We consider the problem of formally co-designing embodied intelligence as a whole, from hardware components such as chassis 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.

翻译：我们从底盘和传感器等硬件部件到控制和感知管道等软件模块,考虑正式共同设计体现情报的整体问题。我们提出一个原则性办法,以制定和解决包含情报的复杂共同设计问题,利用单调共同设计理论。我们提出的方法是直观的,综合了多种工程学科,允许以分析和模拟为基础的建模技术,并促成不同性。我们通过案例研究说明,鉴于一系列需要的行为,我们的框架如何能够计算出Pareto对自驾驶飞行器的整套硬件和软件的高效解决方案。