Robotic technology has proven to be an excellent solution for aiding humans in an ever-increasing number of scenarios: from domestic and urban routines to industrial tasks, robots reduce the workload burden on humans and their exposure to hazards. Despite the capabilities demonstrated in recent years, many obstacles remain to be overcome. New challenges arise from the increasing capabilities of advanced robotic platforms. The more complex and unstructured the environment, the more robots should be versatile and reliable to overcome obstacles, plan optimal motions, and reliably accomplish the designed tasks.