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highwayman (n.)

"one who travels the highways with intent to rob people" (often on horseback and thus contrasted to a footpad), 1640s, from highway + man (n.).

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Definitions of highwayman from WordNet

highwayman (n.)
a holdup man who stops a vehicle and steals from it;
Synonyms: highjacker / hijacker / road agent
From wordnet.princeton.edu