I joined the school of computer science at the Interdisciplinary Center, Herzliya in 1999. During the years 1993-1994 I was a Post-doctoral fellow, at the Robotics group of Oxford University. From 1997-1998 I was a post-doctoral fellow at the Weizmann Institute of Science. I spent the years 2004-2007 on sabbatical in Sydney at NICTA and UNSW, and 2013 I spent a short sabbatical at Berkeley and Colombia Univeristy.