Abstract: A system for wireless power transfer to a mobile robot is presented. The system includes one or more mobile robots including a permanent magnet and at least one pair of receiving coils. The system further includes a magnetic track including a plurality of transmitting coils configured to receive power from a power supply. The system further includes a control system configured to control the power transmitted from the power supply to the plurality of transmitting coils. The control system is further configured to selectively control the plurality of transmitting coils to: simultaneously provide propulsion to a mobile robot of the one or more mobile robots moving along the magnetic track and wirelessly transfer power to the mobile robot, or switch from providing propulsion to a mobile robot of the one or more mobile robots moving along the magnetic track to wirelessly transferring power to the mobile robot.