Co-Design of Embodied Intelligence: A Structured Approach

Autor:	Zardini, Gioele, Milojevic, Dejan, Censi, Andrea, Frazzoli, Emilio
Rok vydání:	2020
Předmět:	Computer Science - Robotics Electrical Engineering and Systems Science - Systems and Control
Druh dokumentu:	Working Paper
DOI:	10.1109/IROS51168.2021.9636513
Popis:	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. Comment: 8 pages, 9 figures, To appear in the Proceedings of the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2011.10756 Zobrazit plný text záznamu View this record from Arxiv