This document contains Minimum Aviation System Performance Standards (MASPS) for the Automatic Taxiing (AutoTaxi) system and applications. It describes the AutoTaxi function necessary for the implementation of the AutoTaxi capability of a fixed-wing RPAS operating in non-segregated, military and civilian, terminal areas and airfields, under Instrument Flight Rules (IFR) and in different meteorological conditions without visual assistance of the RP. Moreover, the scope deals with medium complexity airports. The AutoTaxi operational context and concept are fully defined in ANNEX A of this document Next sub-sections just provide a brief description of the AutoTaxi context and outline the high-level functional architecture and interfaces assumed in this document for the technical component of the AutoTaxi service.