Pellkofer et al. 2001a : In the Expectation-based, Multi-focal, Saccadic (EMS-) Vision system of UBM the vision sensor consists of four cameras with different focal lengths mounted on a highly dynamic pan-tilt camera head. Image processing, gaze control and behavior decision interact with each other in a closed loop form. The behavior decision module specifies the relevance of obstacles like road segments, crossings or landmarks in the situation context. The gaze control unit takes all this information in order to plan, optimize and perform a sequence of smooth pursuits, interrupted by saccades. The sequence with the best information gain is performed. The information gain depends on the relevance of objects or object parts, the duration of smooth pursuit maneuvers, the quality of perception and the number of saccades. The functioning of the EMS-Vision system is demonstrated in a complex and scalable autonomous mission with the UBM test vehicle VAMORS.