We introduce the “Formula-1” (F-1) roofline model to understand the role of computing in aerial autonomous machines. The model provides insights by exploiting the fundamental relationships between various components in an aerial robot, such as sensor framerate, compute performance, and body dynamics (physics). F-1 serves as a tool that can aid computer and cyber-physical system architects to understand the optimal design (or selection) of various components in the development of autonomous machines.

中文翻译：

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天空不是极限：自主机器中信息物理协同设计的视觉性能模型

我们介绍了“Formula-1”（F-1）屋顶线模型，以了解计算在空中自主机器中的作用。该模型通过利用空中机器人中各种组件之间的基本关系（例如传感器帧率、计算性能和身体动力学（物理学））来提供见解。F-1 作为一种工具，可以帮助计算机和信息物理系统架构师了解自主机器开发过程中各种组件的最佳设计（或选择）。