In this talk I hope to share some nuggets from my work in robotics since I graduated from the GRASP laboratory 14 years ago. First I will briefly summarize my thesis work in multi-robot formation control using decentralized control graphs. This will be followed by a summary of some of the R&D work performed while I was at the Center for Vision Technologies in SRI International, Princeton. This will include vision-based navigation and mapping, real time obstacle detection and collision avoidance for a variety of robotic platforms including the self-driving cars at the DARPA Urban Challenge. Finally I will present the work we are doing at area17 which is a spin-out venture from SRI International. We are integrating our proprietary perception and navigation software with off-the shelf components onto an aerial drone platform, which can operate fully autonomously for commercial and consumer applications.