This tutorial focuses on an application in which the words 'Intelligent Autonomous Systems' represent not only an important research topic, but also a strategic solution to the mobility problem of the next years. Vehicles able to move autonomously and navigate in everyday traffic, in both highway and urban scenarios, will become a reality in the next decades. Besides the obvious advantages of increasing road safety and improving the quality and efficiency of people and goods mobility, the integration of intelligent features and autonomous functionalities on vehicles will lead to major economical benefits such as reduction of fuel consumption, efficient exploitation of the road network, reduction of personnel. Furthermore, not only the automotive field (public transportation, trucks, and passengers cars) is interested in these new technologies, but other sectors as well, each with its own target (industrial vehicles, military systems, mission critical and unmanned rescue robots).