Co-Design of Embodied Intelligence: A Structured Approach
This work provides a structured framework for the co-design of embodied intelligence, which is a significant challenge for robotics and autonomous systems engineers.
This paper addresses the co-design of embodied intelligence, encompassing both hardware and software components. It proposes a principled approach based on monotone co-design theory, which can compute Pareto efficient solutions for the entire hardware and software stack of a self-driving vehicle given desired behaviors.
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.