A method may include obtaining first images, each image including an object, and determining a set of one or more visual cues for each. The method may include selecting a common visual cue of the one or more visual cues that is common to each set of one or more visual cues determined for each corresponding image and determining a correlation between a location of the common visual cue in each image of the first images and a location of the object in each image of the first images. The method may include obtaining a second image of an environment and identifying the common visual cue in the second image. The method may include determining a placement location for the object in the environment based on the correlation and a location of the common visual cue in the second image.

The invention comprises a system for switching between control points of a robotic system involving an industrial robot including a robot arm with a number of joints and provided with a tool interest point movable in a plurality of degrees of freedom.

An order fulfillment system and method of fulfilling orders, each with at least one article, includes at least one mobile robotic unit that is capable of autonomous routing in an order fulfillment facility. A stationary robotic order-picking station with a stationary robot and vision equipment sorts articles into orders. The at least one mobile robotic unit transfers articles to or from the stationary robotic order-picking station.

An order fulfillment system and method of fulfilling orders, each with at least one article, includes at least one mobile robotic unit that is capable of autonomous routing in an order fulfillment facility. A stationary robotic order-picking station with a stationary robot and vision equipment sorts articles into orders. The at least one mobile robotic unit transfers articles to or from the stationary robotic order-picking station.

An order-picking method includes autonomously routing a plurality of mobile robotic units in an order fulfillment facility and picking articles to or putting articles from the robotic units in the order fulfillment facility. A material-handling robotic unit that is adapted for use in an order fulfillment facility includes an autonomous mobile vehicle base and a plurality of article receptacles positioned on the base. A visual indicator associated with the receptacle facilitates picking articles to or putting articles from the robotic unit.