论文标题
体现智能的共同设计：一种结构化方法
Co-Design of Embodied Intelligence: A Structured Approach
论文作者
论文摘要
我们考虑以结构化的方式共同设计体现智能的问题，从诸如推进系统和传感器之类的硬件组件到控制和感知管道等软件模块。我们提出了一种原则性的方法来制定和解决复杂的体现智能共同设计问题，利用单调共同设计理论。我们提出的方法是直观的，并整合了异质的工程学科，从而允许基于分析和模拟的建模技术并实现跨学科性。我们通过一个案例研究来说明，鉴于一组所需的行为，我们的框架能够为自动驾驶车辆的整个硬件和软件堆栈计算帕累托有效的解决方案。
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.
