diff --git a/AirLib/include/api/RpcLibClientBase.hpp b/AirLib/include/api/RpcLibClientBase.hpp
index 7f98072743..06341a6aac 100644
--- a/AirLib/include/api/RpcLibClientBase.hpp
+++ b/AirLib/include/api/RpcLibClientBase.hpp
@@ -114,6 +114,8 @@ class RpcLibClientBase {
     void stopRecording();
     bool isRecording();
 
+    vector<string> listVehicles();
+
 protected:
     void* getClient();
     const void* getClient() const;
diff --git a/AirLib/include/api/WorldSimApiBase.hpp b/AirLib/include/api/WorldSimApiBase.hpp
index 8607c44ba1..a9450c4329 100644
--- a/AirLib/include/api/WorldSimApiBase.hpp
+++ b/AirLib/include/api/WorldSimApiBase.hpp
@@ -70,6 +70,8 @@ class WorldSimApiBase {
     virtual void startRecording() = 0;
     virtual void stopRecording() = 0;
     virtual bool isRecording() const = 0;
+
+    virtual vector<string> listVehicles() const = 0;
 };
 
 
diff --git a/AirLib/include/common/common_utils/UniqueValueMap.hpp b/AirLib/include/common/common_utils/UniqueValueMap.hpp
index 62b9d04c6f..cff3e2ce42 100644
--- a/AirLib/include/common/common_utils/UniqueValueMap.hpp
+++ b/AirLib/include/common/common_utils/UniqueValueMap.hpp
@@ -71,6 +71,15 @@ class UniqueValueMap {
         return vals_.size();
     }
 
+    std::vector<TKey> keys() const
+    {
+        std::vector<TKey> ret;
+        for (const auto& element: map_) {
+            ret.push_back(element.first);
+        }
+        return ret;
+    }
+
     //TODO: add erase methods
 
 private:
diff --git a/AirLib/src/api/RpcLibClientBase.cpp b/AirLib/src/api/RpcLibClientBase.cpp
index be9c01fe80..8df3c14f64 100644
--- a/AirLib/src/api/RpcLibClientBase.cpp
+++ b/AirLib/src/api/RpcLibClientBase.cpp
@@ -432,6 +432,11 @@ bool RpcLibClientBase::isRecording()
     return pimpl_->client.call("isRecording").as<bool>();
 }
 
+vector<string> RpcLibClientBase::listVehicles()
+{
+    return pimpl_->client.call("listVehicles").as<vector<string>>();
+}
+
 void* RpcLibClientBase::getClient()
 {
     return &pimpl_->client;
diff --git a/AirLib/src/api/RpcLibServerBase.cpp b/AirLib/src/api/RpcLibServerBase.cpp
index 3123e95f18..2927a33d3f 100644
--- a/AirLib/src/api/RpcLibServerBase.cpp
+++ b/AirLib/src/api/RpcLibServerBase.cpp
@@ -366,6 +366,10 @@ RpcLibServerBase::RpcLibServerBase(ApiProvider* api_provider, const std::string&
         return getWorldSimApi()->isRecording();
     });
 
+    pimpl_->server.bind("listVehicles", [&]() -> vector<string> {
+        return getWorldSimApi()->listVehicles();
+    });
+
     //if we don't suppress then server will bomb out for exceptions raised by any method
     pimpl_->server.suppress_exceptions(true);
 }
diff --git a/PythonClient/airsim/client.py b/PythonClient/airsim/client.py
index a6553093bd..09d2530c89 100644
--- a/PythonClient/airsim/client.py
+++ b/PythonClient/airsim/client.py
@@ -750,6 +750,15 @@ def isRecording(self):
         """
         return self.client.call('isRecording')
 
+    def listVehicles(self):
+        """
+        Lists the names of current vehicles
+
+        Returns:
+            list[str]: List containing names of all vehicles
+        """
+        return self.client.call('listVehicles')
+
 # -----------------------------------  Multirotor APIs ---------------------------------------------
 class MultirotorClient(VehicleClient, object):
     def __init__(self, ip = "", port = 41451, timeout_value = 3600):
diff --git a/Unreal/Plugins/AirSim/Source/WorldSimApi.cpp b/Unreal/Plugins/AirSim/Source/WorldSimApi.cpp
index 4a60712435..2c9c2b1229 100644
--- a/Unreal/Plugins/AirSim/Source/WorldSimApi.cpp
+++ b/Unreal/Plugins/AirSim/Source/WorldSimApi.cpp
@@ -410,3 +410,13 @@ bool WorldSimApi::isRecording() const
 {
     return simmode_->isRecording();
 }
+
+std::vector<std::string> WorldSimApi::listVehicles() const
+{
+    auto vehicle_names = (simmode_->getApiProvider()->getVehicleSimApis()).keys();
+    // Remove '' from the list, representing default vehicle
+    auto position = std::find(vehicle_names.begin(), vehicle_names.end(), "");
+    if (position != vehicle_names.end())
+        vehicle_names.erase(position);
+    return vehicle_names;
+}
diff --git a/Unreal/Plugins/AirSim/Source/WorldSimApi.h b/Unreal/Plugins/AirSim/Source/WorldSimApi.h
index a3aef5861c..6d01928c6e 100644
--- a/Unreal/Plugins/AirSim/Source/WorldSimApi.h
+++ b/Unreal/Plugins/AirSim/Source/WorldSimApi.h
@@ -63,6 +63,8 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase {
     virtual void stopRecording() override;
     virtual bool isRecording() const override;
 
+    virtual std::vector<std::string> listVehicles() const override;
+
 private:
     AActor* createNewActor(const FActorSpawnParameters& spawn_params, const FTransform& actor_transform, const Vector3r& scale, UStaticMesh* static_mesh);
     void spawnPlayer();