McTamaney 1987 : A large system intended for military applications is described. Its architecture and associated Lisp-like plan-generation language allow the simultaneous execution of actions as diverse as road following and obstacle avoidance. The system uses offboard computation because of the quantity, size, and power requirements anticipated for the computers. A description is given of a demonstration dealing with autonomous navigation that includes path planning and execution from a map database, with concurrent obstacle detection and avoidance, over a 2-km open-terrain route at 8 km/hr by a full sized vehicle in a natural outdoor environment. Subsequent efforts successfully achieved more rapid speeds for road following; the vehicle attained speeds of 24 km/hr and 21 km/hr on straight and curved sections, respectively, of a San Jose, California, test track. Current efforts focus on multiple-vehicle control and advanced autonomous capabilities such as dynamic replanning, terrain typing and landmark-based recognition.