Co-design of Embodied Intelligence: A Structured Approach

@article{Zardini2021CodesignOE,
  title={Co-design of Embodied Intelligence: A Structured Approach},
  author={Gioele Zardini and Dejan Milojevic and Andrea Censi and Emilio Frazzoli},
  journal={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2021},
  pages={7536-7543}
}
  • G. Zardini, Dejan Milojevic, +1 author E. Frazzoli
  • Published 21 November 2020
  • Computer Science, Engineering
  • 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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… 

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