Tesla officially unveiled a robotaxi service known as Cybercab at an event in Austin, Texas, over the weekend, marking the latest venture for the electric vehicle firm owned by Elon Musk.

The multibillionaire said on social media that the launch was the “culmination of a decade of hard work,” since both the artificial intelligence and software teams at his company “were built from scratch within Tesla.”

Austin residents were able to test the robotaxi services for a flat fee of $4.20 per ride. Some social media users posted footage of the fully autonomous cars driving them to destinations in the city.

Musk had previously unveiled the Cybercab, which has a price tag of $30,000, as well as a Robovan meant to carry a higher quantity of passengers.

The robotaxi service allows users to “schedule an autonomous ride and step into the future of safe and convenient point-to-point transportation,” according to a webpage created by Tesla.

Customers can simply open an app, enter and confirm their destination, and receive a notification informing them that a vehicle is inbound.

“Tesla vehicles are designed to provide comfort and convenience throughout your entire trip,” the site added. “You can adjust your preferred climate settings, seat position, and more from the Robotaxi app.”