Multi-Robot Systems Lab

Electrical and Computer Engineering | Technion - Israel Institute of Technology

The Multi-Robot Systems (MRS) lab aims to endow individual robots and multi-robot teams with theory-driven and practical algorithms for tackling complex tasks. Our work explores fundamental questions in, e.g., control, planning, coordination, as well as applications in areas such as autonomous racing and driving, smart mobility, and disaster relief. We draw inspiration from various domains, including mathematics, computational sciences (optimization and artificial intelligence), and engineering (robotics, control, and transportation science), and rigorously test our ideas in theory and on physical hardware.

The lab is headed by Prof. Kiril Solovey from the faculty of Electrical and Computer Engineering, who is affiliated with Tech.AI, the Autonomous Systems Program, and the Applied Mathematics Program. We host the Technion F1TENTH team who develop autonomous racecars for head-to-head racing.

:wave: We’re recruiting MSc, PhD students and PostDocs with strong background in math, algorithms, optimization, and robotics to work on autonomous racing and driving :checkered_flag:, optimization for autonomous mobility-on-demand :oncoming_automobile:, learning-based methods for model predictive control :robot:

news

May 07, 2023 Our paper “Near-Optimal Multi-Robot Motion Planning with Finite Sampling” accepted to IEEE Transactions on Robotics, 2023
May 01, 2023 Our paper “Terraforming—Environment Manipulation during Disruptions for Multi-Agent Pickup and Deliver” accepted to International Conference on Automated Planning and Scheduling, 2023
Apr 05, 2023 Our paper “Toward Certifiable Optimal Motion Planning for Medical Steerable Needles” accepted to International Journal of Robotics Research, 2023
Mar 01, 2023 Revised version “Probabilistic Completeness of RRT for Geometric and Kinodynamic Planning with Forward Propagation” correcting an (embarasing) error in the proof is out. Shout-out to Albert Wu and Thomas Lew for spotting the mistake.
Jul 15, 2022 Our paper on “Robust-RRT: Probabilistically-Complete Motion Planning for Uncertain Nonlinear Systems” was accepted to the International Foundation of Robotics Research, 2022

selected publications

  1. TCNS
    Devansh Jalota, Kiril Solovey, Karthik Gopalakrishnan, Stephen Zoepf, Hamsa Balakrishnan, and Marco Pavone
    When Efficiency meets Equity in Congestion Pricing and Revenue Refunding Schemes
    IEEE Transactions on Control of Network Systems, 2023
  2. T-RO
    Dror Dayan, Kiril Solovey, Marco Pavone, and Dan Halperin
    Near-Optimal Multi-Robot Motion Planning with Finite Sampling
    IEEE Transactions on Robotics, 2023
  3. IJRR
    Mengyu Fu, Kiril Solovey, Oren Salzman, and Ron Alterovitz
    Toward Certifiable Optimal Motion Planning for Medical Steerable Needles
    International Journal of Robotics Research, 2023
  4. JAIR
    Shushman Choudhury, Kiril Solovey, Mykel J. Kochenderfer, and Marco Pavone
    Efficient Large-Scale Multi-Drone Delivery using Transit Networks
    Journal of Artificial Intelligence Research, 2021
    URL
  5. AR
    Rahul Shome, Kiril Solovey, Andrew Dobson, Dan Halperin, and Kostas E. Bekris
    dRRT*: Scalable and informed asymptotically-optimal multi-robot motion planning
    Autonomous Robots, 2020
    URL
  6. IJRR
    Kiril Solovey, and Michal Kleinbort
    The critical radius in sampling-based motion planning
    International Journal of Robotics Research, 2020
    URL
  7. RA-L
    Michal Kleinbort, Kiril Solovey, Zakary Littlefield, Kostas E. Bekris, and Dan Halperin
    Probabilistic Completeness of RRT for Geometric and Kinodynamic Planning With Forward Propagation
    IEEE Robotics and Automation Letters, 2019
    URL
  8. RSS
    Kiril Solovey, Mauro Salazar, and Marco Pavone
    Scalable and Congestion-Aware Routing for Autonomous Mobility-On-Demand Via Frank-Wolfe Optimization
    In Robotics: Science and Systems, 2019
    URL
  9. RSS
    Kiril Solovey, and Michal Kleinbort
    The Critical Radius in Sampling-based Motion Planning
    In Robotics: Science and Systems, 2018
    URL
  10. IJRR
    Kiril Solovey, and Dan Halperin
    On the hardness of unlabeled multi-robot motion planning
    International Journal of Robotics Research, 2016
    URL
  11. T-ASE
    Aviv Adler, Mark Berg, Dan Halperin, and Kiril Solovey
    Efficient Multi-Robot Motion Planning for Unlabeled Discs in Simple Polygons
    IEEE Transactions on Automation Science and Engineering, 2015
    URL