The six taxis -- Renault Zoe and Mitsubishi i-MiEV electric vehicles -- will operate in a 2.5 square mile (4.0 square kilometer) area, with set pick-up and drop-off points. Trips have to be booked through the company's smartphone app.
Although the high-tech cars will drive themselves, each journey will be accompanied by a nuTonomy engineer, who will observe how the machine performs, and be ready to take over in the event of a problem, the company said.
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Ride-sharing giant Uber said last week that it would be launching driverless cars in the US city of Pittsburgh by the end of August. It has also established a $300 million venture with Chinese-owned, Swedish-based Volvo to develop self-driving cars for sale by 2021.
Separately, Google parent Alphabet announced in May that it is partnering Fiat Chrysler in expanding its fleet of self-driving vehicles, which it hopes will hit the road by end-2016.