I would like to thank the coauthors of this book for the effort put into writing and developing the code for the countless examples provided. I also want to say thanks to the members of the research groups where I did my PhD thesis: the University Institute of Intelligent Systems and Computational Engineering (SIANI) and the Center of Underwater Robotics Research (CIRS/ViCOROB). Also, a big thanks goes to my ex-colleagues at PAL Robotics, where I learned a lot about ROS, robotics for mobile, and humanoid biped robots—not only software, but also electronics and hardware design. Finally, I would like to thank my family and friends for their help and support.