Co-Design of Embodied Intelligence: A Structured Approach
arXiv:2011.10756 · doi:10.1109/IROS51168.2021.9636513
Abstract
We consider the problem of co-designing embodied intelligence as a whole in a structured way, from hardware components such as propulsion systems and sensors to software modules such as control and perception pipelines. We propose a principled approach to formulate and solve complex embodied intelligence co-design problems, leveraging a monotone co-design theory. The methods we propose are intuitive and integrate heterogeneous engineering disciplines, allowing analytical and simulation-based modeling techniques and enabling interdisciplinarity. We illustrate through a case study how, given a set of desired behaviors, our framework is able to compute Pareto efficient solutions for the entire hardware and software stack of a self-driving vehicle.
arXiv comment8 pages, 9 figures, To appear in the Proceedings of the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems
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- Co-Design to Enable User-Friendly Tools to Assess the Impact of Future Mobility Solutions
- Operads for complex system design specification, analysis and synthesis
- Game Theory to Study Interactions between Mobility Stakeholders
- Compositional Cyber-Physical Systems Theory
- Limits and Colimits in a Category of Lenses