Gregor et al. 2000 :  The paper gives a survey on the new Expectation-based, Multi-focal, Saccadic Vision (EMS-Vision) system for autonomous vehicle guidance developed at the “Universitaet der Bundeswehr Muenchen” (UBM). EMS-Vision is the 3rd generation dynamic vision system following the 4D-approach. Its core element is a new camera arrangement, mounted on a high bandwidth pan-tilt head for active gaze control. Central knowledge representation and a hierarchical system architecture allow efficient activation and control of behavioral capabilities for perception and action. The system has been implemented on commercial off-the- shelf (COTS) hardware components in both UBM test vehicles VaMoRs and VaMP. Results from autonomous turn-off maneuvers, performed on army proving grounds, are discussed.