The theory of relativity, specifically the theory of special relativity, was formulated by Albert Einstein. He published his groundbreaking paper titled "On the Electrodynamics of Moving Bodies" in 1905, which introduced the concept of special relativity. This theory revolutionized our understanding of space, time, and the relationship between matter and energy.
Later, Einstein went on to develop the theory of general relativity, which provides a more comprehensive description of gravity. He published this theory in 1915, presenting his field equations that describe the curvature of spacetime caused by mass and energy.
It is important to note that while Einstein was the first to formulate the theory of relativity in its modern form, earlier physicists and mathematicians made important contributions to the understanding of space, time, and motion, laying the groundwork for Einstein's work. Notable predecessors include Hendrik Lorentz, Henri Poincaré, and Hermann Minkowski, among others. However, it was Einstein who synthesized these ideas and formulated the theory of relativity as we know it today.