  When designing autonomous systems, we need to consider multiple trade-offs at
various abstraction levels, and the choices of single (hardware and software)
components need to be studied jointly. In this work we consider the problem of
designing the control algorithm as well as the platform on which it is
executed. In particular, we focus on vehicle control systems, and formalize
state-of-the-art control schemes as monotone feasibility relations. We then
show how, leveraging a monotone theory of co-design, we can study the embedding
of control synthesis problems into the task-driven co-design problem of a
robotic platform. The properties of the proposed approach are illustrated by
considering urban driving scenarios. We show how, given a particular task, we
can efficiently compute Pareto optimal design solutions.
