 This was a collaboration with GEC Electrical Products and led in 1991 to the formation of Guidance Navigation Systems Ltd.The primary interest of this work was sensor data fusion and the real-time detection of obstacles in a robot vehicle’s planned path, leading to a “slalom” manoeuvre to avoid it, or, if this was judged infeasible by the robot, a complete re-planning of the path to the goal.Finishing a spell as Head of Engineering Science (1989-84), Brady was awarded an EPSRC Senior Fellowship, during which he spent two year-long periods in the INRIA Laboratory headed by Nicholas Ayache.