A robotic surface treatment system includes an omnidirectional base vehicle; a mast extending from the base vehicle; an arm extending from the mast and moveable in relation to the mast; a wrist connected to a distal end of the arm; and a surface treatment system extending from the base to the wrist through an inside of the mast, arm and wrist.

For deicing an aircraft, a deicing system includes a base, a plurality of motorized wheel assemblies, a proximal deck and a distal deck, and a plurality of articulated arms. The base may have a length along the longitudinal axis that is substantially equivalent to a specified aircraft. The plurality of motorized wheel assemblies is disposed under the base. A movement direction of each wheel assembly is rotatable about a vertical axis. The plurality of articulated arms is disposed on the proximal deck in the distal deck. A shell is disposed on the end of each articulated arm. The plurality of motorized wheel assemblies moves the deicing system adjacent to the aircraft and the plurality of articulated arms each position a shell adjacent to the aircraft.