Mobile manipulation in many respects represents the next generation of robot applications. An important part
of design of such systems is the integration of techniques for navigation, recognition, control, and planning to
achieve a robust solution. To study this problem three different approaches to mobile manipulation have been
designed and implemented. A prototypical application that requires navigation and manipulation has been
chosen as a target for the systems. In this paper we present the basic design of the three systems and draw some
general lessons on design and implementation.