ReferenceSafeRoboticExplicitReference and Command Governors are add-on schemes that enforce pointwise-in-time constraints on pre-stabilized safetySafety-critical systems. More recently, the introduction of theReference Governor (RG) ExplicitExplicit Reference GovernorExplicit Reference  (ERG) (ERG) has provided a general frameworkFramework for the closed-form constrained control of nonlinearNonlinear systems subject to state and input constraints. First, this chapter gives an overview of planning, navigation, and control methods with applications to safetySafety-critical robotics. Then, the ERG theory is briefly summarized. Finally, the main contribution of this chapter is to collect the main methodological ERG variations the authors have published in recent years and to demonstrate some successful numerical and real-world application results when applying the ERG to aerial (swarm) robotics and roboticRobotic manipulators.