UGVs provide a comprehensive operational solution that reduces casualties and facilitates long-term personnel reductions in various operational scenarios including deterrence, discovery, identification, warning, confinement, and threat destruction. An advanced suite of sensors provides all-weather sensing as well as high-performance navigation, obstacle detection and avoidance, and accurate vehicle control. These capabilities are achieved via fusion algorithms and prediction, navigation sensors (GPS, DGPA, INS, compass and odometers), and a highly-accurate state vector.