Once accurate and computationally efficient models are available, one can use their predictions for designing and optimizing the underlying system. In this work, we distinguish the notions of design and optimization, even though they are generally considered as parts of the same process in other engineering disciplines. On the one hand, design is concerned with the definition of the qualitative, structural specification of the underlying system, e.g., deciding between different control strategies or robots’ geometries. On the other hand, optimization consists in fine-tuning the quantitative, numerical parameters of the said specification.
KeywordsCentral Planner Robot Controller Chain Size Probabilistic Controller Miniature Robot
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