We present here an overview of several planning techniques in robotics. We will not be concerned with the synthesis of abstract mission and task plans, using well known classical and other domain-independent planning techniques. We will mainly focus on to how refine such abstract plans into robust sensory-motor actions and on some planning techniques that can be useful for that. The paper introduces the important and mature area of path and motion planning. It illustrates the usefulness of HTN and MDP planning techniques for the design of a high level controller for a mobile robot.1