This paper introduces a motion planning strategy aimed
at the coordination of a rover and manipulator. The main
purpose is to fetch samples of scientific interest that could
be placed on difficult locations, requiring to maximize
the workspace of the combined system. In order to validate
this strategy, a simulation environment has been built, based on the VORTEX Studio platform. A virtual model of the ExoTer rover prototype, owned by the European Space Agency, has been used together with the same robot control software. Finally, we show in this paper the benefits of validating the proposed strategy on simulation, prior to its future use on the real experimental rover.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tec
