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We are working towards a theory of robotics and a software formalization of it. This is our attempt to provide a universal solution to the questions of how to design robots and how to control them. We focus on the design of the hardware, and we design controllers. In this talk, I will discuss the design of controllers and give some examples of controllers that have been developed. I will also discuss the software formalization of our theory, and I will describe the system-level planning problems that are commonly solved with this framework.
Robots have been around for a long time, but on the other hand, we have only been able to work with robots for a short time. The reason why is that there are fundamental problems in robotics. The first problem is the lack of a general theory for robot motion planning. The second problem is the lack of a general theory for robot motion control. Most people that work in these areas have a general theory for control of systems, but an inability to generalize their theory to robots. I believe these problems can be resolved by an understanding of the general theory of robotics, and that this is the topic of my talk. The broad notion of \”theory of robotics\” includes knowledge of how to design robots, how to design and use controllers, how to design and use algorithms. It is usually discussed in the context of end-to-end formalizations, but also can be discussed in more abstract terms as we will describe. The goal of my presentation is to describe the general theory of robotics that we have been formulating. It is a unification of the two problems described above, and we have been working towards the solution for more than a decade. It addresses the broad problem of how to design robots, and also how to control them. The result is a formal theory of robotics that we believe can be used in a wide variety of robotics applications.
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