nearby objects 500 m maps SP | wM|BG ] veHIcLe Plans for next 50 seconds Task to be done on objects of attention Locomotion = SUBSYSTEM SP fea on Subitask on object surface Obstacle-free paths acl — [s@fwm|se]— — OPERATOR INTERFACE 0.5 second plans Steering, speed 0.05 second plans ' Actuator output