The NAUS ATO (2004-2009) was a follow-on program to the Robotic Follower ATO (2000- 2004) and built on the concept of semi-autonomous leader follower technology to achieve dynamic robotic movement in tactical formations. The NAUS ATO also developed and tested an Unmanned Ground Vehicle (UGV) Self-Security system capable of detecting, tracking, and predicting the intent of human beings in the vicinity of the vehicle. The ATO concluded its Engineering and Evaluation Testing (EET) with a capstone demonstration in October 2008. This paper will detail the technology developed and utilized under the program as well as report on the EET results to the robotic community.