U.S. Army Combat Capabilities Development Command (CCDC) Ground Vehicle Systems Center (GVSC) has been managing and developing a variety of autonomous systems throughout its existence. Two of the most important from the past decade include the Autonomous Mobility Appliqué System (AMAS) developed by Lockheed Martin Corporation (LMC) and the Robotic Technology Kernel (RTK) developed by GVSC in collaboration with DCS Corp and Southwest Research Institute (SwRI). Rather than continuing to develop and maintain two separate autonomous software systems, GVSC has decided to integrate any capabilities that were unique to AMAS into RTK and devote efforts to developing RTK going forward. The goal of integrating AMAS into RTK is to leverage the best features of each system. The process of this integration involves multiple steps. This paper describes the historical and current efforts involved in the integration of AMAS into RTK.