This talk will present some of the issues that arise when planning complex motions for mobile robotic systems capable of manipulating objects in their environment. These issues cover both lower level motion planning — finding a set of commands that move the robot from one location to another, and higher level planning — deciding on the sequence of actions that leads to the goal. A formalization of the robot's available planning options is introduced and an algorithm that uses these options is proposed to compute higher level and lower level motion plans simultaneously.