The paper presents the Intelligent Control System Laboratory's (ICSL) Cooperative Autonomous Mobile Robot technologies and their application to intelligent vehicles for cities. The deployed decision and control algorithms made the road-scaled vehicles capable of undertaking cooperative autonomous maneuvers. Because the focus of ICSL's research is in decision and control algorithms, it is therefore reasonable to consider replacing or upgrading the sensors used with more recent road sensory concepts as produced by other research groups. While substantial progress has been made, there are still some issues that need to be addressed such as: decision and control algorithms for navigating roundabouts, real-time integration of all data, and decision-making algorithms to enable intelligent vehicles to choose the driving maneuver as they go. With continued research, it is feasible that cooperative autonomous vehicles will coexist alongside human drivers in the not-too-distant future.