In-space assembly is a key technology for the future development of large infrastructures in space, from space stations
and telescopes, to solar power plants or planetary bases. Such structures are much larger than cargo areas in current
launchers, therefore they must be sent in separate pieces that are assembled in situ, typically using relocatable robotic
manipulators. The efficient exploitation of the locomotion and manipulation (loco-manipulation) abilities for such
robotic systems requires suitable planning tools. In this paper, we present a motion planning approach for exploiting
loco-manipulation abilities of self-relocatable space robots, assuming that they move over specific interconnects that
provide the required mechanical, power and data connectivity. The proposed approach consists of three planning
layers: a high-level planning for obtaining the contact sequence, a low-level planning for the joint trajectories, and
a validation layer. The motion planner provides plans for single locomotion and manipulation tasks, as well as
combined loco-manipulation tasks. The approach is illustrated with examples for two robotic systems: MOSAR-WM,
a relocatable walking manipulator, and a multi-arm robot (MAR) equipped with two arms attached to a central tors
