  The importance of ground Mobile Robots (MRs) and Unmanned Aerial Vehicles
(UAVs) within the research community, industry, and society is growing fast.
Many of these agents are nowadays equipped with communication systems that are,
in some cases, essential to successfully achieve certain tasks. In this
context, we have begun to witness the development of a new interdisciplinary
research field at the intersection of robotics and communications. This
research field has been boosted by the intention of integrating UAVs within the
5G and 6G communication networks. This research will undoubtedly lead to many
important applications in the near future. Nevertheless, one of the main
obstacles to the development of this research area is that most researchers
address these problems by oversimplifying either the robotics or the
communications aspect. This impedes the ability of reaching the full potential
of this new interdisciplinary research area. In this tutorial, we present some
of the modelling tools necessary to address problems involving both robotics
and communication from an interdisciplinary perspective. As an illustrative
example of such problems, we focus in this tutorial on the issue of
communication-aware trajectory planning.
