Here’s a look at which autonomous vehicles are in Austin and when you can expect to catch a robotaxi ride from them.

It's been a little less than a decade since Tesla CEO Elon Musk first announced his electric vehicle manufacturer would roll out a fleet of robotaxis across the country. In 2016, the billionaire said they would hit the streets two years later.

The launch puts Tesla head-to-head with Alphabet-backed Waymo, which is already operating a fleet of robotaxis in several cities.