Possible implementations of the technology include personal self-driving vehicles, shared robotaxis, connected vehicle platoons and long-distance trucking. Several projects to develop a fully self-driving commercial car are in various stages of development. Waymo became the first service provider to offer robotaxi rides to the general public in Phoenix, Arizona in 2020, while Tesla has said it will offer subscription-based "full self-driving" to private vehicle owners in 2021, and Nuro has been allowed to start autonomous commercial delivery operations in California in 2021.