Steve has been involved in deployed autonomous robotics projects ranging from unmanned under-sea, sea-surface, terrestrial, and airborne vehicles, to deep space communication antennas, outward to earth-orbiting spacecraft and martian surface rovers. In addition, he has worked on globally distributed sensorwebs, a robotic drilling rig, autonomous science image analysis, autonomous planning under uncertainty, integration of planning and execution systems, path planning in denied environments, and distributed interferometer mission design studies. Across these, his expertise is in the effective integration of dynamic sensory input and operator goals with larger system operational constraints in order to arrive at an efficient forward-looking plan of action for the robot.