifying Autonomy in Complex Systems","volume":"Volume 9433","author":"Ketter","year":"2015","journal-title":"Multiagent System Technologies"},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Pinto, A. (2019, January 2\u20133). An Open and Modular Architecture for Autonomous and Intelligent Systems. Proceedings of the 2019 IEEE International Conference on Embedded Software and Systems (ICESS), Las Vegas, NV, USA.","DOI":"10.1109\/ICESS.2019.8782512"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"190","DOI":"10.1016\/j.apergo.2015.09.013","article-title":"A literature review on the levels of automation during the years. What are the different taxonomies that have been proposed?","volume":"53","author":"Vagia","year":"2016","journal-title":"Appl. Ergon."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"454","DOI":"10.1016\/j.ifacol.2019.06.104","article-title":"The Autonomous Industrial Plant -Future of Process Engineering, Operations and Maintenance","volume":"52","author":"Gamer","year":"2019","journal-title":"IFAC-PapersOnLine"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"23","DOI":"10.1007\/s10846-018-0832-6","article-title":"Control and Machine Intelligence for System Autonomy","volume":"91","author":"Antsaklis","year":"2018","journal-title":"J. Intell. Robot. Syst."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"2023","DOI":"10.1007\/s10845-021-01759-2","article-title":"Automation platform independent multi-agent system for robust networks of production resources in industry 4.0","volume":"32","author":"Seitz","year":"2021","journal-title":"J. Intell. Manuf."},{"key":"ref_20","doi-asserted-by":"crossref","unstructured":"Falco, M., and Robiolo, G. (October, January 30). A Systematic Literature Review in Multi-Agent Systems: Patterns and Trends. Proceedings of the 2019 XLV Latin American Computing Conference, Panama City, Panama.","DOI":"10.1109\/CLEI47609.2019.235098"},{"key":"ref_21","unstructured":"Kahlen, F.J., Flumerfelt, S., and Alves, A.C. (2016). Digital Twin: Mitigating Unpredictable, Undesirable Emergent Behavior in Complex Systems. Transdisciplinary Perspectives on Complex Systems, Springer."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"107503","DOI":"10.1016\/j.infsof.2024.107503","article-title":"Analysing the synergies between Multi-agent Systems and Digital Twins: A systematic literature review","volume":"174","author":"Pretel","year":"2024","journal-title":"Inf. Softw. Technol."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"1016","DOI":"10.1016\/j.ifacol.2018.08.474","article-title":"Digital Twin in manufacturing: A categorical literature review and classification","volume":"51","author":"Kritzinger","year":"2018","journal-title":"IFAC-PapersOnLine"},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Brarda, P.G., Ayala, N.F., and Mendes, G.H. (2025). Roadmap to Digital Factories in Industry 4.0: Insights from multiple case studies. Int. J. Prod. Econ., in press.","DOI":"10.1016\/j.ijpe.2025.109829"},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"309","DOI":"10.1016\/j.promfg.2020.10.044","article-title":"A Quality-Oriented Digital Twin Modelling Method for Manufacturing Processes Based on A Multi-Agent Architecture","volume":"51","author":"Zheng","year":"2020","journal-title":"Procedia Manuf."},{"key":"ref_26","doi-asserted-by":"crossref","unstructured":"Sakurada, L., de La Prieta, F., and Leitao, P. (2023, January 16\u201319). Digitization of Industrial Environments Through an Industry 4.0 Compliant Approach. Proceedings of the IECON 2023\u201449th Annual Conference of the IEEE Industrial Electronics Society, Singapore.","DOI":"10.1109\/IECON51785.2023.10312428"},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"1","DOI":"10.26599\/Jic.2025.9180083","article-title":"Advances in Digital Twin Technology in Industry: A Review of Applications, Challenges, and Standardization","volume":"3","author":"Ai","year":"2025","journal-title":"J. Intell. Constr."},{"key":"ref_28","first-page":"114","article-title":"About Digital Twins, Agents, and Multiagent Systems: A Cross-Fertilisation Journey","volume":"Volume 13441","author":"Melo","year":"2022","journal-title":"Autonomous Agents and Multiagent Systems. Best and Visionary Papers"},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1145\/3507909","article-title":"Web of Digital Twins","volume":"22","author":"Ricci","year":"2022","journal-title":"ACM Trans. Internet Technol."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"178","DOI":"10.1007\/978-3-031-48539-8_12","article-title":"Towards Developing Digital Twin Enabled Multi-Agent Systems","volume":"Volume 14378","author":"Ciortea","year":"2023","journal-title":"Engineering Multi-Agent Systems"},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"580","DOI":"10.1515\/auto-2022-0008","article-title":"A CPPS-architecture and workflow for bringing agent-based technologies as a form of artificial intelligence into practice","volume":"70","year":"2022","journal-title":"at-Automatisierungstechnik"},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"109","DOI":"10.1002\/iis2.12875","article-title":"Development of a digital twin for collaborative decision\u2013making, based on a multi\u2013agent system: Application to prescriptive maintenance","volume":"32","author":"Lorente","year":"2022","journal-title":"INCOSE Int. Symp."},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"75","DOI":"10.2307\/25148625","article-title":"Design Science in Information Systems Research","volume":"28","author":"Hevner","year":"2004","journal-title":"MIS Q."},{"key":"ref_34","first-page":"395","article-title":"A Framework for Theory Development in Design Science Research: Multiple Perspectives","volume":"13","author":"Kuechler","year":"2012","journal-title":"J. Assoc. Inf. Syst."},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"771","DOI":"10.1007\/s10270-024-01255-0","article-title":"Digital twin and the asset administration shell","volume":"24","author":"Zhang","year":"2025","journal-title":"Softw. Syst. Model."},{"key":"ref_36","doi-asserted-by":"crossref","unstructured":"Jacoby, M., and Usl\u00e4nder, T. (2020). Digital Twin and Internet of Things\u2014Current Standards Landscape. Appl. Sci., 10.","DOI":"10.3390\/app10186519"},{"key":"ref_37","unstructured":"Barnstedt, E., Bedenbender, H., Berres, B., Billmann, M., Boss, B., Braunisch, N., Braunmandl, A., Clauer, E., Diedrich, C., and Flubacher, B. (2022). Details of the Asset Administration Shell\u2014Part 1: The Exchange of Information Between Partners in the Value Chain of Industrie 4.0 (Version 3.0RC02), Federal Ministry for Economic Affairs and Climate Action (BMWK)."},{"key":"ref_38","unstructured":"Bayha, A., Bock, J., Boss, B., Diedrich, C., and Malakuti, S. (2020). Describing Capabilities of Industrie 4.0 Components, Federal Ministry for Economic Affairs and Energy (BMWi)."},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"100102","DOI":"10.1016\/j.seja.2025.100102","article-title":"An action research study on the digital transformation of concentrated solar thermal plants","volume":"5","author":"Miadowicz","year":"2025","journal-title":"Sol. Energy Adv."},{"key":"ref_40","unstructured":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt (2025, November 14). Solar Towers J\u00fclich, 2025. Available online: https:\/\/www.dlr.de\/en\/research-and-transfer\/research-infrastructure\/solar-towers-juelich."},{"key":"ref_41","doi-asserted-by":"crossref","first-page":"466","DOI":"10.1016\/j.rser.2013.01.032","article-title":"Concentrated solar power plants: Review and design methodology","volume":"22","author":"Zhang","year":"2013","journal-title":"Renew. Sustain. Energy Rev."},{"key":"ref_42","doi-asserted-by":"crossref","first-page":"107342","DOI":"10.1016\/j.compstruc.2024.107342","article-title":"Methods for enabling real-time analysis in digital twins: A literature review","volume":"297","author":"Anitescu","year":"2024","journal-title":"Comput. Struct."}],"container-title":["Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2079-8954\/14\/1\/76\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,1,14]],"date-time":"2026-01-14T11:31:00Z","timestamp":1768390260000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2079-8954\/14\/1\/76"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,1,11]]},"references-count":42,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2026,1]]}},"alternative-id":["systems14010076"],"URL":"https:\/\/doi.org\/10.3390\/systems14010076","relation":{},"ISSN":["2079-8954"],"issn-type":[{"value":"2079-8954","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,1,11]]}}}