Analysis of S-Circuit Uncertainty

Abstract

The theory of sensori-computational circuits provides a capable framework for the description and optimization of robotic systems, including on-line optimizations. This theory, however, is inadequate in that it does not account for uncertainty in a robot’s environment, sensing, and control. In order to allow meaningful optimization of robotic systems, a method for estimating the output uncertainty of an s-circuit in terms of the uncertainty in its input is formulated. This method is expressly designed to have low information requirements, to ensure that it is feasible to apply in practice. The method is subjected to experimental verification on two representational s-circuits, which confirms the validity of its predictions.