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Nowadays in embedded system design it is essential to use Hardware/Software (HW/SW) co-design. This paper is about the development of an autonomic mobile navigation with HW/SW co-design. We managed to design such a system that won the first prize at one of the greatest Mars rover competitions in Hungary. The paper demonstrates how to keep the project costs and system design process time low with this methodology. The hardware-software partitioning is discussed in details. This paper is going to deal with the possible and already used technologies in details by emphasizing their advantages.