Gregor et al. 2001b : This paper gives a survey on UBM’s new Expectation-based Multi-focal Saccadic Vision (EMS-Vision) system for autonomous vehicle guidance. The core element of the system is a new camera arrangement, mounted on a high bandwidth pan and tilt head (TACC) for active gaze control. Central knowledge representation and an 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. Results from autonomous turn-off maneuvers, performed on army proving grounds, are discussed.