A robotic item retrieval and transport apparatus includes at least one item retrieval mechanism that is minimally exposed while stored and/or engaged in loading or unloading of objects relative to a deck (e.g., upper surface) thereof. Actuators and at least major portions of one or more movable implements are arranged below the deck. Loading and/or unloading of objects may include lateral sliding, such as by pulling the object while it is supported by an extrinsic support surface. At least substantial portions of an item retrieval mechanism may remain outside a central target area of a deck, to provide a unobstructed or minimally obstructed deck surface for holding objects. The apparatus may be used with at least one movable pallet element. A pallet element and/or a retrievable item may include one or more features detectable by a sensor.

A storage, retrieval and processing system is disclosed for processing objects. The system includes a plurality of bins including objects to be distributed by the processing system, said plurality of bins being provided in at least a partially generally circular arrangement, a programmable motion device that includes an end effector for grasping and moving any of the objects, said programmable motion device being capable of reaching any of the objects within the plurality of bins, and a plurality of destination containers for receiving any of the objects from the plurality of bins, said plurality of destination containers being provided in a region that is generally within the at least partially generally circular arrangement of the plurality of bins.

Methods are described that perform a dispatched consumer-to-store return or swap logistics operation for an item being replaced using a modular autonomous bot apparatus assembly and a dispatch server. The method begins with receiving a return operation dispatch command that includes identifier information, transport parameters, and designated pickup information for the item being replaced/returned, along with authentication information related to an authorized supplier of the item being replaced. Modular components of the bot apparatus are verified to be compatible with the dispatched logistics operation. The MAM then autonomously causes the bot apparatus to move to the designated pickup location, notifies the authorized supplier of an approaching pickup, receives supplier authorization input to permissively allow access to a payload area within the bot apparatus, monitors loading as the item being replaced is received along with return documentation, and then autonomously causes movement of the bot apparatus back to the origin location.

A distribution system comprising a transport plane for distributing objects and carriers for transporting the objects. A drive system moves the carriers on the transport plane. A control system of the distribution system is configured to control the carriers to move on a planned route from a start position to a final destination position on the transport plane. The control system comprises a routing system configured to calculate the planned route for at least two carriers on the transport plane by modeling the transport plane with nodes and graphs and using a windowed hierarchical cooperative informed search algorithm. The routing system is configured to determine reserved and free time windows for each node. The routing system is configured to assign an individual reservation length to each carrier for the next move on free time windows and assigns an infinite reservation time to the node of a logical position.

A reference cost and a variable cost are included in a link cost for setting a set route for causing a setting vehicle to travel to a destination on a travelable route. A controller obtains an adjusted other vehicle cost by adjusting another vehicle cost with use of a separation adjustment value set smaller the higher a separation index is, obtains a variable cost based on a sum of the adjusted other vehicle costs of all target other vehicles, determines a link cost for each link in a candidate route, which is a candidate for a set route for the setting vehicle, based on the variable cost and the reference cost, obtains a route cost for each candidate route based on the link costs, and sets a set route based on the route costs of the candidate routes.

A warehouse storage and retrieval system including an array of multilevel storage racks having at least one transfer deck, picking isles and storage areas disposed along picking isles, the storage areas being configured to hold differing loads, and a controller including a management module configured to variably size the storage areas of the array of multilevel storage rack modules and assign each of the variably sized storage areas to a corresponding one of the differing loads, wherein the storage and retrieval system is arranged to transport the differing loads for placement in the variably sized storage areas assigned by the controller.

A system and method are disclosed relating to an automated store or system including an automated fulfillment section having a storage structure for storing fungible and/or non-fungible goods. The fungible and/or non-fungible goods may be retrieved from storage in response to a customer order. The system and method of the present technology allows retrieved fungible and/or non-fungible goods to be sorted and packed in accordance with stored customer preferences.

A storage, retrieval and processing system for processing objects is disclosed. The storage, retrieval and processing system includes a plurality of storage bins, a plurality of destination bins, and a processing programmable motion device. The plurality of storage bins provides storage of a plurality of objects, where the plurality of storage bins are in communication with a gantry retrieval conveyance system for moving selected bins to a bin processing location. The plurality of destination bins are in communication with the gantry retrieval conveyance system for moving a selected destination bin to the processing location. The processing programmable motion device is at the processing location and is in communication with the gantry retrieval conveyance system. The processing programmable motion device includes an end effector for grasping and moving a selected object out of a selected storage bin and depositing the selected object in the selected destination bin.

Techniques for improving packaging systems are described. In an example, a computer system receives item data from a workstation. The item data includes a description of an item. The computer system also receives fit parameters. The fit parameters adjust the fit of items within packaging. The workstation is configured to facilitate packaging of the item. Based at least in part on an input to a packaging decision system, the computer system generates a package decision indicating a package type associated with the packaging of the item. The input is based at least in part on the item data. The packaging decision system is trained based at least in part on packaging data associated with historical item orders. The computer system sends the package decision to the workstation.

A technique for determining the number of appropriate work entities is implemented. A simulator includes: a transport capacity acquisition portion for acquiring the transport capacity of work entities; a load information acquisition portion; a map information acquisition portion; a work entity situation acquisition portion; and a number-of-work entities determination portion for determining the number of work entities.