Systems, methods, and apparatuses for high-speed navigation. The present invention preferably encompasses systems, methods, and apparatuses that provide for autonomous high-speed navigation of 
terrain by an un-manned 
robot. By preferably employing a pre-planned 
route, path, and speed; extensive sensor-based information collection about the 
local environment; and information about vehicle 
pose, the robots of the present invention evaluate the 
relative cost of various potential paths and thus arrive at a path to 
traverse the environment. The information collection about the 
local environment allows the 
robot to evaluate 
terrain and to identify any obstacles that may be encountered. The robots of the present invention thus employ map-based data fusion in which sensor information is incorporated into a cost map, which is preferably a rectilinear grid aligned with the world coordinate 
system and is centered on the vehicle. The cost map is a specific map type that represents the traversability of a particular environmental area using a 
numeric value. The planned path and 
route provide information that further allows the 
robot to orient sensors to preferentially scan the areas of the environment where the robot will likely travel, thereby reducing the computational load placed onto the 
system. The computational ability of the 
system is further improved by using map-based 
syntax between various 
data processing modules of the present invention. By using a common set of carefully defined data types as 
syntax for communication, it is possible to identify new features for either path or map 
processing quickly and efficiently.