@INPROCEEDINGS{9636513, author={Zardini, Gioele and Milojevic, Dejan and Censi, Andrea and Frazzoli, Emilio}, booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, title={Co-design of Embodied Intelligence: A Structured Approach}, year={2021}, volume={}, number={}, pages={7536-7543}, keywords={Analytical models;Pipelines;Propulsion;Control systems;Software;Hardware;Sensor systems}, doi={10.1109/IROS51168.2021.9636513}}