  This tutorial intends to present a deep insight of the slip and skid problem
in WMRs. Specifically, we present a brief introduction to slippage and the
limitations it imposes on WMR's applications. In addition, we shed some light
on state of the art review on modeling methodologies and controlling mechanisms
for slip and skid in WMRs. This paper also discusses the future trends in the
use of WMRs and possibility of new domains in their use in modern world.
