Waymo issued a recall after a glitch caused some vehicles to crash into barriers like chains and gates. But the unusual part? All vehicles were fixed months ago.

Sebastian Thrun, a pioneer of the self-driving industry, talked to BI about Waymo's greatest strength and why he still hasn't given up on flying cars.

Waymo said its vehicles will soon be seen in several Boston neighborhoods, Cambridge, Somerville and on major highways.

Waymo is mapping Boston for potential expansion of its self-driving robotaxi service, starting with manual driving to understand local roads. No rider program is launched yet.