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This work is devoted to complex missions planning and execution in Robotics. Robotics has evolved from an industrial, repetitive framework to application domains with much more variability of tasks, with increasing complexity in uncertain environment. This is clearly the case for Service Robotics e.g. but even industrial robots have now to work in(More)
In this paper, we give an overview of the work we have conducted toward a unified modeling framework for wheeled mobile manipulators (WMM).Where most work in the literature often provide models, sometimes simplified, of a given type of WMM, we give an extensive description of the obtention of explicit kinematic and dynamic models of those systems. This(More)
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