Just before midnight on New Year's Eve, 25 years ago, Queen Elizabeth II stepped off a private barge to arrive at London's Millennium Dome for its grand opening ceremony. Dressed in a pumpkin-orange coat, she entered the venue with Prince Philip, taking her place alongside Tony and Cherie Blair and 12,000 guests to celebrate the dawn of a new millennium. At the stroke of midnight, Big Ben began to chime and 40 tonnes of fireworks were launched from 16 barges lined along the river. The crowd joined hands, preparing to sing Auld Lang Syne. For a few long moments, the Queen was neglected – she flapped her arms out like a toddler wanting to be lifted up, before Blair and Philip noticed her, took a hand each, and the singing began. A new century was born. One politician who wasn't in attendance at the glitzy celebration was Paddy Tipping, a Labour MP who spent the night in the Cabinet Office.

A new generation of sensor-rich, massively distributed, autonomous systems are being developed that have the potential for profound social, environmental, and economic change. These systems include networked building energy systems, autonomous space probes, chemical plant control systems, satellite constellations for remote ecosystem monitoring, power grids, biospherelike life-support systems, and reconfigurable traffic systems, to highlight but a few. To achieve high performance, these immobile robots (or immobots) will need to develop sophisticated regulatory and immune systems that accurately and robustly control their complex internal functions. Thus, immobots will exploit a vast nervous system of sensors to model themselves and their environment on a grand scale. They will use these models to dramatically reconfigure themselves to survive decades of autonomous operation. Achieving these large-scale modeling and configuration tasks will require a tight coupling between the higher-level coordination function provided by symbolic reasoning and the lower-level autonomic processes of adaptive estimation and control.