Abstract: An autonomous robot and methods are provided for lifting and stacking packages, such as on a shelf in a warehouse. The robot comprises a base, an elevator assembly that raises and lowers an elevator platform, an engagement mechanism for attaching the robot to a shelf, and steerable drive mechanisms for driving the robot in any direction (e.g. both forward and laterally) on a warehouse floor. The robot is navigated to a storage location of a package. The robot is driven laterally towards the shelf without rotating the robot or elevator platform, and is then clamped to the shelf. The elevator platform is then raised to the height of the package. The package is moved from the storage location to the elevator platform with a gantry.

Abstract: Methods, systems, and devices are provided for navigating a robot along a route. Navigation is accomplished using an image sensor mounted on the robot, which captures an image of a target. The target comprises a plurality of data zones and a plurality of data indicators organized with no more than one data indicator located within one data zone. The target has a target code based on which of the data zones contains the plurality of data indicators. A target distance between the robot and the target is determined, and, if the target distance is below a distance threshold, then an instruction, based on the target code is used to command the robot.