The GrayMatter AVS is a robust integrated software and hardware system. It is engineered to provide fail-safe control of the test vehicle while facilitating the use of a wide variety of commercial sensor navigation and robotic actuator subsystems to meet practically any driving challenge. The software architecture was proven in the 132 mile cross-country DARPA Grand Challenge, conducted in 2005 by an agency of the U.S. Department of Defense. In its simplest form, the AVS utilizes GPS position, acceleration and distance traveled to complete a pre-programmed course or set of maneuvers. Additionally, more complex behaviors can be accomplished using GrayMatter’s simple, yet powerful, scripting system.