Elon Musk first promised that a Tesla robotaxi network was coming in April 2019. Back then, the billionaire was envisaging a fleet of autonomous Tesla cars that could ferry people around town whenever they weren’t needed by their owners.

Elon Musk has spent a decade promising to turn Teslas into robotaxis. CNBC explores whether the company is ready to pivot to autonomy.

Tesla plans to design four new versions of its in-house battery to power the Cybertruck, its forthcoming robotaxi and other electric vehicles, the Information reported on Thursday, citing people with knowledge of its plans.

Shares of Tesla fell 3.5% Wednesday after the electric vehicle maker’s third-quarter deliveries came in slightly below estimates, underscoring the challenges of the EV market and the burden of high expectations.