Typically to a roboticist, a plan is the outcome of other work, a synthesized object that
realizes ends defined by some problem; plans qua plans are seldom treated as first-class …

Currently there do not exist general-purpose robots, and the procedures by which robots are
designed are often ad hoc. Additionally, designers must deal with considerations including …

This dissertation is focused on the problem of algorithmic robot design. The process of
designing a robot or a team of robots that can reliably accomplish a task in an environment …