Robot Co-design: Beyond the Monotone Case
Robot Co-design: Beyond the Monotone Case
复制标题
机器人协同设计：超越单调案例
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
Carlo Pinciroli
中科院分区：
文献类型：
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作者：
L. Carlone;Carlo Pinciroli
最近在3D打印和制造微型机器人硬件和计算方面的进展为制造廉价的一次性机器人铺平了道路。这将对包括科学发现（如飓风监测）、搜索和救援（如密闭空间操作）和娱乐（如纳米无人机）在内的几个应用产生重大影响。对廉价和特定任务的机器人的需求与目前的做法相冲突，目前的做法是由人类专家负责设计机器人平台的硬件和软件方面。这使得机器人设计过程昂贵且耗时，最终不适合小批量低成本应用。本文考虑计算机器人协同设计问题，旨在创建一种自动算法，选择最佳机器人模块（传感，驱动，计算），以最大化任务性能，同时满足给定规格（例如，最终设计的最大成本）。我们提出了一个共同设计问题的二元优化公式，并表明该公式在强建模假设的基础上推广了以前的工作。我们表明，提出的公式可以在几秒钟内以最小的人为干预解决相对较大的协同设计问题。我们在两个应用中演示了所提出的方法：自主无人机竞速平台的协同设计和多机器人系统的协同设计。
Recent advances in 3D printing and manufacturing of miniaturized robotic hardware and computing are paving the way to build inexpensive and disposable robots. This will have a large impact on several applications including scientific discovery (e.g., hurricane monitoring), search-and-rescue (e.g., operation in confined spaces), and entertainment (e.g., nano drones). The need for inexpensive and task-specific robots clashes with the current practice, where human experts are in charge of designing hardware and software aspects of the robotic platform. This makes the robot design process expensive and time consuming, and ultimately unsuitable for small-volumes low-cost applications. This paper considers the computational robot co-design problem, which aims to create an automatic algorithm that selects the best robotic modules (sensing, actuation, computing) in order to maximize the performance on a task, while satisfying given specifications (e.g., maximum cost of the resulting design). We propose a binary optimization formulation of the co-design problem and show that such formulation generalizes previous work based on strong modeling assumptions. We show that the proposed formulation can solve relatively large co-design problems in seconds and with minimal human intervention. We demonstrate the proposed approach in two applications: the co-design of an autonomous drone racing platform and the co-design of a multi-robot system.