Abstract: Methods and systems for use with an automated storage and retrieval system (ASRS) are described. In some embodiments, a model may be generated using a simplified three dimensional model of the storage facility where the model may include functionalized interconnected volumes and/or surfaces. During operation, an ASRS may include at least one robot, which can move along surfaces, hold a payload (e.g., containers, objects, etc.), and interact with the environment of the storage facility to facilitate movement and handling of the payload within the storage facility. In some embodiments, the robot may obtain and use a map of the storage facility that is generated using the disclosed models for controlling operation of the robot based at least in part on a location of the robot within the storage facility and the functionality of that location defined in the map of the storage facility.