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.
8 pages, 9 figures, To appear in the Proceedings of the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems
References in corpus (3)
Cited by in corpus (7)
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