Goliath was an autonomous robot built at MIT in the early 90's (I haven't been able to determine the exact year). At a size of only one cubic inch in volume, it succeeded Squirt as the smallest robot ever built. It contained two motors, six sensors, two batteries, and an onboard computer, and used tank-drive differential steering. Its descendents include the Ants series of robots. Goliath is pictured in Mobile Robots: Inspiration to Implementation.