diff --git a/bin/caspian b/bin/caspian
new file mode 120000
--- /dev/null
+++ b/bin/caspian
@@ -0,0 +1 @@
+../scripts/setup/manage_caspian.php
\ No newline at end of file
diff --git a/scripts/setup/manage_caspian.php b/scripts/setup/manage_caspian.php
new file mode 100755
--- /dev/null
+++ b/scripts/setup/manage_caspian.php
@@ -0,0 +1,21 @@
+#!/usr/bin/env php
+<?php
+
+$root = dirname(dirname(dirname(__FILE__)));
+require_once $root.'/scripts/__init_script__.php';
+
+$args = new PhutilArgumentParser($argv);
+$args->setTagline(pht('manage Caspian control systems'));
+$args->setSynopsis(<<<EOSYNOPSIS
+**caspian** __command__ [__options__]
+    Manage Caspian control systems.
+
+EOSYNOPSIS
+  );
+$args->parseStandardArguments();
+
+$workflows = id(new PhutilClassMapQuery())
+  ->setAncestorClass('CaspianWorkflow')
+  ->execute();
+$workflows[] = new PhutilHelpArgumentWorkflow();
+$args->parseWorkflows($workflows);
diff --git a/src/__phutil_library_map__.php b/src/__phutil_library_map__.php
--- a/src/__phutil_library_map__.php
+++ b/src/__phutil_library_map__.php
@@ -275,6 +275,17 @@
     'BulkTokenizerParameterType' => 'applications/transactions/bulk/type/BulkTokenizerParameterType.php',
     'CalendarTimeUtil' => 'applications/calendar/util/CalendarTimeUtil.php',
     'CalendarTimeUtilTestCase' => 'applications/calendar/__tests__/CalendarTimeUtilTestCase.php',
+    'CaspianAnalyzer' => 'applications/caspian/CaspianAnalyzer.php',
+    'CaspianDriveWorkflow' => 'applications/caspian/CaspianDriveWorkflow.php',
+    'CaspianDriver' => 'applications/caspian/CaspianDriver.php',
+    'CaspianLIDARAnalyzer' => 'applications/caspian/CaspianLIDARAnalyzer.php',
+    'CaspianLIDARSensor' => 'applications/caspian/CaspianLIDARSensor.php',
+    'CaspianLIDARView' => 'applications/caspian/CaspianLIDARView.php',
+    'CaspianSensor' => 'applications/caspian/CaspianSensor.php',
+    'CaspianSimulation' => 'applications/caspian/CaspianSimulation.php',
+    'CaspianSoftwareLIDARSensor' => 'applications/caspian/CaspianSoftwareLIDARSensor.php',
+    'CaspianState' => 'applications/caspian/CaspianState.php',
+    'CaspianWorkflow' => 'applications/caspian/CaspianWorkflow.php',
     'CelerityAPI' => 'applications/celerity/CelerityAPI.php',
     'CelerityDarkModePostprocessor' => 'applications/celerity/postprocessor/CelerityDarkModePostprocessor.php',
     'CelerityDefaultPostprocessor' => 'applications/celerity/postprocessor/CelerityDefaultPostprocessor.php',
@@ -5594,6 +5605,17 @@
     'BulkTokenizerParameterType' => 'BulkParameterType',
     'CalendarTimeUtil' => 'Phobject',
     'CalendarTimeUtilTestCase' => 'PhabricatorTestCase',
+    'CaspianAnalyzer' => 'Phobject',
+    'CaspianDriveWorkflow' => 'CaspianWorkflow',
+    'CaspianDriver' => 'Phobject',
+    'CaspianLIDARAnalyzer' => 'CaspianAnalyzer',
+    'CaspianLIDARSensor' => 'CaspianSensor',
+    'CaspianLIDARView' => 'Phobject',
+    'CaspianSensor' => 'Phobject',
+    'CaspianSimulation' => 'Phobject',
+    'CaspianSoftwareLIDARSensor' => 'CaspianLIDARSensor',
+    'CaspianState' => 'Phobject',
+    'CaspianWorkflow' => 'PhabricatorManagementWorkflow',
     'CelerityAPI' => 'Phobject',
     'CelerityDarkModePostprocessor' => 'CelerityPostprocessor',
     'CelerityDefaultPostprocessor' => 'CelerityPostprocessor',
diff --git a/src/applications/caspian/CaspianAnalyzer.php b/src/applications/caspian/CaspianAnalyzer.php
new file mode 100644
--- /dev/null
+++ b/src/applications/caspian/CaspianAnalyzer.php
@@ -0,0 +1,19 @@
+<?php
+
+abstract class CaspianAnalyzer
+  extends Phobject {
+
+  private $name;
+
+  abstract public function analyzeSensors(CaspianState $state);
+
+  final public function setName($name) {
+    $this->name = $name;
+    return $this;
+  }
+
+  final public function getName() {
+    return $this->name;
+  }
+
+}
diff --git a/src/applications/caspian/CaspianDriveWorkflow.php b/src/applications/caspian/CaspianDriveWorkflow.php
new file mode 100644
--- /dev/null
+++ b/src/applications/caspian/CaspianDriveWorkflow.php
@@ -0,0 +1,19 @@
+<?php
+
+final class CaspianDriveWorkflow
+  extends CaspianWorkflow {
+
+  protected function didConstruct() {
+    $this
+      ->setName('drive')
+      ->setExamples('**drive** [__options__]')
+      ->setSynopsis(pht('Drive a control system.'))
+      ->setArguments(array());
+  }
+
+  public function execute(PhutilArgumentParser $args) {
+    id(new CaspianDriver())
+      ->start();
+  }
+
+}
diff --git a/src/applications/caspian/CaspianDriver.php b/src/applications/caspian/CaspianDriver.php
new file mode 100644
--- /dev/null
+++ b/src/applications/caspian/CaspianDriver.php
@@ -0,0 +1,83 @@
+<?php
+
+final class CaspianDriver
+  extends Phobject {
+
+  public function start() {
+    $sensors = array();
+
+    // Left-mounted LIDAR.
+    $sensors[] = id(new CaspianSoftwareLIDARSensor())
+      ->setName('Left-Mounted LIDAR Sensor')
+      ->setPosition('L');
+
+    // Right-mounted LIDAR.
+    $sensors[] = id(new CaspianSoftwareLIDARSensor())
+      ->setName('Right-Mounted LIDAR Sensor')
+      ->setPosition('R');
+
+    $analyzers = array();
+    $analyzers[] = id(new CaspianLIDARAnalyzer())
+      ->setName('LIDAR Analyzer');
+
+    $simulation = new CaspianSimulation();
+
+    $state = null;
+    $control = 'n';
+    while (true) {
+
+      $update = false;
+      if (!$state) {
+        $state = id(new CaspianState())
+          ->setEpoch(0);
+        $update = true;
+      } else {
+        if ($control == 'n') {
+          if ($state->getNext()) {
+            $state = $state->getNext();
+          } else {
+            $state = $state->newState();
+            $update = true;
+          }
+        } else {
+          $state = $state->getPrevious();
+        }
+      }
+
+      if ($update) {
+        foreach ($sensors as $sensor) {
+          $state->readSensor($sensor);
+        }
+
+        foreach ($analyzers as $analyzer) {
+          $state->analyzeSensors($analyzer);
+        }
+      }
+
+      echo $simulation->newView($state);
+
+      while (true) {
+        echo '[N]ext, [p]rev, [s]top?';
+        $i = fgets(STDIN);
+        $i = strtolower(trim($i));
+
+        switch ($i) {
+          case '':
+            $control = 'n';
+            break 2;
+          case 'n':
+          case 'p':
+          case 's':
+            $control = $i;
+            break 2;
+        }
+      }
+
+      if ($control == 's') {
+        echo "Stopped at epoch ".$state->getEpoch().".\n";
+        break;
+      }
+    }
+  }
+
+}
diff --git a/src/applications/caspian/CaspianLIDARAnalyzer.php b/src/applications/caspian/CaspianLIDARAnalyzer.php
new file mode 100644
--- /dev/null
+++ b/src/applications/caspian/CaspianLIDARAnalyzer.php
@@ -0,0 +1,54 @@
+<?php
+
+final class CaspianLIDARAnalyzer
+  extends CaspianAnalyzer {
+
+  public function analyzeSensors(CaspianState $state) {
+    $lidars = array();
+
+    foreach ($state->getSensorState() as $sensor_state) {
+      if ($sensor_state['sensor'] instanceof CaspianLIDARSensor) {
+        $lidars[] = $sensor_state;
+      }
+    }
+
+    $lidar_result = array();
+    for ($ii = 0; $ii < 12; $ii++) {
+      $readings = array();
+      foreach ($lidars as $lidar_reading) {
+        $state = $lidar_reading['state'];
+        if ($state[$ii] !== null) {
+          $readings[] = $state[$ii];
+        }
+      }
+
+      // Combine the values and certainties. This is just a rough approximation
+      // that produces output in vaguely the right shape.
+
+      $values = array();
+      $certainties = array();
+      foreach ($readings as $reading) {
+        $values[] = $reading['reading'];
+        $certainties[] = $reading['certainty'];
+      }
+
+      $value = array_sum($values) / count($values);
+      $certainty = array_sum($certainties) / (count($certainties) + 1);
+
+      $lidar_result[] = array(
+        'reading' => $value,
+        'certainty' => $certainty,
+      );
+    }
+
+    return $lidar_result;
+  }
+
+  public function newView(array $state) {
+    return id(new CaspianLIDARView())->newView(
+      $this->getName(),
+      $state);
+  }
+
+
+}
diff --git a/src/applications/caspian/CaspianLIDARSensor.php b/src/applications/caspian/CaspianLIDARSensor.php
new file mode 100644
--- /dev/null
+++ b/src/applications/caspian/CaspianLIDARSensor.php
@@ -0,0 +1,10 @@
+<?php
+
+abstract class CaspianLIDARSensor
+  extends CaspianSensor {
+
+  public function newView(array $state) {
+    return id(new CaspianLIDARView())->newView($this->getName(), $state);
+  }
+
+}
diff --git a/src/applications/caspian/CaspianLIDARView.php b/src/applications/caspian/CaspianLIDARView.php
new file mode 100644
--- /dev/null
+++ b/src/applications/caspian/CaspianLIDARView.php
@@ -0,0 +1,37 @@
+<?php
+
+final class CaspianLIDARView
+  extends Phobject {
+
+  public function newView($name, array $state) {
+    $out = array();
+
+    $out[] = '*> '.$name."\n";
+
+    for ($ii = 0; $ii < count($state); $ii++) {
+      $out[] = sprintf(
+        '% 6s [% -4s]',
+        sprintf('%4.2f', $state[$ii]['reading']),
+        sprintf('%0.2f', $state[$ii]['certainty']));
+
+      switch ($ii) {
+        case 3:
+        case 5:
+        case 7:
+        case 11:
+          $out[] = "\n";
+          break;
+        case 4:
+        case 6:
+          $out[] = '                             ';
+          break;
+        default:
+          $out[] = ' ';
+          break;
+      }
+    }
+
+    return implode('', $out);
+  }
+
+}
diff --git a/src/applications/caspian/CaspianSensor.php b/src/applications/caspian/CaspianSensor.php
new file mode 100644
--- /dev/null
+++ b/src/applications/caspian/CaspianSensor.php
@@ -0,0 +1,18 @@
+<?php
+
+abstract class CaspianSensor extends Phobject {
+
+  private $name;
+
+  abstract public function readState();
+
+  final public function setName($name) {
+    $this->name = $name;
+    return $this;
+  }
+
+  final public function getName() {
+    return $this->name;
+  }
+
+}
diff --git a/src/applications/caspian/CaspianSimulation.php b/src/applications/caspian/CaspianSimulation.php
new file mode 100644
--- /dev/null
+++ b/src/applications/caspian/CaspianSimulation.php
@@ -0,0 +1,25 @@
+<?php
+
+final class CaspianSimulation
+  extends Phobject {
+
+  public function newView(CaspianState $state) {
+    $output = array();
+    $output[] = pht(
+      "--- Epoch %d ---\n",
+      $state->getEpoch());
+
+    foreach ($state->getSensorState() as $sensor_state) {
+      $output[] = $sensor_state['sensor']
+        ->newView($sensor_state['state']);
+    }
+
+    foreach ($state->getAnalyzerState() as $analyzer_state) {
+      $output[] = $analyzer_state['analyzer']
+        ->newView($analyzer_state['analysis']);
+    }
+
+    return implode("\n", $output);
+  }
+
+}
diff --git a/src/applications/caspian/CaspianSoftwareLIDARSensor.php b/src/applications/caspian/CaspianSoftwareLIDARSensor.php
new file mode 100644
--- /dev/null
+++ b/src/applications/caspian/CaspianSoftwareLIDARSensor.php
@@ -0,0 +1,98 @@
+<?php
+
+final class CaspianSoftwareLIDARSensor
+  extends CaspianLIDARSensor {
+
+  private $position;
+
+  public function setPosition($position) {
+    $this->position = $position;
+    return $this;
+  }
+
+  public function getPosition() {
+    return $this->position;
+  }
+
+  public function readState() {
+    switch ($this->position) {
+      case 'L':
+        // Left-mounted LIDAR. Sees ahead, behind, and to the left of the
+        // vehicle. Less reliable at the edges.
+        $fov = array(
+          0.9,
+          0.8,
+          0.7,
+          null,
+          0.9,
+          null,
+          0.9,
+          null,
+          0.9,
+          0.8,
+          0.7,
+          null,
+        );
+        break;
+      case 'R':
+        // Right-mounted LIDAR.
+        $fov = array(
+          null,
+          0.7,
+          0.8,
+          0.9,
+          null,
+          0.9,
+          null,
+          0.9,
+          null,
+          0.7,
+          0.8,
+          0.9,
+        );
+        break;
+    }
+
+    $distances = array(
+      2,
+      6,
+      6,
+      2,
+      2,
+      2,
+      2,
+      2,
+      2,
+      99,
+      99,
+      2,
+    );
+
+    $result = array();
+    for ($ii = 0; $ii < count($distances); $ii++) {
+      // This LIDAR can not see in this direction.
+      if ($fov[$ii] === null) {
+        $result[] = null;
+        continue;
+      }
+
+      // True distance to obstacle.
+      $reading = $distances[$ii];
+
+      // Add uncertainty to the sensor reading.
+      $error_abs = ($reading * (1 - $fov[$ii]));
+      $error_rel = (mt_rand(-500, 500) / 1000.0);
+      $reading = $reading + ($error_abs * $error_rel);
+
+      // Sensor reading is a combination of actual value and sensor
+      // uncertainty.
+      $result[] = array(
+        'reading' => $reading,
+        'certainty' => $fov[$ii],
+      );
+    }
+
+    return $result;
+  }
+
+}
diff --git a/src/applications/caspian/CaspianState.php b/src/applications/caspian/CaspianState.php
new file mode 100644
--- /dev/null
+++ b/src/applications/caspian/CaspianState.php
@@ -0,0 +1,71 @@
+<?php
+
+final class CaspianState
+  extends Phobject {
+
+  private $previous;
+  private $next;
+  private $epoch;
+  private $sensorState = array();
+  private $analyzerState = array();
+
+  public function setPrevious(CaspianState $previous) {
+    $this->previous = $previous;
+    return $this;
+  }
+
+  public function getPrevious() {
+    return $this->previous;
+  }
+
+  public function setEpoch($epoch) {
+    $this->epoch = $epoch;
+    return $this;
+  }
+
+  public function getEpoch() {
+    return $this->epoch;
+  }
+
+  public function setNext(CaspianState $next) {
+    $this->next = $next;
+    return $this;
+  }
+
+  public function getNext() {
+    return $this->next;
+  }
+
+  public function newState() {
+    $next = id(new self())
+      ->setPrevious($this)
+      ->setEpoch($this->getEpoch() + 1);
+
+    $this->setNext($next);
+
+    return $next;
+  }
+
+  public function readSensor(CaspianSensor $sensor) {
+    $this->sensorState[] = array(
+      'sensor' => $sensor,
+      'state' => $sensor->readState(),
+    );
+  }
+
+  public function analyzeSensors(CaspianAnalyzer $analyzer) {
+    $this->analyzerState[] = array(
+      'analyzer' => $analyzer,
+      'analysis' => $analyzer->analyzeSensors($this),
+    );
+  }
+
+  public function getSensorState() {
+    return $this->sensorState;
+  }
+
+  public function getAnalyzerState() {
+    return $this->analyzerState;
+  }
+
+}
diff --git a/src/applications/caspian/CaspianWorkflow.php b/src/applications/caspian/CaspianWorkflow.php
new file mode 100644
--- /dev/null
+++ b/src/applications/caspian/CaspianWorkflow.php
@@ -0,0 +1,4 @@
+<?php
+
+abstract class CaspianWorkflow
+  extends PhabricatorManagementWorkflow {}