Boxi: Design Decisions in the Context of Algorithmic Performance for Robotics
Authors: Jonas Frey, Turcan Tuna, Lanke Frank Tarimo Fu, Cedric Weibel, Katharine Patterson, Benjamin Krummenacher, Matthias Muller, Julian Nubert, Maurice Fallon, Cesar Cadena, Marco Hutter
Abstract
Achieving robust autonomy in mobile robots operating in complex, unstructured environments requires a multimodal sensor suite capable of capturing diverse and complementary information. However, designing such a sensor suite involves multiple critical design decisions, such as sensor selection, component placement, thermal and power limitations, compute requirements, networking, synchronization, and calibration. While the importance of these key aspects is widely recognized, they are often overlooked in academia or retained as proprietary knowledge within large corporations. To improve this situation, we present