Uber Technologies Inc. has resumed self-driving tests in Pittsburgh after it secured approval from Pennsylvania authorities to resume the tests in the state.

According to a Medium article by Uber Advanced Technologies Group Head Eric Meyhofer, the ride-hailing company said it will deploy a self-driving car on public roads only after it passes over 70 scenarios without any safety-related failures. The cars will now also have two operators inside, with one person at the wheel.

Uber also implemented software changes help improve system latency, as well as detection and tracking of pedestrians and cyclists.

The company said it also is restarting manual driving in San Francisco and Toronto that will enable it to test new scenarios virtually or on Uber's test track. However, Uber said it will only go ahead with the tests in these cities in coordination with federal, state and local agencies.

The company halted its self-driving car test program in March across San Francisco, Phoenix, Pittsburgh and Toronto after one of its autonomous units hit and killed a pedestrian in Tempe, Ariz.