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This report summarizes the research performed under Contract DACA76- 88-C-0008 during the period May 1989 - May 1990, the first year of the contract period. The focus of the research program is visual navigation, with an emphasis on the use of massively parallel algorithms to support basic navigational tasks in vision and planning. The first section describes research performed on a project called RAMBO. (RAMBO is an acronym for Robot Acting on Moving BOdies). The project attempts to develop and integrate Connection Machine algorithms for low-level vision, intermediate level vision and visual planning to allow a mobile robot to pursue (in simulation) a moving three dimensional target through space in order to maintain visual contact with points on surface of the target. The next selection describes our past year's work on cross-country navigation. We first describe massively parallel algorithms for route planning in digital terrain maps. Then we describe our research on the problem of filling in range shadows. We discuss why classical interpolation methods are not appropriate for this problem, and present methods. The last section presents brief descriptions of other research projects whose results were reported under this contract during the past year.