The scope of the interdisciplinary research performed in the Cooperative Autonomous SYstems (CASY), lab spans from the high-level problem of cooperative team mission planning (task assignment), to motion planning (guidance) with regard to optimizing trajectories for the dynamical systems, then to the problem of trajectory-following, and lastly to low-level control of a single vehicle. In our research and experiments we seek to devise new algorithms and strategies for performing these cooperative or individual tasks and to gain insight into the interactions between the different levels of planning and control.