This paper presents two techniques for autonomous convoy operations, one based on the Ranger localization system and the other a path planning technique within the Robotic Technology Kernel called Vaquerito. The first solution, Ranger, is a high-precision localization system developed by Southwest Research Institute® (SwRI®) that uses an inexpensive downward-facing camera and a simple lighting and electronics package. It is easily integrated onto vehicle platforms of almost any size, making it ideal for heterogeneous convoys. The second solution, Vaquerito, is a human-centered path planning technique that takes a hand-drawn map of a route and matches it to the perceived environment in real time to follow a route known to the operator, but not to the vehicle.