The Anglo-Australian Planet Search started observations on the AAT in 1999, and has now been running for 4 years. It has established itself as the Southern Hemisphere's highest precision Doppler search for planetary companions to nearby stars. It has to date reported the detection of 6 extra-solar planets, and two brown dwarf candidates, with the announcement of yet more detections planned in the very near future. Several of these discoveries have pushed our understanding of extra-solar planets in new directions - in particular the detection of the planet around eps Reticulum, which was the first Jupiter-like planet to be found in a circular orbit outside the tidal circularisation radius of 0.1a.u. It points the way to the eventual discovery of Jupiter-like planets in Jupiter-like orbits within the next 5 years.