Skip to main content
U.S. flag

An official website of the United States government

Official websites use .gov
A .gov website belongs to an official government organization in the United States.

Secure .gov websites use HTTPS
A lock ( ) or https:// means you’ve safely connected to the .gov website. Share sensitive information only on official, secure websites.

Ground Vehicle Control at NIST: from Teleoperation to Autonomy



Karl Murphy, Maris Juberts, Steven Legowik, M Nashman, H Schneiderman, Harry A. Scott, Sandor S. Szabo


NIST is applying their Real-time Control System (RCS) methodology for control of ground vehicles for both the U.S. Army Research Lab, as part of the DOD's Unmanned Ground Vehicles program, and for the Department of Transportation's Intelligent Vehicle / Highway Systems (IVHS) program. The actuated vehicle, a military HMMWV, has motors for steering, brake, throttle, etc. and sensors for the dashboard gauges. For military operations, the vehicle has two modes of operation: a teleoperation mode - where an operator remotely controls the vehicle over an RF communications network; and a semi-autonomous mode called retro-traverse - where the control system uses an inertial navigation system to steer the vehicle along a prerecorded path. For the IVHS work, intelligent vision processing elements replace the human teleoperator to achieve autonomous, visually guided road following.
Conference Dates
August 3-5, 1993
Conference Location
Houston, TX
Conference Title
Seventh Annual Space Operations, Applications and Research Symposium


Unmanned Systems, Vision, Control, autonomous driving, computer vision, control, hierarchical control, IVHS, mobility


Murphy, K. , Juberts, M. , Legowik, S. , Nashman, M. , Schneiderman, H. , Scott, H. and Szabo, S. (1993), Ground Vehicle Control at NIST: from Teleoperation to Autonomy, Seventh Annual Space Operations, Applications and Research Symposium, Houston, TX, [online], (Accessed June 19, 2024)


If you have any questions about this publication or are having problems accessing it, please contact

Created August 1, 1993, Updated February 17, 2017