This article examines the selection of a robot's actuation and sensing hardware to minimize
the cost of that design while ensuring that the robot is capable of carrying out a plan to …

We address problems underlying the algorithmic question of automating the co-design of
robot hardware in tandem with its apposite software. Specifically, we consider the impact …

Assuming one wants to design the most cost-effective robot for some task, how difficult is it to
choose the robot's actuators? This paper addresses that question in algorithmic terms …

Motivated by the need for tools to aid in the design of effective robots, we examine how to
determine the role that particular sensing and actuator resources play in enabling a robot to …

This paper aims to improve the practical scalability of automated tools to assist in designing
robots. Such problems rapidly become intractable because the underlying design space is …

This dissertation is focused on the problem of algorithmic robot design. The process of
designing a robot or a team of robots that can reliably accomplish a task in an environment …

We wish to minimize the information that a robot maintains to carry out its task. Filters are
one way to keep stored state consistent with sensed values, though they may also capture …