@ARTICLE{10930687,
  author={Milojevic, Dejan and Zardini, Gioele and Elser, Miriam and Censi, Andrea and Frazzoli, Emilio},
  journal={IEEE Transactions on Robotics}, 
  title={CODEI: Resource-Efficient Task-Driven Co-Design of Perception and Decision Making for Mobile Robots Applied to Autonomous Vehicles}, 
  year={2025},
  volume={41},
  number={},
  pages={2727-2748},
  keywords={Robot sensing systems;Robots;Software;Hardware;Optimization;Software algorithms;Planning;Pipelines;Mobile robots;Decision making;Co-design;mobile robots;sensor selection},
  doi={10.1109/TRO.2025.3552347}}