The previous Mobile robotWheeled robotchapters deal mainly with articulated manipulators, which represent the large majority of robots used in industrial settings. However, mobile robots are becoming increasingly important in advanced applications, in view of their potential for autonomous intervention. This chapter presents techniques for modeling, planning and control of wheeled mobile robots. The structure of the kinematic constraints arising from the pure rolling of the wheels is first analyzed; it is shown that such constraints are in general nonholonomic and consequently reduce the local mobility of the robot. The kinematic model associated with the constraints is introduced to describe the instantaneous admissible motions, and conditions are given under which it can be put in chained form. The dynamic model, which relates the admissible motions to the generalized forces acting on the robot degrees of freedom, is also derived. The peculiar nature of the kinematic model, and in particular the existence of flat outputs, is exploited to devise path/trajectory planning methods that guarantee that the nonholonomic constraints are satisfied. The motion control problem for mobile robots is then discussed, with reference to two basic motion tasks, i.e., trajectory tracking and regulation. The chapter also surveys the basic techniques for localization, an essential functionality for implementing feedback control schemes. In conclusion, the case of mobile manipulators is considered. Mobile robotwheeled