A vehicle comprising: a body having a passenger compartment; four steering systems , each steering system having: a wheel , said wheels of said four steering system supporting a different end and a different side of said body ; and a first actuator connecting said wheel to said body for steering said wheel; at least two controllers operatively connected to said first actuators for controlling an actuation of said first actuators ; a first power source powering a first subset of said first actuators ; and a second power source powering a second subset of said first actuators . characterized in that the vehicle is an autonomous vehicle, in that said at least two controllers are four controllers and in that each one of said four steering systems further comprises: a second actuator connecting said wheel to said body for steering said wheel ; and one of said four controllers , each controller being operatively connected to said first actuator of the respective steering system and to one of said second actuators of another one of said steering systems ; wherein said first power source powers a first subset of said second actuators and wherein said second power source powers a second subset of said second actuators . wherein each one of said second actuators acts on said respective wheel in opposition to said first actuator of said respective steering system. a body having a passenger compartment; four steering systems , each steering system having: a wheel , said wheels of said four steering system supporting a different end and a different side of said body ; and a first actuator connecting said wheel to said body for steering said wheel; a wheel , said wheels of said four steering system supporting a different end and a different side of said body ; and a first actuator connecting said wheel to said body for steering said wheel; at least two controllers operatively connected to said first actuators for controlling an actuation of said first actuators ; a first power source powering a first subset of said first actuators ; and a second power source powering a second subset of said first actuators . characterized in that the vehicle is an autonomous vehicle, in that said at least two controllers are four controllers and in that each one of said four steering systems further comprises: a second actuator connecting said wheel to said body for steering said wheel ; and one of said four controllers , each controller being operatively connected to said first actuator of the respective steering system and to one of said second actuators of another one of said steering systems ; a second actuator connecting said wheel to said body for steering said wheel ; and one of said four controllers , each controller being operatively connected to said first actuator of the respective steering system and to one of said second actuators of another one of said steering systems ; wherein said first power source powers a first subset of said second actuators and wherein said second power source powers a second subset of said second actuators . wherein each one of said second actuators acts on said respective wheel in opposition to said first actuator of said respective steering system. <EOS>