Ford is making "great progress" towards its goal of deploying its first fully self-driving car by 2021, says the automaker's top research executive.

Ford is relying on Argo AI — a company co-founded last year by Google car project veteran Bryan Salesky and Uber engineer Peter Rander — to take the lead on the development of the brains of its self-driving car. Ford acquired a majority stake in Argo AI in February.

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