In the last twenty years Autonomous Vehicles (AVs) have turned into reality but, despite the technology is becoming increasingly mature, AVs are still only able to reach relatively simple goals in structured environments with large energy consumption. A new generation of more energy efficient systems capable of pursuing complex goals in highly dynamic environments must be created. This is the goal of a MURI Project, sponsored by the U.S. Office of Naval Research (ONR), carried out by Boston University, Massachusetts Institute of Technology and several Australian universities and this is the context in which this thesis came about during the authors' visit to Boston University during the academic year 2020-21.