Abstract: A method includes: at a mobile robot, travelling according to a current path; using a sensor of the mobile robot, capturing sensor data representing a vicinity of the mobile robot; detecting, based on the sensor data, an obstacle obstructing the current path; in response to detecting the obstacle, outputting a request for a status change corresponding to the obstacle; receiving at the mobile robot, in response to the request for a status change, data defining an updated status of the obstacle; selecting, based on the updated status data, a navigational action between (i) continuing to travel according to the current path and (ii) generating a new path circumventing the obstacle; and executing the selected navigational action.

Abstract: A method includes: storing, at a mobile robot, a local repository of self-assigned task definitions; determining, at a processor of the mobile robot, that a local activity metric associated with tasks assigned to the mobile robot by a central server meets an idle criterion; in response to determining that the local activity metric meets the idle criterion, selecting, by the processor, one of the self-assigned task definitions from the local repository; and initiating execution of a self-assigned task corresponding to the selected self-assigned task definition at the mobile robot.

Abstract: A mobile robot includes: a chassis supporting a locomotive assembly; a sensor; a processor configured, in a guided travel mode, to: detect an external force applied to the chassis in a first direction; control the sensor to capture sensor data corresponding to a physical environment of the mobile robot; detect, based on the sensor data, an operational constraint in the physical environment; determine, based on the detected operational constraint, a feedback force in a second direction opposite the first direction; and controlling the locomotive assembly according to the feedback force.

Abstract: A method includes: receiving, at a mobile robot from a central server, a rescue command including a rescue location corresponding to an incapacitated mobile robot; controlling a locomotive assembly of the mobile robot to travel towards the rescue location; capturing, using a sensor of the mobile robot, sensor data representing the rescue location; at the mobile robot, identifying the incapacitated mobile robot from the sensor data; controlling the locomotive assembly to position the mobile robot in a predetermined pose relative to the incapacitated robot; and controlling a charging interface of the mobile robot to transfer energy from a battery of the mobile robot to a battery of the incapacitated mobile robot.

Abstract: A method includes: maintaining data handling settings at a mobile robot; generating operational data at the mobile robot, the operational data defining a current state of the mobile robot; storing the operational data in a memory of the mobile robot; selecting, based on the data handling settings, a portion of the operational data; transmitting the selected portion of the operational data; in response to a determination that the operational data meets a condition, obtaining updated data handling settings; and selecting a subsequent portion of the operational data for transmission according to the updated data handling settings.

Abstract: A system for order fulfillment using one or more robots includes: a server configured to receive an order comprising an order item; inventory storage operably connected to the server, the inventory storage comprising order items; an actor robot operably connected to and selected by the server, the actor robot configured to perform one or more of picking the order item from inventory storage, moving the order item, and positioning the order item; and an order robot operably connected to the server, the order robot configured to collect the order item, wherein the order item is positioned by the actor robot so as to be accessible to the order robot, so as to perform order fulfillment using one or more robots.

Abstract: A system includes: a mobile robot comprising a sensor, the robot further comprising a computer, the robot operating in an environment; a server operably connected to the robot via a communication system, the server configured to manage the robot; a controller operably connected to the robot, the controller operably connected to the server, the controller configured to control the robot; and an object of interest marked with a marker at one or more of an approximate height and an approximate field of view of the sensor, the sensor generating data describing the object of interest, the computer configured to identify one or more of the object of interest and the location using one or more of a shape of the object of interest and an intensity of data describing the object of interest.

Abstract: A method includes: capturing, via a navigational sensor of a mobile automation apparatus, three-dimensional point cloud data depicting a portion of an aisle containing a support structure, the support structure having a forward plane facing into the aisle; generating, from the point cloud data, a two-dimensional projection in a facility coordinate system; retrieving, from a stored map, an expected location of the forward plane of the support structure in the facility coordinate system; selecting, from the projection, a subset of regions satisfying a positional criterion relative to the location of the forward plane; determining, based on the selected subset of regions from the projection, an actual location of the forward plane of the support structure in the facility coordinate system; and providing the actual location of the forward plane to a navigational controller of the mobile automation apparatus.

Abstract: A system includes: a cart including: four legs; at least one shelf, each shelf attached to each of the legs; the cart having a generally rectangular shape, a width of the cart being longer than a length of the robot, a length of the cart being longer than a length of the robot; four wheels, each wheel attached to a different leg at a bottom of the leg, the wheels configured to roll to facilitate movement of the cart; and a robotic dock, the robotic dock comprising four docking receptacles at ninety degree angles from adjacent docking receptacles; and a robot comprising: a sensor; and a docking module, the docking module comprising retractable docking pins, each retractable docking pin configured, when extended upward, to mate with a corresponding docking receptacle, thereby securing the robot to a bottom shelf of the cart.

Abstract: A system for automatically annotating a map includes: a robot; a server operably connected to the robot; file storage configured to store files, the file storage operably connected to the server; an annotations database operably connected to the server, the annotations database comprising map annotations; an automatic map annotation service operably connected to the server, the automatic map annotation service configured to automatically do one or more of create a map of an item of interest and annotate a map of an item of interest; a queue of annotation requests operably connected to the automatic annotation service; and a computer operably connected to the server, the computer comprising a graphic user interface (GUI) usable by a human user.

Abstract: A method includes: obtaining a batch of item group definitions, each item group definition having one or more item identifiers and corresponding quantities; for each item identifier, retrieving (i) a location of a corresponding item in a facility, and (ii) a dimensional attribute of the corresponding item; based on the locations and dimensional attributes, assigning sets of the item group definitions to respective receptacle configurations, each receptacle configuration including, for each item group definition in the set, a receptacle type with a predefined capacity; monitoring availability of a plurality of transporters in the facility, each transporter having a chassis configured to support a selectable set of receptacles; and responsive to detecting that a transporter is available, selecting one of the receptacle configurations, and presenting the selected receptacle configuration via an output device, to initiate placement of receptacles onto the chassis of the transporter according to the selected recep

Abstract: A cart-based workflow system includes: a robot operating in a facility; a server, the server operably connected to the robot, the server configured to do one or more of send the robot a cart transfer location usable for transferring the cart and instruct the robot to specify the cart transfer location; a graphic user interface (GUI) comprising a map of the facility, the GUI operably connected to the server, the GUI configured to do one or more of receive input from a human user and provide output to the human user, the GUI further configured to be usable by the user to coordinate movement of one or more of robots and carts.

Abstract: A method includes: obtaining a task definition for a mobile robot, the task definition including (i) a position on an item support carried by the mobile robot, and (ii) an identifier of an item to be placed at the position to form a unit load with the item support; controlling the mobile robot carrying the item support to travel to a pick location for receiving the item from a picker; controlling an output device to render an indication of the position for the picker at the pick location; responsive to placement of the item at the position by the picker, controlling the mobile robot to travel to a handling location.

Abstract: A system for facility monitoring and reporting to improve safety using one or more robots includes: a network; a plurality of autonomous mobile robots operating in a facility, the robots configured to monitor facility operation, the robots further configured to detect a predetermined critical condition, the robots operably connected to the network; a server operably connected to the robots over the network; and an individual robot operably connected to the server over the network, the individual robot operating in the facility, the robots not comprising the individual robot, the individual robot configured to monitor facility operation; wherein the robots are configured to regularly produce a regular report under normal operating conditions, the report displaying data received from the server, wherein the robots are further configured to produce to the server a critical condition report upon occurrence of the critical condition.

Abstract: A system for order fulfillment using one or more robots includes: a server configured to receive an order comprising an order item; inventory storage operably connected to the server, the inventory storage comprising order items; an actor robot operably connected to and selected by the server, the actor robot configured to perform one or more of picking the order item from inventory storage, moving the order item, and positioning the order item; and an order robot operably connected to the server, the order robot configured to collect the order item, wherein the order item is positioned by the actor robot so as to be accessible to the order robot, so as to perform order fulfillment using one or more robots.

Abstract: A system for order fulfillment using one or more robots includes: a server configured to receive an order comprising an order item; inventory storage operably connected to the server, the inventory storage comprising order items; an actor robot operably connected to and selected by the server, the actor robot configured to perform one or more of picking the order item from inventory storage, moving the order item, and positioning the order item; and an order robot operably connected to the server, the order robot configured to collect the order item, wherein the order item is positioned by the actor robot so as to be accessible to the order robot, so as to perform order fulfillment using one or more robots.

Abstract: A system for facility monitoring and reporting to improve safety using one or more robots includes: a network; a plurality of autonomous mobile robots operating in a facility, the robots configured to monitor facility operation, the robots further configured to detect a predetermined critical condition, the robots operably connected to the network; a server operably connected to the robots over the network; and an individual robot operably connected to the server over the network, the individual robot operating in the facility, the robots not comprising the individual robot, the individual robot configured to monitor facility operation; wherein the robots are configured to regularly produce a regular report under normal operating conditions, the report displaying data received from the server, wherein the robots are further configured to produce to the server a critical condition report upon occurrence of the critical condition.

Abstract: A cart-based workflow system includes: a robot operating in a facility; a server, the server operably connected to the robot, the server configured to do one or more of send the robot a cart transfer location usable for transferring the cart and instruct the robot to specify the cart transfer location; a graphic user interface (GUI) comprising a map of the facility, the GUI operably connected to the server, the GUI configured to do one or more of receive input from a human user and provide output to the human user, the GUI further configured to be usable by the user to coordinate movement of one or more of robots and carts.

Abstract: A method for computing a probability that an object comprises a target includes: performing a scan of an area comprising the object, generating points; creating a segment corresponding to the object using the points as segment points, the segment extending from a first segment point to a last segment point, the segment comprising a plurality of the segment points; and applying a metric, computing the probability that the object comprises the target.

Abstract: A system for facility monitoring and reporting to improve safety using one or more robots includes: a network; a plurality of autonomous mobile robots operating in a facility, the robots configured to monitor facility operation, the robots further configured to detect a predetermined critical condition, the robots operably connected to the network; a server operably connected to the robots over the network; and an individual robot operably connected to the server over the network, the individual robot operating in the facility, the robots not comprising the individual robot, the individual robot configured to monitor facility operation; wherein the robots are configured to regularly produce a regular report under normal operating conditions, the report displaying data received from the server, wherein the robots are further configured to produce to the server a critical condition report upon occurrence of the critical condition.