Patent Publication Number: US-2021170596-A1

Title: Robotic system with coordination mechanism and methods of operating the same

Description:
CROSS-REFERENCE TO RELATED APPLICATION(S) 
     This application is a continuation of U.S. patent application Ser. No. 16/740,251, filed Jan. 10, 2020, now issued as U.S. Pat. No. ______, which claims the benefit of U.S. Provisional Patent Application No. 62/792,348, filed Jan. 14, 2019, both of which are incorporated by reference herein in their entirety. 
     This application contains subject matter related to U.S. patent application Ser. No. 16/739,971, filed Jan. 10, 2020, titled “CONTROLLER AND CONTROL METHOD FOR ROBOT SYSTEM,” which is incorporated herein by reference in its entirety. 
    
    
     TECHNICAL FIELD 
     The present technology is directed generally to robotic systems and, more specifically, to systems, processes, and techniques for coordinating operations of multiple units. 
     BACKGROUND 
     With their ever-increasing performance and lowering cost, many robots (e.g., machines configured to automatically/autonomously execute physical actions) are now extensively used in many fields. Robots, for example, can be used to execute various tasks (e.g., manipulate or transfer an object through space) for manufacturing and/or assembly, packing and/or packaging, transport and/or shipping, etc. In executing the tasks, the robots can replicate human actions, thereby replacing or reducing human involvements that are otherwise required to perform dangerous or repetitive tasks. 
     However, despite the technological advancements, robots often lack the sophistication necessary to duplicate human interactions required for executing larger and/or more complex tasks. For example, robot-to-robot interactions often require human intervention to fully coordinate and combine a sequence of tasks. Accordingly, there remains a need for improved techniques and systems for managing operations and/or interactions between robots. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is an illustration of an example environment in which a robotic system with a coordination mechanism may operate. 
         FIG. 2  is a block diagram illustrating the robotic system in accordance with one or more embodiments of the present technology. 
         FIG. 3  is an illustration of example task units associated with the robotic system of  FIG. 1  in accordance with one or more embodiments of the present technology. 
         FIG. 4  is an illustration of an example control diagram for the robotic system of  FIG. 1  in accordance with one or more embodiments of the present technology. 
         FIG. 5A  is an illustration of a first example task station in accordance with one or more embodiments of the present technology. 
         FIG. 5B  is a flow diagram for a method of operating the robotic system of  FIG. 1  in accordance with one or more embodiments of the present technology. 
         FIG. 6A  is an illustration of a second example task station in accordance with one or more embodiments of the present technology. 
         FIG. 6B  is a flow diagram for a method of operating the robotic system of  FIG. 1  in accordance with one or more embodiments of the present technology. 
         FIG. 7A  is an illustration of a third example task station in accordance with one or more embodiments of the present technology. 
         FIG. 7B  is a flow diagram for a method of operating the robotic system of  FIG. 1  in accordance with one or more embodiments of the present technology. 
         FIG. 8A  is an illustration of a fourth example task station in accordance with one or more embodiments of the present technology. 
         FIG. 8B  is a flow diagram for a method of operating the robotic system of  FIG. 1  in accordance with one or more embodiments of the present technology. 
         FIGS. 9A and 9B  are illustrations of example task transitions in accordance with one or more embodiments of the present technology. 
         FIG. 9C  is an illustration of example transport units in accordance with one or more embodiments of the present technology. 
         FIG. 10  is a flow diagram for a method of operating the robotic system of  FIG. 1  in accordance with one or more embodiments of the present technology. 
     
    
    
     DETAILED DESCRIPTION 
     Systems and methods for robotic systems with automated object detection/registration mechanisms are described herein. A robotic system (e.g., an integrated system of devices that executes one or more designated tasks) configured in accordance with some embodiments autonomously executes sequences of integrated tasks (e.g., operations to achieve corresponding goals) by coordinating operations of multiple units (e.g., robots). 
     The integrated tasks or operations can include receiving operations, stocking operations, shipping operations, and/or other operations. The receiving operation can include a sequence of tasks for receiving incoming shipments of objects (e.g., packages and/or boxes including items). The stocking operation can include a sequence of tasks for placing the received objects and/or items in storage locations. The stocking operation can further include a sequence of tasks for reorganizing or regrouping objects and/or items for storage. The shipping operation can include a sequence of tasks for grouping items/objects for outbound shipments. As described in detail below, the sequenced tasks can include devanning tasks, sorting tasks, storage grouping tasks, group manipulation tasks, package opening tasks, racking tasks, picking tasks, packing tasks, and/or outbound grouping tasks. Also, as described below, the robotic system can coordinate interactions between multiple corresponding units, systems, and/or stations to perform the operations. 
     Traditional operations require inputs or assistance from human operators in executing typical integrated tasks. Traditional systems lack the sophisticated interaction between multiple robots and require operator assistance in connecting an end of a task of one robot with a beginning of a task for a different robot. For example, traditional systems may be able to access the bins corresponding to an order but require human operators to group/sequence the ordered items for the order. Also, for example, traditional systems may include picker robots that operate according to fixed inputs/outputs (e.g., conveyor inputs/outputs), but lack the sophistication to interact with other units to vary the inputs/outputs. 
     In comparison, the robotic system disclosed herein coordinates and controls the interactions between separate robotic units and/or stations to execute the operations, thereby reducing or eliminating human assistance for the execution. For example, the robotic system can identify operating zones, operating paths, transition locations, movement plans, corresponding timings, or a combination thereof for each of the units. Also, the robotic system can include one or more algorithms for sequencing the tasks of the different units and/or one or more protocols for controlling interactions between the units. The robotic system can further account for the interaction between multiple units and coordinate storage of items according to accessibility, projected load/order, estimated throughput, or a combination thereof. Details of the coordination and the controls are described below. 
     In the following description, numerous specific details are set forth to provide a thorough understanding of the presently disclosed technology. In other embodiments, the techniques introduced here can be practiced without these specific details. In other instances, well-known features, such as specific functions or routines, are not described in detail in order to avoid unnecessarily obscuring the present disclosure. References in this description to “an embodiment,” “one embodiment,” or the like mean that a particular feature, structure, material, or characteristic being described is included in at least one embodiment of the present disclosure. Thus, the appearances of such phrases in this specification do not necessarily all refer to the same embodiment. On the other hand, such references are not necessarily mutually exclusive either. Furthermore, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments. It is to be understood that the various embodiments shown in the figures are merely illustrative representations and are not necessarily drawn to scale. 
     Several details describing structures or processes that are well-known and often associated with robotic systems and subsystems, but that can unnecessarily obscure some significant aspects of the disclosed techniques, are not set forth in the following description for purposes of clarity. Moreover, although the following disclosure sets forth several embodiments of different aspects of the present technology, several other embodiments can have different configurations or different components than those described in this section. Accordingly, the disclosed techniques can have other embodiments with additional elements or without several of the elements described below. 
     Many embodiments or aspects of the present disclosure described below can take the form of computer- or processor-executable instructions, including routines executed by a programmable computer or processor. Those skilled in the relevant art will appreciate that the disclosed techniques can be practiced on computer or processor systems other than those shown and described below. The techniques described herein can be embodied in a special-purpose computer or data processor that is specifically programmed, configured, or constructed to execute one or more of the computer-executable instructions described below. Accordingly, the terms “computer” and “processor” as generally used herein refer to any data processor and can include Internet appliances and handheld devices (including palm-top computers, wearable computers, cellular or mobile phones, multi-processor systems, processor-based or programmable consumer electronics, network computers, mini computers, and the like). Information handled by these computers and processors can be presented at any suitable display medium, including a liquid crystal display (LCD). Instructions for executing computer- or processor-executable tasks can be stored in or on any suitable computer-readable medium, including hardware, firmware, or a combination of hardware and firmware. Instructions can be contained in any suitable memory device, including, for example, a flash drive and/or other suitable medium. 
     The terms “coupled” and “connected,” along with their derivatives, can be used herein to describe structural relationships between components. It should be understood that these terms are not intended as synonyms for each other. Rather, in particular embodiments, “connected” can be used to indicate that two or more elements are in direct contact with each other. Unless otherwise made apparent in the context, the term “coupled” can be used to indicate that two or more elements are in either direct or indirect (with other intervening elements between them) contact with each other, or that the two or more elements cooperate or interact with each other (e.g., as in a cause-and-effect relationship, such as for signal transmission/reception or for function calls), or both. 
     Suitable Environments 
       FIG. 1  is an illustration of an example environment in which a robotic system  100  with a coordination mechanism may operate. The robotic system  100  can include and/or communicate with one or more units (e.g., robots) configured to execute one or more tasks. Aspects of the coordination mechanism can be practiced or implemented by the various units. 
     For the example illustrated in  FIG. 1 , the robotic system  100  can include an unloading unit  102 , a transfer unit  104  (e.g., a palletizing robot and/or a piece-picker robot), a transport unit  106 , a loading unit  108 , or a combination thereof in a warehouse or a distribution/shipping hub. Each of the units in the robotic system  100  can be configured to execute one or more tasks. For another example, the task can include placing the objects on a target location (e.g., on top of a pallet and/or inside a bin/cage/box/case). The robotic system can derive plans (e.g., placement locations/orientations, sequence for transferring the objects, and/or corresponding motion plans) for placing and/or stacking the objects. Each of the units can be configured to execute a sequence of actions (by, e.g., operating one or more components therein) according to one or more of the derived plans to execute a task. 
     In some embodiments, the task can include manipulation (e.g., moving and/or reorienting) of a target object  112  (e.g., one of the packages, boxes, cases, cages, pallets, etc. corresponding to the executing task) from a start location  114  to a task location  116 . For example, the unloading unit  102  (e.g., a devanning robot) can be configured to transfer the target object  112  from a location in a carrier (e.g., a truck) to a location on a conveyor belt. Also, the transfer unit  104  can be configured to transfer the target object  112  from one location (e.g., the conveyor belt, a pallet, or a bin) to another location (e.g., a pallet, a bin, etc.). For another example, the transfer unit  104  (e.g., a palletizing robot) can be configured to transfer the target object  112  from a source location (e.g., a pallet, a pickup area, and/or a conveyor) to a destination pallet. In completing the operation, the transport unit  106  can transfer the target object  112  from an area associated with the transfer unit  104  to an area associated with the loading unit  108 , and the loading unit  108  can transfer the target object  112  (by, e.g., moving the pallet carrying the target object  112 ) from the transfer unit  104  to a storage location (e.g., a location on the shelves). 
     The robotic system  100  can combine and/or sequence tasks to perform an operation that achieves a goal, such as to unload objects from a truck or a van and store them in a warehouse or to unload objects from storage locations and prepare them for shipping. Details regarding the operation and the associated actions are described below. 
     For illustrative purposes, the robotic system  100  is described in the context of a shipping center; however, it is understood that the robotic system  100  can be configured to execute tasks/operations in other environments/for other purposes, such as for manufacturing, assembly, packaging, healthcare, and/or other types of automation. It is also understood that the robotic system  100  can include other units, such as manipulators, service robots, modular robots, etc., not shown in  FIG. 1 . For example, in some embodiments, the robotic system  100  can include a depalletizing unit for transferring the objects from cage carts or pallets onto conveyors or other pallets, a container-switching unit for transferring the objects from one container to another, a packaging unit for wrapping the objects, a sorting unit for grouping objects according to one or more characteristics thereof, a piece-picking unit for manipulating (e.g., for sorting, grouping, and/or transferring) the objects differently according to one or more characteristics thereof, or a combination thereof. 
     The robotic system  100  and/or the units thereof can include physical or structural members (e.g., robotic manipulator arms) that are connected at joints for motion (e.g., rotational and/or translational displacements). The structural members and the joints can form a kinetic chain configured to manipulate an end-effector (e.g., the gripper) configured to execute one or more tasks (e.g., gripping, spinning, welding, etc.) depending on the use/operation of the robotic system  100 . The robotic system  100  can include the actuation devices (e.g., motors, actuators, wires, artificial muscles, electroactive polymers, etc.) configured to drive or manipulate (e.g., displace and/or reorient) the structural members about or at a corresponding joint. In some embodiments, the robotic system  100  can include transport motors configured to transport the corresponding units/chassis from place to place. 
     The robotic system  100  can include sensors configured to obtain information used to implement the tasks, such as for manipulating the structural members and/or for transporting the robotic units. The sensors can include devices configured to detect or measure one or more physical properties of the robotic system  100  (e.g., a state, a condition, and/or a location of one or more structural members/joints thereof) and/or of a surrounding environment. Some examples of the sensors can include accelerometers, gyroscopes, force sensors, strain gauges, tactile sensors, torque sensors, position encoders, etc. 
     In some embodiments, for example, the sensors can include one or more imaging devices (e.g., visual and/or infrared cameras, 2D and/or 3D imaging cameras, distance measuring devices such as lidars or radars, etc.) configured to detect the surrounding environment. The imaging devices can generate representations of the detected environment, such as digital images and/or point clouds, that may be processed via machine/computer vision (e.g., for automatic inspection, robot guidance, or other robotic applications). As described in further detail below, the robotic system  100  can process the digital image and/or the point cloud to identify the target object  112 , the start location  114 , the task location  116 , a pose of the target object  112 , a confidence measure regarding the start location  114  and/or the pose, or a combination thereof. 
     For manipulating the target object  112 , the robotic system  100  can capture and analyze an image of a designated area (e.g., a pickup location, such as inside the truck or on the conveyor belt) to identify the target object  112  and the start location  114  thereof. Similarly, the robotic system  100  can capture and analyze an image of another designated area (e.g., a drop location for placing objects on the conveyor, a location for placing objects inside the container, or a location on the pallet for stacking purposes) to identify the task location  116 . For example, the imaging devices can include one or more cameras configured to generate images of the pickup area and/or one or more cameras configured to generate images of the task area (e.g., drop area). Based on the captured images, the robotic system  100  can determine the start location  114 , the task location  116 , the associated pose, the motion plan, and/or other processing result. 
     In some embodiments, for example, the sensors can include position sensors (e.g., position encoders, potentiometers, etc.) configured to detect positions of structural members (e.g., the robotic arms and/or the end-effectors) and/or corresponding joints of the robotic system  100 . The robotic system  100  can use the position sensors to track locations and/or orientations of the structural members and/or the joints during execution of the task. 
     Suitable System 
       FIG. 2  is a block diagram illustrating the robotic system  100  in accordance with one or more embodiments of the present technology. In some embodiments, for example, the robotic system  100  (e.g., at one or more of the units and/or robots described above) can include electronic/electrical devices, such as one or more processors  202 , one or more storage devices  204 , one or more communication devices  206 , one or more input-output devices  208 , one or more actuation devices  212 , one or more transport motors  214 , one or more sensors  216 , or a combination thereof. The various devices can be coupled to each other via wire connections and/or wireless connections. For example, the robotic system  100  can include a bus, such as a system bus, a Peripheral Component Interconnect (PCI) bus or PCI-Express bus, a HyperTransport or industry standard architecture (ISA) bus, a small computer system interface (SCSI) bus, a universal serial bus (USB), an IIC (I2C) bus, or an Institute of Electrical and Electronics Engineers (IEEE) standard 1394 bus (also referred to as “Firewire”). Also, for example, the robotic system  100  can include bridges, adapters, processors, or other signal-related devices for providing the wire connections between the devices. The wireless connections can be based on, for example, cellular communication protocols (e.g., 3G, 4G, LTE, 5G, etc.), wireless local area network (LAN) protocols (e.g., wireless fidelity (WIFI)), peer-to-peer or device-to-device communication protocols (e.g., Bluetooth, Near-Field communication (NFC), etc.), Internet of Things (IoT) protocols (e.g., NB-IoT, LTE-M, etc.), and/or other wireless communication protocols. 
     The processors  202  can include data processors (e.g., central processing units (CPUs), special-purpose computers, and/or onboard servers) configured to execute instructions (e.g. software instructions) stored on the storage devices  204  (e.g., computer memory). In some embodiments, the processors  202  can be included in a separate/stand-alone controller that is operably coupled to the other electronic/electrical devices illustrated in  FIG. 2  and/or the robotic units illustrated in  FIG. 1 . The processors  202  can implement the program instructions to control/interface with other devices, thereby causing the robotic system  100  to execute actions, tasks, and/or operations. 
     The storage devices  204  can include non-transitory computer-readable mediums having stored thereon program instructions (e.g., software). Some examples of the storage devices  204  can include volatile memory (e.g., cache and/or random-access memory (RAM)) and/or non-volatile memory (e.g., flash memory and/or magnetic disk drives). Other examples of the storage devices  204  can include portable memory drives and/or cloud storage devices. 
     In some embodiments, the storage devices  204  can be used to further store and provide access to processing results and/or predetermined data/thresholds. For example, the storage devices  204  can store master data  252  that includes descriptions of objects (e.g., boxes, cases, and/or products) that may be manipulated by the robotic system  100 . In one or more embodiments, the master data  252  can include registration data  254  for each such object. The registration data  254  can include a dimension, a shape (e.g., templates for potential poses and/or computer-generated models for recognizing the object in different poses), a color scheme, an image, an identification information (e.g., bar codes, quick response (QR) codes, logos, etc., and/or expected locations thereof), an expected weight, other physical/visual characteristics, or a combination thereof for the objects expected to be manipulated by the robotic system  100 . In some embodiments, the master data  252  can include manipulation-related information regarding the objects, such as a center-of-mass (CoM) location or an estimate thereof on each of the objects, expected sensor measurements (e.g., for force, torque, pressure, and/or contact measurements) corresponding to one or more actions/maneuvers, or a combination thereof. 
     The communication devices  206  can include circuits configured to communicate with external or remote devices via a network. For example, the communication devices  206  can include receivers, transmitters, modulators/demodulators (modems), signal detectors, signal encoders/decoders, connector ports, network cards, etc. The communication devices  206  can be configured to send, receive, and/or process electrical signals according to one or more communication protocols (e.g., the Internet Protocol (IP), wireless communication protocols, etc.). In some embodiments, the robotic system  100  can use the communication devices  206  to exchange information between units of the robotic system  100  and/or exchange information (e.g., for reporting, data gathering, analyzing, and/or troubleshooting purposes) with systems or devices external to the robotic system  100 . 
     The input-output devices  208  can include user interface devices configured to communicate information to and/or receive information from human operators. For example, the input-output devices  208  can include a display  210  and/or other output devices (e.g., a speaker, a haptics circuit, or a tactile feedback device, etc.) for communicating information to the human operator. Also, the input-output devices  208  can include control or receiving devices, such as a keyboard, a mouse, a touchscreen, a microphone, a user interface (UI) sensor (e.g., a camera for receiving motion commands), a wearable input device, etc. In some embodiments, the robotic system  100  can use the input-output devices  208  to interact with the human operators in executing an action, a task, an operation, or a combination thereof. 
     The robotic system  100  can include physical or structural members (e.g., robotic manipulator arms) that are connected at joints for motion (e.g., rotational and/or translational displacements). The structural members and the joints can form a kinetic chain configured to manipulate an end-effector (e.g., the gripper) configured to execute one or more tasks (e.g., gripping, spinning, welding, etc.) depending on the use/operation of the robotic system  100 . The robotic system  100  can include the actuation devices  212  (e.g., motors, actuators, wires, artificial muscles, electroactive polymers, etc.) configured to drive or manipulate (e.g., displace and/or reorient) the structural members about or at a corresponding joint. In some embodiments, the robotic system  100  can include the transport motors  214  configured to transport the corresponding units/chassis from place to place. 
     The robotic system  100  can include the sensors  216  configured to obtain information used to implement the tasks, such as for manipulating the structural members and/or for transporting the robotic units. The sensors  216  can include devices configured to detect or measure one or more physical properties of the robotic system  100  (e.g., a state, a condition, and/or a location of one or more structural members/joints thereof) and/or of a surrounding environment. Some examples of the sensors  216  can include accelerometers, gyroscopes, force sensors, strain gauges, tactile sensors, torque sensors, position encoders, etc. 
     In some embodiments, for example, the sensors  216  can include one or more imaging devices  222  (e.g., visual and/or infrared cameras, 2D and/or 3D imaging cameras, distance measuring devices such as lidars or radars, etc.) configured to detect the surrounding environment. The imaging devices  222  can generate representations of the detected environment, such as digital images and/or point clouds, that may be processed via machine/computer vision (e.g., for automatic inspection, robot guidance, or other robotic applications). 
     In implementing/executing tasks and/or operations, the robotic system  100  (via, e.g., the various circuits/devices described above) can capture and analyze an image of a designated area (e.g., a pickup location, such as inside the truck or on the conveyor belt) to process the target object  112  of  FIG. 1  and the start location  114  of  FIG. 1  thereof. Similarly, the robotic system  100  can capture and analyze an image of another designated area (e.g., a drop location for placing objects on the conveyor, a location for placing objects inside the container, or a location on the pallet for stacking purposes) to process the task location  116  of  FIG. 1 . For example, the imaging devices  222  can include one or more cameras configured to generate images of the pickup area and/or one or more cameras configured to generate images of the task area (e.g., drop area). Based on the captured images, the robotic system  100  can determine the start location  114 , the task location  116 , the associated poses, a packing/placement plan, a transfer/packing sequence, and/or other processing results. Accordingly, the robotic system  100  can derive motion plans to perform tasks and/or interactions between units/tasks to perform operations. 
     In some embodiments, for example, the sensors  216  can include position sensors  224  (e.g., position encoders, potentiometers, etc.) configured to detect positions of structural members (e.g., the robotic arms and/or the end-effectors) and/or corresponding joints of the robotic system  100 . The robotic system  100  can use the position sensors  224  to track locations and/or orientations of the structural members and/or the joints during execution of the task. 
     Example Robotic Units 
       FIG. 3  is an illustration of example task units associated with the robotic system  100  of  FIG. 1  in accordance with one or more embodiments of the present technology. The robotic system  100  may include and/or be operably coupled to a set of robotic units configured to implement/execute one or more tasks. In some embodiments, the robotic units can include a devanning unit  302 , a sorting unit  304 , an object transport unit  305 , a grouping unit  306 , a group transport unit  307 , a removing unit  308 , a package opening unit  310 , a rack transport unit  312 , a shelving unit  313 , a picking unit  314 , a packing unit  316 , or a combination thereof. 
     The devanning unit  302  can be a robotic unit configured to perform or execute a devanning task  322  by removing target objects from a carrier (e.g., a truck, an airplane, a ship, etc.). In some embodiments, the devanning unit  302  can include a package-level or a pallet-level robotic arm and/or a lift for lifting the target objects and/or their containers (e.g., pallets and/or other shipping containers). The devanning unit  302  can also include a transport system, such as wheels, tracks, rails, etc., configured to move the robotic arm and/or the lift relative to the carrier. 
     The sorting unit  304  can be a robotic unit configured to perform a sorting task  324  by placing or sending each of the incoming objects to designated locations/tasks associated with the object and/or according to a sequence. In some embodiments, the sorting unit  304  can include a transfer mechanism (e.g., a conveyor) that moves the devanned target objects along a path, such as from the devanning unit  302  and through/across a manipulation mechanism. The manipulation mechanism can include robotic units and/or sensors configured to recognize and manipulates individual objects on the path according to the recognition results. For example, the manipulation mechanism (e.g., a package-level robotic arm) can transfer and place the objects at different locations on or outside of the conveyor to form targeted groupings of objects and/or targeted sequence of objects. Also, the manipulation mechanism can transfer the objects from the path to one of the object transport units  305  associated with or assigned to the recognized object. 
     The object transport unit  305  can be a robotic unit operably coupled to the sorting unit  304  and configured to transfer objects between stations/tasks. For the example illustrated in  FIG. 3 , the object transport unit  305  can transfer the sequenced/grouped objects resulting from the sorting task  324  to be further processed for other tasks and the related units/stations (e.g., locations or areas associated with the tasks and the related units) described below. The object transport unit  305  may include a conveyor, a track, and/or a set of locomotive transfer units. 
     The grouping unit  306  can be a robotic unit configured to perform a storage grouping task  326  by grouping at least a subset of the objects, such as according to categories, types, orders, and/or shipping manifest, to form grouped sets of the objects. For example, the robotic system  100  can control the grouping unit  306  to palletize the incoming objects according to brand, manufacturer, identifier, size, weight, and/or another category. In other words, a warehouse may receive many different types of packages. Also, the shipped/received groupings of packages may have quantities or packing configurations that deviate from targeted storage quantities or configurations. Accordingly, the robotic system  100  can redistribute the received packages into new groupings that match the targeted storage groupings, quantities, and/or packing configurations. Each resulting groupings may include corresponding objects placed on or in containers (e.g., pallets or bins). Accordingly, for storage purposes, the containers may be categorized according to the associated object groupings. In some embodiments, the robotic system  100  may categorize the containers as having a single homogenous grouping of objects (e.g., same brand, same identifier, etc.) and/or having multiple or mixed groupings of objects. 
     In some embodiments, the storage grouping task  326  can include a grouping of two or more subtasks. The subtasks may include (1) transferring or loading empty grouping mechanisms (e.g., pallets or bins) to designated areas, (2) transferring the incoming objects from the object transport unit  305  to the grouping areas/mechanisms (e.g., pallets or bins) that correspond to the types or the instances of the objects, and/or (3) transferring the loaded grouping mechanism to a designated location. Accordingly, the grouping unit  306  can include a palletizing robot, such as a package-level robotic arm configured to manipulate boxes or packages. The palletizing robot may grip and lift the objects on the object transport unit  305  and place/stack them on pallets located at designated areas. Also, the group transport unit  307  can be a robotic unit configured to move the grouped objects, such as between palletizing locations and other processing locations (e.g., depalletizing locations and/or storage locations). For example, the group transport unit  307  can include a locomotive robotic unit, such as an Automated Guided Vehicle (AGV), that is configured to pick up and transport the grouping mechanisms and/or the objects thereon. 
     The removing unit  308  can be a robotic unit configured to perform a group manipulation task  328  by rearranging groupings of objects, such as for adjusting storage groupings and/or for forming outbound object groupings. The group manipulation task  328  can be for accessing the object groupings from the initial storage location and placing them at task stations. For example, the removing unit  308  can include a depalletizing unit, such as a package-level robotic arm configured to manipulate boxes or packages and remove them from an initial grouping (by, e.g., removing them from a first pallet) and placing them at one or more different locations (e.g., a second pallet or another conveyor) for storage. 
     As an illustrative example of the group manipulation task  328 , the group transport unit  307  (e.g., the AGV) can bring the pallet and the objects stored thereon from the storage location to a depalletizing location. The depalletizing unit can transfer the objects from the pallet to another location for restorage or other processing as described below. 
     In some embodiments, the devanning task  322 , the sorting task  324 , and/or the storage grouping task  328  can be sequenced to form a receiving operation  320 . The receiving operation  320  can be for receiving objects from an external provider or source for subsequent processing (e.g., grouping and/or storage). For example, the receiving operation  320  can be for receiving, unloading, and/or storing incoming objects, such as from manufacturers, warehouses, shipping hubs, distributors, etc. 
     In one or more embodiments, the group manipulation task  328  can be further utilized for different operations. For example, the robotic system  100  can implement a stocking operation  330  that includes the group manipulation task  326 . The stocking operation  330  can include a sequence of tasks for manipulating, storing, and/or accessing contents of objects to relocate a task target for further storage or for subsequent tasks. In other words, the receiving operation  320  can manipulate the boxes and/or packages for storage and access, and the stocking operation  330  can manipulate the contents within the boxes and/or packages for storage and access. 
     The stocking operation  330  may also include other tasks, such as a package opening task  332  and/or a racking task  334 . The package opening unit  310  (e.g., a robotic unit) can be configured to perform the package opening task  332  by opening the container, such as boxes or packaging material, forming or surrounding the object. In some embodiments, the package opening unit  310  can be configured to remove or cut package fasteners (e.g., tape, binding, etc.) and/or open coverings (e.g., box flaps, plastic wrappings, lids, etc.). In other embodiments, the package opening unit  310  can be configured to remove a top portion of the package, such as by cutting and removing a top portion/surface of the package to form an open-top bin and expose items therein. Similarly, the rack transport unit  312  (e.g., a robotic unit, such as an AGV) and/or the shelving unit  313  (e.g., a package-level robotic arm and/or a specialized AGV) can be configured to perform the racking task  334 . The racking task  334  can be for placing the objects/bins on a storage rack and/or for accessing and removing objects/bins from the storage rack. The racking task  334  can include a rack picking task for removing the object/bins and transporting them to a different location. The rack transport unit  312  can be configured to transport storage racks between storage locations and loading/unloading locations. The shelving unit  313  can be configured to place the objects (e.g., the received objects and/or the opened objects) on the storage racks and/or remove the objects from the storage racks. 
     Similar to the group manipulation task  328 , the racking task  334  can be further utilized for different operations. For example, the robotic system  100  can implement a shipping operation  340  that includes the racking task  334 . The shipping operation  340  can include a sequence of tasks for grouping objects and/or individual items initially in storage or a different location for outbound transport or shipment. In other words, the receiving operation  320  can manipulate the boxes, packages, and/or content items and group them according to orders or shipping manifest. The grouped objects/items can be subsequently loaded to a transport vehicle and/or shipped to a remote location/facility separate from the storage locations. 
     The shipping operation  340  may also include other tasks, such as a picking task  342 , a packing task  344 , and/or an outbound grouping task  346 . A set of robotic units including the removing unit  308 , the shelving unit  313 , and/or the picking unit  314  (e.g., an item-level robotic arm) may be configured to perform the picking task  342  by accessing and manipulating content items stored/received within objects, such as boxes or packages. For example, the shelving unit  313  and/or the removing unit  308  may be configured to perform a sub-task by placing storage containers (e.g., the opened boxes) at processing locations. The picking unit  314  (e.g., a robotic arm with a picking end-effector) may grip and transfer the content items from the storage containers to outbound containers (e.g., other boxes or packages), such as according to orders and/or shipping manifest. 
     The packing unit  316  may be configured to perform the packing task  344  by enclosing the content items and/or the objects for outbound transfer. For example, the packing unit  316  can include a robotic unit configured to close flaps or lids of the outbound containers, fasten the flaps/lids (via, e.g., tape, fastener, and/or adhesive), wrap the individual outbound containers, or a combination thereof. 
     The packing unit  316  (e.g., a package-level robotic arm) may be configured to perform the grouping task  346  by placing the packed/enclosed outbound containers at designated locations. For example, the packing unit  316  can load a pallet with a group of outbound containers intended for the same vehicle and/or destination location. In some embodiments, the grouping task  346  may include an additional sub-task to fasten the grouped containers, such as by wrapping the set of objects with a plastic wrap. A robotic unit (not shown) similar to the packing unit  316  and/or the AGV may be configured to apply the plastic wrap to the stacked/palleted outbound containers. 
     For illustrative purposes, the operations have been described with example task sequences shown in  FIG. 3 . However, it is understood that the operations and/or the tasks may be different. For example, the receiving operation  320  can include the package opening task  332  and/or the racking task  334 . Additionally or alternatively, the receiving operation  320  may further exclude the sub-tasks performed by the group transport unit  307 , and instead, the objects may be placed on the object transport unit  305  for further processing. Accordingly, the receiving operation  320  may transition from package-level manipulations to item-level operations and store open containers on racks. 
     Also, as an illustrative example, the shipping operation  340  can include the package opening task  332  after the racking task  334 . In other words, the incoming objects may be stored without opening the objects, such as described above for the package-level receiving operation  320 . The individual content items may be manipulated and packed as part of the shipping operation  340 . Accordingly, the robotic system  100  may bring the stored packages to picking areas by implementing the racking task  334  and open the packages by executing the package opening task  332  before the picking task  342 . 
     As a further illustrative example, the shipping operation  340  may include package-level processing. In other words, the incoming objects may be stored without opening the objects as described above. The stored objects may be regrouped onto outbound pallets according to order, vehicle, and/or destination location without the item-level manipulations. Accordingly, the package-level outbound grouping task may include the group manipulation task  328  followed by the outbound grouping task  346 . 
     Example Task/Operation Organization 
       FIG. 4  is an illustration of an example control diagram for the robotic system  100  of  FIG. 1  in accordance with one or more embodiments of the present technology. The control diagram can illustrate an overall architecture for the robotic system  100  and/or the corresponding components. In some embodiments, for example, the robotic system  100  can be implemented via a management system  402 , a storage access system  404 , a master controller  408 , one or more robotic units, and/or other control systems. In other words, the robotic system  100  may be implemented based on operating the one or more processors  202  of  FIG. 2  included in the management system  402 , the storage access system  404 , the master controller  408 , the one or more robotic units, and/or the other control systems. As described above, the one or more processors  202  may execute computer-executable instructions stored in the storage devices  204  of  FIG. 2 . The storage devices  204  may be included in the management system  402 , the storage access system  404 , the master controller  408 , the one or more robotic units, and/or the other control systems. 
     In other embodiments, for example, the robotic system  100  can be implemented via the management system  402  and/or the master controller  408  and interface with the storage access system  404 , the one or more robotic units, and/or other control systems. For example, the one or more processors  202  may execute the computer-executable instructions and communicate (e.g., via the communication bus and/or the communication devices  206  of  FIG. 2 ) commands, settings, plans, etc. with the storage access system  404 , the one or more robotic units, and/or other control systems to execute the tasks and/or the operations. 
     The management system  402  can include a set of computing devices (e.g., the one or more processors  202 , the storage devices  204 , and/or portions thereof) configured to manage overall states/conditions of a corresponding location/site. For example, the management system  402  can include servers, specialized controllers, desktop computers or portals, and/or other personal or commercial computing devices configured to function as a control/management system for a warehouse, a shipping hub, a distribution center, etc. The management system  402  may be located at or in the corresponding location or at a remote location. 
     The robotic system  100  can control transport objects between task stations so that the tasks associated with the stations may be performed for the transported objects. In controlling the transport, for example, the management system  402  and/or the master controller  408  may generate timing factors (e.g., flags) and/or communicate the timing factors to the storage access system  404 . The storage access system  404  can implement one or more motion plans or portions thereof to operate the transport units according to the timing factors from the management system  402  and/or the master controller  408 . The storage access system  404  can include a set of computing devices (e.g., the one or more processors  202 , the storage devices  204 , and/or portions thereof) configured to control transport units, such as AGVs  422 . For example, the storage access system  404  can include servers, specialized controllers, desktop computers or portals, and/or other personal or commercial computing devices configured to control movements or functions of the group transport units  307  of  FIG. 3  and/or the rack transport units  312  of  FIG. 3 . 
     The master controller  408  can include a set of computing devices (e.g., the one or more processors  202 , the storage devices  204 , and/or portions thereof) configured to control local operations of specific robotic units and/or the tasks performed by the specific robotic units. The master controller  408  can include servers, specialized controllers, desktop computers or portals, and/or other personal or commercial computing devices configured to analyze sensor data, determine current or real-time conditions, and/or derive and implement motion plans for implementing the tasks. 
     As an illustrative example, the master controller  408  may receive sensor data representative of objects at the task start location  114  of  FIG. 1  and identify the incoming object and/or physical attributes thereof (e.g., dimensions, visual appearances, and/or corner/edge locations). The master controller  408  can use the identification results to determine the task location  116  of  FIG. 1  and the corresponding motion plan (e.g., a set of commands and/or settings corresponding to a planned path of travel) for transferring the object thereto from the start location  114 . The master controller  408  can implement the motion plan based on communicating the motion plans or the corresponding commands/settings to the corresponding robotic units. The robotic units can execute the commands/settings to perform the tasks or the sub-tasks. In some embodiments, the master controller  408  may control conveyors  424  (e.g., instances of the object transport unit  305  of  FIG. 3 ) and/or the sorting unit  304  of  FIG. 3 . The master controller  408  may also control one or more robotic units illustrated in  FIG. 3 , such as the devanning unit  302 , the grouping unit  306 , the removing unit  308 , the package opening unit  310 , the shelving unit  313 , the picking unit  314 , and/or the packing unit  316 . 
     The management system  402 , the storage access system  404 , and/or the master controller  408  may be configured to control the corresponding tasks/operations based on operation specifications  406 . In some embodiments, the management system  402  may be configured to generate the operation specifications  406  based on information regarding incoming objects, currently stored objects, and/or outgoing orders or shipping manifest. The operation specifications  406  can include details, rules, objectives, timings, and/or interfaces associated with implementations of the tasks/operations. For example, the operation specification  406  can include current quantities and/or storage locations of objects and/or items within the managed site. Also, the operation specification  406  can include grouping or processing locations (e.g., for the sorting unit  304 ), storage locations and/or storage container/pallet identifications for incoming/received objects and/or reorganized objects/items. Further, the operation specification  406  can include information for grouping objects/items for storage and/or outbound shipping. 
     In some embodiments, the management system  402  may use the operation specifications  406  to coordinate timings for and/or interactions between the tasks to perform the operations. The management system  402  can derive and/or implement commands, settings, and/or plans for the tasks according to the timings and/or the interactions. In other embodiments, the management system  402  may communicate the operation specifications  406  to the master controller  408 , the storage access system  404 , and/or other control devices/systems. The master controller  408 , the storage access system  404 , and/or other control devices/systems can use the operation specifications  406  to derive and/or implement commands, settings, and/or plans for the tasks. 
     In some embodiments, the tasks and/or the operations may be performed at different locations within the managed site. Each task and/or operation may correspond to a production cycle executed at a corresponding station. For example, the robotic system  100  can control the tasks/operations that correspond to a first production cycle  412 , a second production cycle  414 , a third production cycle  416 , and/or a fourth production cycle  418 . In some embodiments, the first production cycle  412  may correspond to a task, an operation, and/or a portion thereof performed at a palletizing station  432  by one or more associated robotic units. Similarly, the second production cycle  414  may correspond to a depalletizing station  434 , and the third production cycle  416  may correspond to a rack feeding station  436 . The fourth production cycle  418  may similarly correspond to a rack picking station  438 , a piece picking station  440 , and/or a destination station. Details of the production cycles and the stations are described below. 
       FIG. 5A  is an illustration of a first example production cycle (e.g., the first production cycle  412 ) in accordance with one or more embodiments of the present technology. Accordingly,  FIG. 5A  illustrates an example layout and/or function of the palletizing station  432 . In some embodiments, the palletizing station  432  can be configured to perform the storage grouping task  326  of  FIG. 3 . Accordingly, the palletizing station  432  may include the grouping unit  306  (e.g., a palletizing unit including a robotic arm with a corresponding end-effector). 
     The palletizing station  432  may include a source location  502  and one or more destination locations  504  (e.g., pallet locations). The source location  502  can include a location where the grouping unit  306  receives and/or picks up incoming objects. For the example illustrated in  FIG. 5A , the source location  502  can correspond to an end portion of an ingress instance of the conveyor  424  (e.g., an instance of the object transport unit  305  of  FIG. 3 ) nearest to the grouping unit  306 . The destination locations  504  can each be a placement location for a grouping of objects. Object containers, such as bins and/or pallets, may be placed at the destination locations  504  to receive the object groupings. The destination locations  504  and/or the source location  502  can be predetermined or spatially fixed relative to the grouping unit  306 . In some embodiments, the destination locations  504  and/or the source location  502  can be arranged around (e.g., at least partially encircling) and/or within a lateral operating distance associated with the grouping unit  306 . 
     In some embodiments, the palletizing station  432  may include different types of the destination locations  504 , such as single-load locations  506  and/or mixed-load locations  508 . Each of the single-load locations  506  can be designated for loading/grouping a single type of objects. In other words, the robotic system  100  can place one type of objects on the pallet placed at each of the single-load locations  506 . Each of the mixed-load locations  508  can be designated for loading/grouping multiple different types of objects. In other words, the robotic system  100  can place multiple types of objects on the pallet placed at each of the mixed-load locations  508 . 
     In some embodiments, the mixed-load locations  508  and the single-load locations  506  may be predetermined and/or fixed. In other embodiments, the robotic system  100  can dynamically (e.g., during run-time and/or according to real-time conditions or processing results) assign a type to each of the destination locations  504 . For example, the robotic system  100  (via, e.g., the management system  402  of  FIG. 4  and/or the master controller  408  of  FIG. 4 ) can adjust quantities and/or locations of the single-load locations  506  and/or the mixed-load locations  508  according to real-time conditions. In one or more embodiments, the robotic system  100  can assign identifiers to containers and/or the corresponding destination locations  504  that specify the assigned type. 
     The palletizing station  432  can include a prediction queue  510  used to determine a sequence of the incoming objects. The prediction queue  510  can include one or more sensors (e.g., two-dimensional (2D) and/or three-dimensional (3D) sensors) configured to image one or more objects as they move towards the source location  502 . The prediction queue  510  may also include a holding area located before the source location  502  that is configured to maintain or house a predetermine number of objects. Accordingly, the robotic system  100  can use the prediction queue  510  to determine identities of predetermined number of objects that will sequentially arrive at the source location  502 . 
     As an illustrative example of the first production cycle  412  (e.g., the storage grouping task  326 ), the robotic system  100  may obtain a sequence of the incoming boxes. The robotic system  100  (e.g., the management system  402  and/or the master controller  408 ) may obtain the sequence from a manifest for a received shipment, processing results or status information from the devanning unit  302  of  FIG. 3  and/or the sorting unit  304  of  FIG. 3 . The robotic system  100  may also obtain the information by determining the incoming sequence using the prediction queue  510 . The robotic system  100  (e.g., the management system  402 , the storage access system  404 , and/or the master controller  408 ) can assign each of the incoming objects to one of the destination locations  504  according to grouping criteria (e.g., type, brand, object identification, etc.). 
     Continuing with the illustrative example, the master controller  408  and/or the management system  402  can request the storage access system  404  to assign a container (e.g., a pallet) and a destination location for each of the grouping criteria that corresponds to the incoming objects. Accordingly, the storage access system  404  can provide a container identifier (e.g., a pallet identifier) and/or a destination location for an incoming object. 
     When a container is not currently present at the assigned location, the master controller  408  and/or the management system  402  can provide a move-in trigger (MoveIn) to the storage access system  404  to bring a container to one of the destination locations  504 . Based on the move-in trigger, the storage access system  404  can control the AGV  422  of  FIG. 4  to bring the container to the assigned destination location  504 . The AGV  422  can provide current location and/or placement status (e.g., task completion status) to the storage access system  404  after placing the container at the assigned location. The storage access system  404  can notify the master controller  408  and/or the management system  402  accordingly. 
     With the container in place, the master controller  408  and/or the management system  402  can control the grouping unit  306  to pick up the object from the source location  502  and transfer it to the assigned destination. For example, the master controller  408  and/or the management system  402  can derive and/or communicate motion plans and/or corresponding commands/settings to the grouping unit  306 . The grouping unit  306  can execute the received information to grip, lift, horizontally transfer, lower, and release the object to place the object at the assigned destination. The grouping unit  306  may communicate a placement status or a task completion status to the master controller  408  and/or the management system  402  after transfer of one or more objects. The master controller  408  and/or the management system  402  can also communicate a placement status or a task completion status to the storage access system  404 . The storage access system  404  can track the quantity of objects placed in each container based on the status updates. 
     Once a targeted quantity of objects has been placed on a container during the first production cycle  412 , the master controller  408  and/or the management system  402  can provide a move-out trigger (MoveOut) to remove the container from the corresponding destination location. Based on the move-out trigger, the storage access system  404  can control the AGV  422  to bring the container from the destination location to a subsequent processing location, such as a depalletization station, a storage location, etc. provided by the master controller  408  and/or the management system  402 . The robotic system  100  can repeat the above processes until all of the incoming objects have been grouped or no further incoming objects are expected. 
       FIG. 5B  is a flow diagram for a method  550  of operating the robotic system  100  of  FIG. 1  in accordance with one or more embodiments of the present technology. The method  550  can be for implementing the first production cycle  412  of  FIG. 4  (e.g., the storage grouping task  326  of  FIG. 3 ). The method  550  can be implemented based on executing the instructions stored on one or more of the storage devices  204  of  FIG. 2  with one or more of the processors  202  of  FIG. 2 . Accordingly, the one or more processors  202  may implement operations (by, e.g., generating/sending commands, settings, and/or plans) to control one or more units (e.g., the grouping unit  306  of  FIG. 3 , the group transport unit  307  of  FIG. 3  such as the AGVs  422  of  FIG. 4 , the sensors  216  of  FIG. 2 , etc.) and/or components therein. 
     As an illustrative example, the processes illustrated on the left in  FIG. 5B  may be performed by one or more overseeing devices (e.g., the management system  402  and/or the master controller  408 ) that coordinate the operations/tasks for a grouping of systems, subsystems, and/or devices. The processes illustrated on the right in  FIG. 5B  may be performed by the storage access system  404 . Accordingly, the method  550  can illustrate the interactions between the various devices/subsystems for the robotic system  100 . 
     At block  552 , the one or more overseeing devices can identify incoming objects. As an illustrative example, the master controller  408  and/or the management system  402  can identify incoming objects associated with a palletizing task of a corresponding operation. The master controller  408  can receive sensor output data (e.g., 2D/3D images) from one or more sensors associated with the prediction queue  510  of  FIG. 5A . The master controller  408  and/or the management system  402  can compare the sensor output data to the master data  252  of  FIG. 2  that includes dimensions, surface images, identifier information, and/or other distinguishable physical attributes of known/registered objects. The master controller  408  and/or the management system  402  can identify or recognize the objects located in the prediction queue  510  accordingly. In some embodiments, the master controller  408  and/or the management system  402  can estimate the identity of the object and/or measure dimensions of the objects in real-time when the compared aspects of the object are not found in the master data  252 . 
     At block  554 , the one or more overseeing devices can compute a packing simulation for the incoming objects. For example, the master controller  408  and/or the management system  402  can compute the packing simulations for grouping the objects according to one or more grouping conditions. The master controller  408  and/or the management system  402  may obtain physical dimensions (e.g., length, width, and/or height), weight, CoM, and/or other information regarding the identified objects. The master controller  408  and/or the management system  402  can compute the packing simulation by deriving placement locations within the container and/or motion plans for placing the object in the container. 
     To derive the placement locations, the master controller  408  and/or the management system  402  can determine targeted grouping goals according to a set of predetermined rules/processes. For example, the master controller  408  and/or the management system  402  may determine test placement locations as predetermine location on the container (e.g., peripheral locations and/or center locations). The master controller  408  and/or the management system  402  can derive motion plans and/or travel paths for transferring the object from the source location  502  to the test placement locations for containers placed at one or more of the destination locations  504 . The master controller  408  and/or the management system  402  can evaluate the resulting motion plans, such as according to path length, number of maneuvers or direction changes, obstacles, collision likelihoods, and/or other operational criteria. The master controller  408  and/or the management system  402  can also evaluate the stacking/packing arrangements for the containers to determine targeted capacities that satisfy stability and/or stacking requirements. For example, the master controller  408  and/or the management system  402  can simulate various packing/stacking configurations of the objects to achieve an arrangement according to maximum quantity, targeted arrangement, and/or maximum stack height. 
     At block  556 , the one or more overseeing devices can update grouping factors. The grouping factors can include flags, data, commands, and/or status information that represent the container requirements for packing/storing the incoming objects. Some examples of the grouping factors may include: flags for beginning preparation of the container (by, e.g., picking up empty or designated/partially-filled containers), an object category associated with the incoming object and/or the container, single/mixed designation for the container, and/or packing limits/capacity for the container. The master controller  408  and/or the management system  402  can communicate the information to the storage access system  404 . For example, the master controller  408  and/or the management system  402  can notify the storage access system  404  to prepare the target storage containers (e.g., pallets) to receive the incoming objects. 
     At block  582 , the storage access system  404  can identify the containers that will receive the object based on the received grouping factors. In some embodiments, the storage access system  404  can set a flag that indicates that preparation activities are being performed by the storage access system  404  and/or the AGVs  422 . The storage access system  404  can determine current location of the containers and/or identifiers and/or types (e.g., single/mixed) of the containers required for the packing plan. The storage access system  404  may determine the locations/identifiers by considering the identifiers/types of containers in storage and/or currently at the destination locations  504  of  FIG. 5A . 
     As an illustrative example, the storage access system  404  may determine the container identifiers as the container already at the single-load location  506  of  FIG. 5A  when that container corresponds to the identified incoming object and is available to receive additional objects. Also, the storage access system  404  may determine the container identifiers as the container already at the mixed-load location  508  of  FIG. 5A  when they are designated to receive a mix of objects including the currently available object. When multiple corresponding containers are at the destination locations, the storage access system  404  can determine the container identifier of the container having lower quantity of objects therein. When no containers (e.g., single and or mixed) at the destination locations  504  correspond to the identified incoming object, the storage access system  404  can assign the stored container that includes the smallest quantity of the objects and/or is closest to the grouping unit  306  to receive the incoming object. 
     At block  584 , the storage access system  404  can prepare containers to receive the objects. The storage access system  404  can control the AGVs  422  to access and transfer the assigned/identified container to one of the destination locations  504  or a waiting location for temporary storage. For example, the storage access system  404  can identify an unoccupied AGV that is nearest to the storage location of the identified container. The storage access system  404  can command the identified AGV to pick up the identified container and provide the current storage location of the container and a desired target location (e.g., the waiting area or the one of the destination locations  504 ). The storage access system  404  can track the status of the AGV and update the flag to indicate that the operations/tasks associated preparation activities are complete when the AGV arrives at the targeted location. 
     At block  558 , the one or more overseeing devices can track the container placement status. For example, the master controller  408  and/or the management system  402  can receive container information (e.g., pallet identifiers) representative of the containers prepared by the storage access system  404  to receive the incoming objects. When the storage access system  404  updates the flag to indicate that operations/tasks associated with the preparation activities are complete, the master controller  408  and/or the management system  402  can determine a location for the container according to the packing simulation. The master controller  408  and/or the management system  402  can communicate the container identifier, the determined destination location, and/or the MoveIn trigger to the storage access system  404  accordingly. In response, as illustrated at block  584 , the storage access system  404  can control the AGV to move the container to the determined destination location. The storage access system  404  can update the resulting control status (e.g., location occupancy status, placement status and details of the container, and/or other related information for placing the container at the determined location). 
     At decision block  560 , the one or more overseeing devices can determine whether the container is ready for receiving the object. For example, the master controller  408  and/or the management system  402  can monitor the control status of the storage access system  404  to determine whether the container is ready. The master controller  408  and/or the management system  402  can continue monitoring until the control status indicates that the containers have been placed at the designated destination location. 
     When the containers are ready, as illustrated at block  562 , the one or more overseeing devices can implement object placement. The master controller  408  and/or the management system  402  can derive the motion plan as described above. In some embodiments, the master controller  408  and/or the management system  402  can derive or update the placement location and the corresponding motion plan in real-time. As an illustrative example, the master controller  408  can receive one or more 2D/3D images representative of the container placed at the designated destination location. The master controller  408  can process the received images, such as by determining height/depth values assigned to a grid system or a pixelated model of a placement surface in the container, to derive a placement location of the object. In some embodiments, the master controller  408  may adjust the motion plan that resulted from the packing simulation according to the placement location. In other embodiments, the master controller  408  may derive the object path and the corresponding motion plan according to the placement location as described above. The master controller  408  can implement the motion plan by communicating the motion plan and/or the corresponding commands and/or settings to the grouping unit  306 . The grouping unit  306  can execute the receive information to transfer an end-effector (e.g., gripper) to the object, grip the object with the end-effector, lift and laterally transfer the object, place the object and/or release the object according to the motion plan. 
     At block  564 , the one or more overseeing devices can update the object placement status. For example, the master controller  408  and/or the management system  402  can maintain a placement flag that indicates whether a particular object has been placed in the container. Also, the master controller  408  and/or the management system  402  can maintain a placement execution flag that indicates whether the grouping unit  306  is executing the motion plan to place an object in the container. After each placement, the master controller  408  and/or the management system  402  can determine other information regarding the placed object and/or the content of the container, such as an identifier for the newly placed object, a placement location of the newly placed object, an overall shape of the packed set of objects, and/or a quantity of objects in the container. 
     At block  586 , the storage access system  404  can update a container profile based on the placement status. The storage access system  404  can monitor the placement flag and/or the execution flag to identify that the object has been placed in the container. When the object has been placed in the container, the storage access system  404  can update the container profile that includes details regarding the contents of the corresponding container. For example, the storage access system  404  can receive and store the content information from the master controller  408  and/or the management system  402  into the container profile. Also, the storage access system  404  can incrementally increase the object quantity based on the monitored status(es). 
     At decision block  566 , the robotic system  100  can determine whether sub-tasks or sub-operations associated with the container performed at the destination location is complete. For example, the storage access system  404 , the master controller  408 , and/or the management system  402  can determine whether the container is full after placement of the object, such as by comparing the updated object quantity to the quantity limit determined by the packing simulation and/or a predetermined storage packing threshold. Also, the master controller  408  and/or the management system  402  can determine whether the container is necessary or targeted for placement of subsequent incoming objects. When the container is not full and/or targeted for subsequent placements, the master controller  408  and/or the management system  402  can continue placing the subsequently incoming objects (e.g., the next object in the prediction queue  510 ). The master controller  408  and/or the management system  402  can continue with the next placement by repeating the above-described processes, such as from block  552  and/or block  562 . 
     When the container is full and/or does not correspond to the incoming objects, as illustrated at block  568 , the master controller  408 , and/or the management system  402  can direct the storage access system  404  to remove the container from the destination location, such as by setting the MoveOut flag. In other words, the robotic system  100  can determine that no subsequently incoming objects will likely be placed in the container. In response to such determination, the master controller  408  and/or the management system  402  can direct the storage access system  404  to remove the container from the destination location, such as by setting the MoveOut flag. In response, as illustrated at block  588 , the storage access system  404  can control the AGV  422  to remove the container from the destination location. The storage access system  404  can control the AGV  422  to move to a different destination location, a different station, a waiting area, or a storage area according to other operational factors or real-time conditions. 
     In some situations, such as when the removed container was full and other instances of the same type of object remains in the prediction queue  510 , the control flow may proceed to block  582 . Accordingly, the storage access system  404  may subsequently identify another container to be placed in the newly opened destination location. The method  550  can proceed as described above to place the remaining objects in the updated container. In some other situations, the control flow can proceed to block  552  and repeat the above-described processes to place the subsequently incoming objects in the corresponding containers. 
       FIG. 6A  is an illustration of a second example production cycle (e.g., the second production cycle  414 ) in accordance with one or more embodiments of the present technology. Accordingly,  FIG. 6A  illustrates an example layout and/or function of the depalletizing station  434 . In some embodiments, the depalletizing station  434  can be configured to perform the group manipulation task  328  of  FIG. 3 . Accordingly, the depalletizing station  434  may include the removing unit  308  (e.g., a depalletizing unit including a robotic arm with a corresponding end-effector). 
     The depalletizing station  434  can be similarly configured as the palletizing station  432  of  FIG. 4  but for removing objects from containers instead of placing objects in the containers. For example, the depalletizing station  434  can include a set of source locations  602  where the removing unit  308  receives and/or picks from the containers (e.g., pallets) that include previously packed/stored objects. For the example illustrated in  FIG. 6A , the source locations  602  can correspond to container and/or AGV placement areas. Also, the depalletizing station  434  can include one or more destination locations  604  configured to transfer the objects that are removed from (e.g., depalletized) the containers to a different location. In some embodiments, each of the destination locations  604  can include an end portion of an egress instance of the conveyor  424  (e.g., an instance of the object transport unit  305  of  FIG. 3 ) nearest to the removing unit  308 . The source locations  602  and/or the destination location  604  can be predetermined or spatially fixed relative to the removing unit  308 . In some embodiments, the destination location  604  and/or the source locations  602  can be arranged around (e.g., at least partially encircling) and/or within a lateral operating distance associated with the removing unit  308 . 
     The depalletizing station  434  can include a prediction queue  610  used to determine a set of the incoming containers and/or the corresponding objects. The prediction queue  610  can include one or more sensors (e.g., two-dimensional (2D) and/or three-dimensional (3D) sensors) configured to image the containers/objects as they move towards the source locations  602 . The prediction queue  610  may also include a holding area located before the source locations  602  that is configured to maintain or house a predetermine number of containers at designated locations. Accordingly, the robotic system  100  can use the prediction queue  610  to determine identities, quantities, and/or locations of objects that will sequentially arrive at the source locations  602 . 
     As an illustrative example of the second production cycle  414  (e.g., the group manipulation task  328 ), the management system  402  of  FIG. 4  and/or the storage access system  404  of  FIG. 4  can determine a trigger for reorganizing containers, such as for combining contents of partially-filled containers and/or for filling outgoing shipments. Accordingly, the management system  402  and/or the storage access system  404  can identify containers that are subject to the group manipulation task  328 . The storage access system  404  can notify the management system  402  and/or the master controller  408  of  FIG. 4  of the identified containers and/or control the AGVs  422  of  FIG. 4  to place the identified containers in the prediction queue  610 . The management system  402  and/or the master controller  408  can receive and/or obtain (via, e.g., sensors in the prediction queue  610 ) information regarding the identified containers and/or the objects therein. The management system  402  and/or the master controller  408  can derive and implement motion plans for transferring a targeted instances or quantity of objects from the set of the source locations  602  to the destination location  604 . The management system  402  and/or the master controller  408  can generate and exchange coordination signals (e.g., MoveIn, MoveOut, and/or other signals) with the storage access system  404  for coordinating placement of the containers at the source locations  602 . 
       FIG. 6B  is a flow diagram for a method  650  of operating the robotic system  100  of  FIG. 1  in accordance with one or more embodiments of the present technology. The method  650  can be for implementing the second production cycle  414  of  FIG. 4  (e.g., the group manipulation task  328  of  FIG. 3 ). The method  650  can be implemented based on executing the instructions stored on one or more of the storage devices  204  of  FIG. 2  with one or more of the processors  202  of  FIG. 2 . Accordingly, the one or more processors  202  may implement operations (by, e.g., generating/sending commands, settings, and/or plans) to control one or more units (e.g., the removing unit  308  of  FIG. 3 , the group transport unit  307  of  FIG. 3  such as the AGVs  422  of  FIG. 4 , the sensors  216  of  FIG. 2 , etc.) and/or components therein. 
     As an illustrative example, the processes illustrated on the left in  FIG. 6B  may be performed by one or more overseeing devices (e.g., the management system  402  and/or the master controller  408 ) that coordinate the operations/tasks for a grouping of systems, subsystems, and/or devices. The processes illustrated on the right in  FIG. 6B  may be performed by the storage access system  404 . Accordingly, the method  650  can illustrate the interactions between the various devices/subsystems for the robotic system  100 . 
     At block  682 , the storage access system  404  can identify target containers (e.g., containers in storage and/or at other task locations) for the group manipulation task. As an illustrative example, the one or more overseeing devices (e.g., the master controller  408  and/or the management system  402 ) can receive an outgoing shipping order and provide a list of objects or types thereof to the storage access system  404 . The storage access system  404  can identify containers in storage that contains the specified objects (e.g., the objects included in the outgoing shipping order). When multiple containers include the specified objects, the storage access system  404  can select containers closest to the depalletizing station  434  and/or having a targeted/lowest/highest quantity of objects. 
     Also, the storage access system  404  can periodically (e.g., according to predetermined timing and/or after task completions) analyze the contents in the stored containers. The storage access system  404  can initiate object reorganization when a number of containers having partially-filled quantities (e.g., below max threshold capacity of the containers) exceed a predetermined reorganization threshold. The storage access system  404  can select the partially-filled containers for the group manipulation task  328 . 
     At block  684 , the storage access system  404  can control placement of the target containers at the source locations  602 . The storage access system  404  can control the group transport unit  307  (e.g., the AGVs  422 ) to bring the identified containers from their current locations (e.g., storage locations and/or other task stations) to the depalletizing station  434 . For example, the storage access system  404  can identify an available AGV closest to the identified containers. The storage access system  404  can send information (e.g., container identifier/location and/or the destination for the container) to the identified AGV to pick up and bring the container to the prediction queue  610  of  FIG. 6A . 
     While controlling the placement of the containers, the storage access system  404  can update various statuses and/or information. For example, the storage access system  404  can set status flag(s) that indicate whether the containers have been placed in the prediction queue  610 . The storage access system  404  can also provide the container identifier, placement location of the container within the prediction queue  610 , type/identifier of the objects in the container, tracked quantity of the objects in the container, and/or placement positions of the objects in the container. 
     At block  652 , the one or more overseeing devices can identify incoming objects. As an illustrative example, the master controller  408  and/or the management system  402  can receive the container information (e.g., pallet identifiers) and/or the corresponding incoming objects by the storage access system  404 . The master controller  408  and/or the management system  402  can further receive sensor output data (e.g., 2D/3D images) from one or more sensors associated with the prediction queue  610 . The master controller  408  and/or the management system  402  can identify or recognize the objects located in the prediction queue  610  based on comparing the received sensor data with the master data  252  of  FIG. 2 . 
     The master controller  408  and/or the management system  402  can interact with the storage access system  404  for placing the container at one of the source locations  602  of  FIG. 6A . For example, the master controller  408  and/or the management system  402  can identify the object needed at a down-stream station/task. The master controller  408  and/or the management system  402  can identify the container in the prediction queue  610  that includes the identified object. The master controller  408  and/or the management system  402  can further select the source location for receiving the identified container. The master controller  408  and/or the management system  402  can provide to the storage access system  404  the identified container, the location within the prediction queue  610  for the identified container, and/or the selected source location for the identified container. In response the storage access system  404  can control the corresponding AGV  422  to move the identified container to the selected source location. As described above, the storage access system  404  can adjust the flags to reflect whether the container placement is ongoing or finished. 
     At decision block  660 , the one or more overseeing devices can determine whether the container is placed at the selected source location. For example, the master controller  408  and/or the management system  402  can monitor the control status of the storage access system  404  to determine whether the container is ready. The master controller  408  and/or the management system  402  can continue monitoring until the control status indicates that the containers have been placed at the selected source location. 
     When the containers are ready, as illustrated at block  662 , the one or more overseeing devices can implement object removal. The master controller  408  and/or the management system  402  can derive the motion plan for picking up the targeted object from the source location  602  and place it at the destination location  604  as described above. In some embodiments, the master controller  408  and/or the management system  402  can derive or update the placement location and the corresponding motion plan in real-time. 
     As an illustrative example, the master controller  408  can receive one or more 2D/3D images representative of the container placed at the selected source location. The master controller  408  can process the received images, such as by determining height/depth values assigned to a grid system or a pixelated model of a placement surface in the container, to select an object and/or derive an approach location for approaching/gripping the object. In some embodiments, the master controller  408  may adjust the motion plan that resulted from the packing simulation according to the location of the identified/selected object in the container. In other embodiments, the master controller  408  may derive the object path and the corresponding motion plan according to the object location as described above. The master controller  408  can implement the motion plan by communicating the motion plan and/or the corresponding commands and/or settings to the removing unit  308 . The removing unit  308  can execute the receive information to transfer an end-effector (e.g., gripper) to the object, grip the object with the end-effector, lift and laterally transfer the object, place the object and/or release the object according to the motion plan. 
     At block  664 , the one or more overseeing devices can update the object placement status. For example, the master controller  408  and/or the management system  402  can maintain a placement flag that indicates whether a particular object has been placed at the destination location  604 . Also, the master controller  408  and/or the management system  402  can maintain a placement execution flag that indicates whether the removing unit  308  is executing the motion plan to place an object at the destination location  604 . After each placement, the master controller  408  and/or the management system  402  can determine other information regarding the placed object and/or the content of the source container, such as an identifier for the transferred object, an overall shape of the remaining set of objects in the container, and/or a quantity of remaining objects in the container. 
     At block  686 , the storage access system  404  can update a container profile based on the placement status. The storage access system  404  can monitor the placement flag and/or the execution flag to identify that the object has been removed from the container. When the object has been placed at the destination location  604 , the storage access system  404  can update the container profile of the corresponding container by removing details regarding the removed object. Also, the storage access system  404  can incrementally reduce the object quantity based on the monitored status(es). 
     At decision block  666 , the robotic system  100  can determine whether operations/tasks associated with removal of the object(s) from the source location is complete. For example, the storage access system  404 , the master controller  408 , and/or the management system  402  can determine whether the container is empty after placement/removal of the object. Also, the master controller  408 , and/or the management system  402  can determine whether the container is necessary or targeted for processing of subsequent objects. 
     When the container is not empty and/or targeted for subsequent processing, the master controller  408 , and/or the management system  402  can continue picking subsequent objects from the containers at the source location  602 . The master controller  408  and/or the management system  402  can continue with the next placement by repeating the above-described processes, such as from block  662 . In some embodiments, the master controller  408 , and/or the management system  402  can determine a desired removal count. The master controller  408  and/or the management system  402  can repeat the processes described above for block  662  and onward to remove the desired number of objects from the source location. The master controller  408  and/or the management system  402  can determine that operations/tasks associated with removal of the object(s) from the source location is complete when the desired number of objects have been transferred out of the container and to the destination location  604 . 
     When the container is empty and/or does not correspond to the subsequently targeted objects, the master controller  408 , and/or the management system  402  can direct the storage access system  404  to remove the container from the source location, such as by setting the MoveOut flag. In other words, the robotic system  100  can determine that no subsequently targeted objects are available at the source location  602 . In response to such determination, the master controller  408 , and/or the management system  402  can direct the storage access system  404  to remove the container from the source location, such as by setting the MoveOut flag. In response, as illustrated at block  688 , the storage access system  404  can generate instructions to control and/or control the AGV  422  to remove the container from the source location. The storage access system  404  can generate instructions to control and/or control the AGV  422  to move to a different source location, a different station, a waiting area, or a storage area according to other operational factors or real-time conditions. After removing the container, thereby opening the source location, the control flow can pass to block  682  and/or  684  to bring a new container to the opened source location. 
       FIG. 7A  is an illustration of a third example production cycle (e.g., the third production cycle  416 ) in accordance with one or more embodiments of the present technology. Accordingly,  FIG. 7A  illustrates an example layout and/or functions of the rack feeding station  436 . In some embodiments, the rack feeding station  436  can be configured to perform the group manipulation task  328  of  FIG. 3  and/or the racking task  334  of  FIG. 3 . The rack feeding station  436  may include the shelving unit  313  (e.g., a rack shelving unit including a robotic arm with a corresponding end-effector). In some embodiments, the rack feeding station  436  can be configured to transfer objects to and place object on the storage racks. 
     The rack feeding station  436  can be similarly configured as the palletizing station  432  of  FIG. 4  but for placing objects and/or contents therein to storage racks instead of placing objects in the containers. For example, the rack feeding station  436  can include a set of source locations  702  where the shelving unit  313  receives the objects (e.g., packages and/or boxes) targeted for transfer to/placement on the storage racks. For the example illustrated in  FIG. 7A , the source locations  702  can correspond to end portions of ingress instances of the conveyors  424  of  FIG. 4  (e.g., an instance of the object transport unit  305  of  FIG. 3 ) nearest to the shelving unit  313 . Also, the rack feeding station  436  can include one or more destination locations  704  configured to receive objects that are removed from the source objects. In some embodiments, the destination locations  704  can correspond to placement locations for racks and/or item containers (e.g., bins and/or objects) thereon. The source locations  702  and/or the destination locations  704  can be predetermined or spatially fixed relative to the shelving unit  313 . 
     The rack feeding station  436  can include one or more order queues  710 . The order queues  710  may precede the source locations  702 . In some embodiments, the order queues  710  may include corresponding conveyors and/or other transport mechanisms that transfer the objects to the source locations  702 . The order queues  710  may each be configured to hold a predetermined number of objects and/or include predetermined holding locations. Each of the order queues  710  may also include one or more cameras (e.g., 2D/3D imaging devices) configured to identify/recognize the objects placed in the order queues  710 . 
     In some embodiments, each of the rack feeding station  436  may be operably coupled to a cross-station transport unit  712 . The cross-station transport unit  712  (e.g., locomotive robotic units and/or conveyors) can be configured to transport objects across stations. For the example illustrated in  FIG. 7A , the cross-station transport unit  712  may be configured to transport objects from the depalletizing station  434  of  FIG. 4  (Station B) and/or the piece picking station  440  of  FIG. 4  (Station E). In other words, the rack feeding station  436  may be configured to process objects that were depalletized at the depalletizing station  434  and/or objects that were filled with designated objects at the piece picking station  440 . In some embodiments, the rack feeding station  436 , via the cross-station transport unit  712 , may be configured to receive and process opened objects from the package opening unit  310  of  FIG. 3  and/or the corresponding station for the package opening task  332  of  FIG. 3 . 
     The rack feeding station  436  may further include one or more receiving queues  714  configured to temporarily hold receiving/storage racks (“POD” as illustrated in  FIG. 7 ) before they are placed in the destination locations  704  to receive the objects. For example, the robotic system  100  can coordinate placement of a sequence of objects in the order queues  710 . The robotic system  100  can control transport units (e.g., the AGVs  422  of  FIG. 4 ) prepare/place a sequence of the storage racks in the receiving queues  714 . The receiving queues  714  can correspond to the order queues  710 . Accordingly, the robotic system  100  can increase the efficiency (via, e.g., decreasing time required to place/access the storage racks) in placing the incoming objects onto the storage racks. 
     As an illustrative example of the third production cycle  416  (e.g., the racking task  334 ), the management system  402  of  FIG. 4  and/or the master controller  408  of  FIG. 4  can identify/recognize the sequence of the incoming objects based on the sensor data from the order queues  710 . The management system  402  and/or the master controller  408  can interact with the storage access system  404  of  FIG. 4  for the available storage racks to place the incoming objects and compute the possible sequence of the storage racks to receive the incoming objects. In some embodiments, the management system  402  and/or the master controller  408  can communicate the sequence of the incoming objects and/or the corresponding racks to the storage access system  404 . The storage access system  404  can prepare and control the transport units (e.g., the AGVs  422 ) to bring the racks to the receiving queues  714  and the destination locations  704 . The management system  402  and/or the master controller  408  can track the progress/status of the storage access system  404  and coordinate timings (via, e.g., the MoveIn and/or MoveOut flags) for moving the AGVs  422  and the corresponding racks to/from the receiving queues  714  and the destination locations  704 . 
       FIG. 7B  is a flow diagram for a method  750  of operating the robotic system  100  of  FIG. 1  in accordance with one or more embodiments of the present technology. The method  750  can be for implementing the third production cycle  416  of  FIG. 4  (e.g., the group manipulation task  328  of  FIG. 3  and/or the racking task  334 ). The method  750  can be implemented based on executing the instructions stored on one or more of the storage devices  204  of  FIG. 2  with one or more of the processors  202  of  FIG. 2 . Accordingly, the one or more processors  202  may implement operations (by, e.g., generating/sending commands, settings, and/or plans) to control one or more units (e.g., the shelving unit  313  of  FIG. 3 , the group transport unit  307  of  FIG. 3  such as the AGVs  422  of  FIG. 4 , the sensors  216  of  FIG. 2 , etc.) and/or components therein. 
     As an illustrative example, the processes illustrated on the left in  FIG. 7B  may be performed by one or more overseeing devices (e.g., the management system  402  and/or the master controller  408 ) that coordinate the operations/tasks for a grouping of systems, subsystems, and/or devices. The processes illustrated on the right in  FIG. 7B  may be performed by the storage access system  404 . Accordingly, the method  750  can illustrate the interactions between the various devices/subsystems for the robotic system  100 . 
     At block  752 , the one or more overseeing devices can identify incoming objects. As an illustrative example, the master controller  408  and/or the management system  402  can identify the incoming objects (e.g., depalletized objects or bins resulting from picking tasks) associated with the racking task of a corresponding operation. The master controller  408  can receive sensor output data (e.g., 2D/3D images) from one or more sensors associated with the order queue  710  of  FIG. 7A  and/or sensor data from one or more sensors associated with the cross-station transport units  712  of  FIG. 7A . The master controller  408  and/or the management system  402  can compare the sensor output data to the master data  252  of  FIG. 2  that includes dimensions, surface images, identifier information, and/or other distinguishable physical attributes of known/registered objects. The master controller  408  and/or the management system  402  can identify or recognize the objects located in the order queue  710  accordingly. Also, as an illustrative example, the master controller  408  and/or the management system  402  can identify the incoming objects based on output status/information from other tasks and/or stations (e.g., the depalletizing station  434  of  FIG. 4  and/or the piece picking station  440  of  FIG. 4 ). Further, the master controller  408  and/or the management system  402  can identify the incoming objects based on incoming shipping manifests, packing/storage plans, and/or outgoing orders. 
     At block  754 , the one or more overseeing devices can query for available racks. In some embodiments, for example, the master controller  408  and/or the management system  402  can communicate a predetermined command/message to the storage access system  404  for requesting a list of the available racks. The master controller  408  and/or the management system  402  may also communicate the identified incoming objects to the storage access system  404  along with and/or instead of the command. 
     At block  782 , the management system  402  can identify available storage racks. In response to the command from the overseeing devices, the management system  402  can identify the storage racks that have open/available placement location(s) or slot(s) for receiving the incoming objects. For example, the management system  402  can identify the storage racks that have open/available locations assigned or predetermined to receive incoming objects. In some embodiments, the management system  402  can identify the available storage racks based on current statuses (e.g., filling percentages) of the storage racks. As an illustrative example, when multiple storage racks are assigned to receive incoming objects, the management system  402  can identify the available storage rack as the storage rack with the current status reflecting the lowest quantity of stored objects and/or corresponding items. The management system  402  can communicate the identified storage racks and/or other related information (e.g., the current statuses, the current locations, and/or the assigned storage locations of the racks) to the master controller  408  and/or the management system  402 . 
     At block  756 , the one or more overseeing devices can compute one or more rack sequences (e.g., a sequential combination of the identified racks or a subset thereof) based on the available storage racks. The master controller  408  and/or the management system  402  can obtain available rack information representative of the target storage containers (e.g., storage racks configured to store the bins or the objects having items therein) identified by the storage access system as candidates for receiving the incoming objects for storage. The master controller  408  and/or the management system  402  may compute a sequence of the available racks at the source location(s)  702  of  FIG. 7A . For example, the master controller  408  may use a set of predetermined rules/processes to compute the sequence for placing the available racks at the source location(s)  702  and the receiving queues  714  of  FIG. 7 . The master controller  408  can compute the rack sequence based on a location and/or a relative sequence of the incoming objects and/or the available racks. The master controller  408  can compute the rack sequence based on reducing/minimizing one or more metrics or factors associated with placement of the objects. 
     As an illustrative example, the master controller  408  can compute the rack sequence by deriving different test rack sequences and a corresponding placement sequence of the incoming objects. For each test placement sequence, the master controller  408  may derive motion plans for placing the incoming objects accordingly. For each motion plan, the master controller  408  can calculate placement evaluation factors, such as an object travel distance/time, a number of maneuvers, a type or a number of input maneuvers, an estimated failure rate, a confidence measure, and/or other measures associated with placing the object at the source locations  702  and/or transferring the object from the source locations  702  to the destination locations  704 . The master controller  408  may calculate rack sequence measures by combining one or more of the evaluation factors for the motion plans for each of the test placement sequences. The master controller  408  may finalize a set of the rack sequences based on the calculated sequence measures. For example, the master controller  408  can finalize the set of the rack sequences as a predetermined number of sequences with the highest sequence measures. Also, the master controller  408  can finalize the set of rack sequences as the sequences having the sequence measures above a predetermined sequence threshold. The one or more overseeing devices can communicate the finalized set of the rack sequences to the storage access system  404 . 
     At block  784 , the storage access system  404  can select one or more sequences based on the provided set of sequences. The storage access system  404  can evaluate the finalized set of the rack sequences according to predetermined rules and/or processes. For example, the storage access system  404  can evaluate the finalized set of the rack sequences based on calculating delays, maneuvers, travel distances, and/or other factors associated with accessing and transporting the racks according to the rack sequences. The storage access system  404  can select one or more of the sequences according to the evaluation of the finalized set of the rack sequences. 
     At block  786 , the storage access system  404  can prepare the racks according to the selected sequence(s). The storage access system  404  may assign the rack transport unit  312  to the available racks in the selected sequence(s). For example, the storage access system  404  may assign the AGVs  422  to the racks identified in the selected sequence(s) according to distances between the AGVs  422  and the racks. The storage access system  404  can further determine locations, timings, sequences, and/or maneuvers for controlling the AGVs  422  to access the racks and transport them to the receiving queues  714  and the destination locations  704  according to the selected sequence(s). The storage access system  404  can control the AGVs  422  accordingly and place the racks in the receiving queues  714  and the destination locations  704  as identified by the selected sequence(s). The storage access system  404  can maintain one or more flags/status information associated with the preparation and communicate the one or more flags/status information with the one or more overseeing devices. 
     At block  758 , the one or more overseeing devices can prepare order queues (e.g., the order queues  710 ) according to the selected sequence(s) and/or the preparation progress flags/status information. For example, the master controller  408  and/or the management system  402  can identify the sequence selected by the storage access system  404 . The master controller  408  and/or the management system  402  may control the cross-station transport units  712 , the order queues  710 , and/or one or more robots at other preceding stations to prepare the order queues. The master controller  408  and/or the management system  402  can prepare the order queues by placing the incoming objects according to a sequence that matches the selected rack sequence(s). Also, the master controller  408  and/or the management system  402  can provide timing information and/or flags to coordinate placement of the racks. As an illustrative example, the master controller  408  can generate or set the MoveIn flags that the storage access system  404  can use to control the AGVs  422  and place the racks in the receiving queues  714  and/or the destination locations  704 . 
     Returning to block  786 , the storage access system  404  can use the information from the one or more overseeing devices to control the rack transport units  312 . For example, the storage access system  404  can use the MoveIn flag as a trigger to control the corresponding AGV  422  and move the rack from the receiving queue  714  to the destination location  704 . As described above, the storage access system  404  can update and/or maintain the status information regarding the rack placement. 
     At decision block  760 , the one or more overseeing devices can determine whether the storage rack is ready for receiving the object. For example, the master controller  408  and/or the management system  402  can monitor the control status of the storage access system  404  to determine whether the storage rack is ready. The master controller  408  and/or the management system  402  can continue monitoring until the control status indicates that the storage racks have been placed at the designated destination locations  704 . 
     When the storage racks are ready, as illustrated at block  762 , the one or more overseeing devices can implement object transfer. The master controller  408  and/or the management system  402  can derive the motion plans as described above for picking up the objects from the source locations  702  and placing them at the destination locations  704 . In some embodiments, the master controller  408  and/or the management system  402  may derive or update the placement location and the corresponding motion plans based on real-time condition of the racks at the destination locations  704 . 
     The master controller  408  can implement the motion plan by communicating the motion plan and/or the corresponding commands and/or settings to the shelving unit  313 . The shelving unit  313  can execute the receive information to transfer an end-effector (e.g., gripper) to the object, grip the object with the end-effector, lift and laterally transfer the object, place the object and/or release the object according to the motion plan. Accordingly, the master controller  408  can control the shelving unit  313  to place the object on the storage rack. 
     At block  764 , the one or more overseeing devices can update the object placement status. For example, the master controller  408  and/or the management system  402  can maintain a placement flag that indicates whether a particular object has been placed on the storage rack. Also, the master controller  408  and/or the management system  402  can maintain a placement execution flag that indicates whether the grouping unit  306  is executing the motion plan to place an object in the storage rack. After each placement, the master controller  408  and/or the management system  402  can determine other information regarding the placed object and/or the content of the storage rack, such as an identifier for the newly placed object, a placement location of the newly placed object, and/or a quantity of objects on the storage rack. 
     At block  788 , the storage access system  404  can update a rack profile based on the placement status. The storage access system  404  can monitor the placement flag and/or the execution flag to identify that the object has been placed on the storage rack. When the object has been placed in the storage rack, the storage access system  404  can update the rack profile that includes details regarding the contents of the corresponding storage rack. For example, the storage access system  404  can receive and store the content information from the master controller  408  and/or the management system  402  into the rack profile. Also, the storage access system  404  can incrementally increase the object quantity based on the monitored status(es). 
     At decision block  766 , the robotic system  100  can determine whether sub-tasks associated with the storage rack at the destination location is complete For example, the storage access system  404 , the master controller  408 , and/or the management system  402  can determine whether the storage rack is full after placement of the object, such as by comparing the updated object quantity to the predetermined limit for the rack. Also, the master controller  408  and/or the management system  402  can determine whether the storage rack is necessary or targeted for placement of subsequent incoming objects. When the storage rack is not full and/or targeted for subsequent placements, the master controller  408  and/or the management system  402  can continue placing the subsequently incoming objects (e.g., the next object in the order queue  710 ). The master controller  408  and/or the management system  402  can continue with the next placement by repeating the above-described processes, such as from block  762 . 
     When the container is full and/or does not correspond to the incoming objects, as illustrated at block  768 , the master controller  408  and/or the management system  402  can direct the storage access system  404  to remove the storage rack from the destination location, such as by setting the MoveOut flag. In other words, the robotic system  100  can determine that no subsequently incoming objects will likely be placed on the storage rack. In response to such determination, the master controller  408  and/or the management system  402  can direct the storage access system  404  to remove the storage rack from the destination location, such as by setting the MoveOut flag. In response, as illustrated at block  790 , the storage access system  404  can control the AGV  422  to remove the container from the destination location. The storage access system  404  can control the AGV  422  to move to a different destination location, a different station, a waiting area, or a storage area according to other operational factors or real-time conditions. 
     In some situations, such as when the rack sequence has not been complete, the control flow may proceed to block  786 . Accordingly, the storage access system  404  may identify the next racks to be placed at the destination locations  704  and/or in the receiving queues  714 . The method  750  can proceed as described above to place the remaining objects in the updated container. In some other situations, the control flow can proceed to block  752  and repeat the above-described processes to place the subsequently incoming objects in the corresponding storage racks. 
       FIG. 8A  is an illustration of a fourth example production cycle (e.g., the fourth production cycle  418 ) in accordance with one or more embodiments of the present technology. Accordingly,  FIG. 8A  illustrates an example layout and/or functions of the rack picking station  438  and/or the piece picking station  440 . As an illustrative example, the fourth production cycle  418  can be for accessing items that may be contained and stored in multiple different bins (e.g., storage boxes or packages)/storage racks and for grouping the accessed items into a single bin. Once the items have been accessed or picked, the corresponding bins may be transferred to a different station (e.g., the rack feeding station  436 ) where the bins may be placed back on storage racks. The bin including the grouped items can also be transferred to a different station for outgoing shipments (e.g., the packing task  344  of  FIG. 3  and/or the outbound grouping task  346  of  FIG. 3 ) and/or for storage (e.g., the racking task  334  of  FIG. 3 ). 
     The rack picking station  438  can be configured to perform the group manipulation task  328  of  FIG. 3  and/or the racking task  334  of  FIG. 3 . In other words, the rack picking station  438  may be configured to remove objects or bins from the storage racks. The rack picking station  438  can be similarly configured as the depalletizing station  434  of  FIG. 4  but for removing bins from storage racks instead of other containers (e.g., pallets). 
     The rack picking station  438  may include the shelving unit  313  (e.g., a rack shelving unit including a robotic arm with a corresponding end-effector). The shelving unit  313  can access bins from one or more bin source locations  802  and move them to one or more bin destination locations  804 . For the example illustrated in  FIG. 8A , the bin source locations  802  can include placement locations for the targeted bin and/or the storage rack having the targeted bin thereon. The bin destination locations  804  can correspond to end portions of cross-station transport units  808  (e.g., an instance of the object transport unit  305  of  FIG. 3 ) nearest to the shelving unit  313 . For example, the bin destination locations  804  can include end portions of egressing instances of the conveyors  424  of  FIG. 4  configured to carry bins from the rack picking station  438  to another station. The bin source locations  802  and/or the bin destination locations  804  can be predetermined or spatially fixed relative to the shelving unit  313 . 
     The rack picking station  438  may include one or more rack queues  806 . The rack queues  806  may include holding areas for the racks, and the rack queues  806  may be located before the bin source locations  802 . For example, the rack queues  806  can include temporary rack storage areas located between the bin source locations  802  and the rack storage area. In some embodiments, the rack queues  806  can include one or more sensors (e.g., the imaging sensors, such as 2D/3D cameras, and/or scanners) configured to identify the rack and/or the bins on the racks. The robotic system  100  can use the rack queues  806  to sequence the racks and/or buffer the rack storage to improve efficiencies for the group manipulation task  328 , such as by reducing access times associated with the shelving unit  313  accessing the targeted bins. 
     The piece picking station  440  can be configured to perform the picking task  342  of  FIG. 3  by picking/removing items from within the bins and transferring the picked items to destination locations or destination bins. The piece picking station  440  can be similarly configured as the palletizing station  432  of  FIG. 4  but for removing and transferring items contained within objects/bins instead of transferring the objects/bins themselves. 
     The piece picking station  440  may include the picking unit  314  (e.g., a piece-picking unit including a robotic arm with a corresponding end-effector) for performing the picking task  342 . The picking unit  314  can access targeted items from bins that are placed at one or more item source locations  812  and move them to output bins located at one or more item destination locations  814 . For the example illustrated in  FIG. 8A , the item source locations  812  can include end portions of the cross-station transport units  808  opposite the bin destination locations  804 . In other words, the cross-station transport units  808  can transport the bins accessed by the shelving unit  313  to the piece picking station  440 , and the picking unit  314  can pick the items from the bins that are on the cross-station transport units  808 . The destination locations  814  can be locations for item-receiving bins designated to receive the picked items. Some examples of the destination locations  814  can include designated locations on the floor and/or designated locations on other instances of the object transport unit  305 . The item source locations  812  and/or the item destination locations  814  can be predetermined or spatially fixed relative to the picking unit  314 . 
     The piece picking station  440  may include other instances of the object transport unit  305  configured to transport the accessed bins to other stations for subsequent processing. As an illustrative example, the piece picking station  440  can include the cross-station transport units  712  configured to transport the bins to the rack feeding station  436  of  FIG. 4 . Once the picking unit  314  completes the picking task  342  for the bin, the cross-station transport units  712  can transport the bin to the rack feeding station  436 . The transported bin can be placed on a storage rack at the rack feeding station  436  as described above. 
     Similarly, the item-receiving bins can be transported via other instances of the object transport unit  305  to other stations for subsequent processing. For example, the item-receiving bins can be transported from the item destination locations  814  to the rack feeding station  436  for placement on storage racks, such as for concluding the stocking operation  330  of  FIG. 3  (e.g., to reorganize or redistribute the items). Also, the item-receiving bins can be transported for packing task  344  of  FIG. 3  and/or outbound grouping task  346  of  FIG. 3 , such as for concluding the shipping operation  340  of  FIG. 3 . 
     In some embodiments, as illustrated in  FIG. 8A , one control device (e.g., one instance of the master controller  408 ) may control both the shelving unit  313  and the picking unit  314  (e.g., two robotic arms) and the corresponding transport units for the fourth production cycle  418 . The storage access system  404  may have access (via, e.g., the management system  402 ) to picking objectives (e.g., outgoing orders) targeted for the picking unit  314 . In some embodiments, the storage access system  404  and/or the master controller  408  may produce a production queue (via, e.g., the rack queues  806 ) and/or an order queue (via, e.g., the picking queues  816 ). Based on the order queue, the master controller  408  can derive schedules/sequences for the racks and share the results with the storage access system  404 . The storage access system  404  can select and/or finalize the rack schedule/sequence and control placement of the racks at the rack queues  806  and/or the bin source locations  802  accordingly. The master controller  408  may provide triggers (e.g., MoveIn and/or MoveOut) to the storage access system  404  for controlling the placement of the racks. The master controller  408  can control the shelving unit  313  based on the placement of the racks, and then control the picking unit  314  based on the tasks performed by the shelving unit  313  and/or the cross-station transport units  808 . The master controller  408  can update the storage access system  404  with the number of items removed from the accessed bin. Accordingly, the storage access system  404  can update profile/content information for the accessed bin. 
       FIG. 8B  is a flow diagram for a method  850  of operating the robotic system of  FIG. 1  in accordance with one or more embodiments of the present technology. The method  850  can be for implementing the fourth production cycle  418  of  FIG. 4  (e.g., the picking task  342  of  FIG. 3  and/or the group manipulation task  328  of  FIG. 3 ). The method  850  can be implemented based on executing the instructions stored on one or more of the storage devices  204  of  FIG. 2  with one or more of the processors  202  of  FIG. 2 . Accordingly, the one or more processors  202  may implement operations (by, e.g., generating/sending commands, settings, and/or plans) to control one or more units (e.g., the shelving unit  313  of  FIG. 3 , the picking unit  314  of  FIG. 3 , transport units, the sensors  216  of  FIG. 2 , etc.) and/or components therein. 
     As an illustrative example, the processes illustrated on the left in  FIG. 8B  may be performed by one or more overseeing devices (e.g., the management system  402  and/or the master controller  408 ) that coordinate the operations/tasks for a grouping of systems, subsystems, and/or devices. The processes illustrated on the right in  FIG. 8B  may be performed by the storage access system  404 . Accordingly, the method  850  can illustrate the interactions between the various devices/subsystems for the robotic system  100 . 
     At block  882 , the storage access system  404  can identify piece orders intended for fulfilment by the fourth production cycle  418 . For example, the storage access system  404  can receive an outgoing/customer order, a reorganization plan, or another item grouping plan from the management system  402 . The storage access system  404  can identify details regarding the received orders, such as item identifiers, item types or categories, item quantities, grouped items, and/or grouping sequences for each container and/or a sequence of containers. 
     At block  884 , the storage access system  404  can generate queue and/or storage data associated with the identified items. For example, the storage access system  404  can identify storage locations and/or current locations of bins having the identified items therein. In identifying the locations, the storage access system  404  can use the identified details to search maintained profiles for bins/containers/objects/racks and the contents therein. The storage access system  404  can identify the corresponding storage units that include the identified items and their tracked and/or designated locations. 
     In some embodiments, the storage access system  404  can communicate the identified storage units to the one or more overseeing devices. The one or more overseeing devices may use the identified storage units and/or their locations to generate sequences for queues (e.g., the rack queues  806  of  FIG. 8A  and/or the picking queues  816  of  FIG. 8A ). In other embodiments, the storage access system  404  can generate the queue sequences and communicate the generated information to the one or more overseeing devices. The robotic system  100  can generate the queue sequences each including an ordered combination of the storage units and/or corresponding placement timings. 
     The robotic system  100  may generate one or more queue sequences for the rack queues  806  as the ordered combination of the racks having bins thereon that include the targeted items. The robotic system  100  may further generate one or more queue sequences for the picking queues based on the queue sequences for the rack queues  806 . 
     As an illustrative example, the robotic system  100  can generate the queue sequences based on the current/storage locations for the corresponding storage units and according to predetermined rules/processes. The robotic system  100  can derive test sequences for placing the storage units at the rack queues  806  and/or the bin destination locations  804 . Based on the test sequences, the robotic system  100  can derive associated sequences for the picking queues  816  as an ordered combination of the bins transferred from the placed storage racks. The robotic system  100  can further derive the corresponding robotic unit actions, robotic unit maneuvers, travel paths, travel times, and/or other costs associated with placing the storage units according to the test sequences and/or placing the bins according to the associated sequences. The robotic system  100  can select/finalize a set of the test sequences as the queue sequences according to the derived costs. For example, the finalized queue sequences can be a predetermined number of the test sequences having the lowest costs and/or the test sequences having costs below a predetermined placement threshold. 
     At block  852 , the one or more overseeing devices can identify the queue sequence and/or storage information. As described above, the master controller  408  and/or the management system  402  can generate the information or receive the information from the storage access system  404 . The queue sequence can include rack queue information representative of a sequence of storage racks having bins thereon that include ordered items. The queue sequence can also include picking queue information representative of a sequence of the bins. 
     The master controller  408 , the management system  402 , and/or the storage access system  404  can interact with each other to implement the rack and/or placement according to the queue sequence. At block  854 , the master controller  408 , the management system  402 , and/or the storage access system  404  can transfer and place the bin for piece picking. The master controller  408 , the management system  402 , and/or the storage access system  404  can transfer and place the bin (e.g., a de-racking task) based on one or more processes similar to processes described above for the method  650  of  FIG. 6B . For example, the storage access system  404  can place the targeted racks in the rack queues  806  and/or the bin source locations  802  according to timing control provided by the master controller  408  and/or the management system  402 . Based on the placement status of the racks, the master controller  408  and/or the management system  402  can control (via, e.g., derived motion plans) the shelving unit  313  to transfer the targeted bins from the racks at the bin source locations  802  to the bin destination locations  804 . For example, the master controller  408  may operate the shelving unit  313  to remove the target bin from the storage rack and place the bin on the destination location according to the picking queue information. 
     At block  856 , the one or more overseeing devices can coordinate bin transfer for picking tasks. For example, the master controller  408  and/or the management system  402  can track movements of the shelving unit  313  to determine when the bins are placed at the bin destination locations  804 , such as the cross-station transport units  808 . Accordingly, the master controller  408  and/or the management system  402  can control the cross-station transport units  808  to move the placed bins from the rack picking station  438  (e.g., the bin destination locations  804  therein) to the piece picking station  440  (e.g., the item source locations  812  therein). 
     At decision block  860 , the one or more overseeing devices can determine whether the bin is ready for the piece picking task. For example, the master controller  408  and/or the management system  402  can track the movements of the cross-station transport units  808  and/or the bins thereon. The master controller  408  and/or the management system  402  can continue transferring the target bins to the piece picking station  440  and/or the item source locations  812  therein. 
     When the targeted bins are ready, such as illustrated at block  862 , the one or more overseeing devices can implement item transfers. For example, the master controller  408  and/or the management system  402  can implement a transport plan for operating the object transport unit  305  to transport the placed bin from the rack picking station  438  to the item source location of the piece picking station  440 . The master controller  408  and/or the management system  402  may obtain, via 2D/3D sensors at the item source locations  812 , current conditions (e.g., item poses) within the bins at the item source locations  812 . The master controller  408  and/or the management system  402  can recognize the items based on the sensor data and derive motion plans and/or the travel paths for transferring the items from the bin at the item source locations  812  to the bins at the item destination locations  814 . The motion plans can correspond to commands, settings, and/or sequences thereof for gripping the items, lifting and laterally transferring the items, and/or lowering and placing the items at the item destination locations  814 . The master controller  408  and/or the management system  402  can use the motion plans to control the picking unit  314  to transfer the items. 
     At block  864 , the one or more overseeing devices can update the placement status based on tracking the progress of the motion plan. For example, the master controller  408  and/or the management system  402  can interact with the picking unit  314  to track the progress of the motion plan. The master controller  408  and/or the management system  402  can update the placement status when the item is placed in the bin at the corresponding item destination location  814 . The master controller  408  and/or the management system  402  can further interact with the storage access system  404  according to the placement status. At block  888 , the storage access system  404  can update profiles for the bins at the item source locations  812  and/or the bins at the item destination locations  814 . For example, the storage access system  404  can update the profiles by reducing the item count and/or updating the item locations for the bins at the item source locations  812 . Also, the storage access system  404  can update the profiles by increasing the item count and/or updating the item locations for the bins at the item destination locations  814 . 
     At decision block  866 , the one or more overseeing devices can determine whether operations/tasks associated with the bins at the item source locations  812  is complete. In other words, the master controller  408  and/or the management system  402  can determine whether all planned items have been removed from the sourcing bin. In some embodiments, the master controller  408  can determine a number of items designated to be picked from each incoming bin. The master controller  408  can track the placement status to determine the number of items removed from the bin at the item source locations  812 . When the number of removed items is less than the targeted number of items, the master controller  408  can continue to implement the item transfer as illustrated by the feedback loop to block  862 . 
     When the targeted tasks for the bin is complete, such as illustrated at block  868 , the one or more overseeing devices can coordinate removal of the bins from the item source locations  812 . For example, the master controller  408  and/or the management system  402  can control the object transport units  305  of  FIG. 3  (e.g., the cross-station transport units  712  of  FIG. 7A  and/or the cross-station transport units  808 ) to remove the bins and/or transfer the bins to the next station (e.g., the rack feeding station  436  of  FIG. 7A  to return the bin to the storage rack and/or the storage location). 
     Once the bin has been removed and/or along with removal of the bin, the one or more overseeing devices can transfer the subsequent bin for the next picking task. As illustrated by the feedback loop to block  856 , the master controller  408  and/or the management system  402  can transfer the subsequent bin for picking along with coordinating the removal of the finished bin. For example, the master controller  408  and/or the management system  402  can operate the cross-station transport units  808  to transfer the subsequent bin to the item source locations  812  while removing the existing bin. The master controller  408  and/or the management system  402  can use the status of the placements/removals to operate the shelving unit  313  and/or the corresponding tasks. The master controller  408  and/or the management system  402  can further communicate the status of the bins with the storage access system  404 . Accordingly, the storage access system  404  can coordinate rack removals/placements with respect to the rack queues  806  and/or the bin destination locations  804 . When the last bin in the queues for the piece order has been transferred from the rack, the flow can return to block  882  to process subsequent orders. 
     Example Transitions Between Tasks 
       FIGS. 9A and 9B  are illustrations of example task transitions in accordance with one or more embodiments of the present technology.  FIG. 9A  illustrates an example layout  900  for the environment in which the robotic system  100  of  FIG. 1  may operate. The environment may include one or more storage areas  902 , one or more transition queues  904 , and/or one or more task stations  906 . Each storage area  902  can be configured to store targeted objects/items. In some embodiments, the storage area  902  can be configured to store group storage units  912  (e.g., storage racks and/or pallets) that hold multiple individual storage units  914  (e.g., the objects, such as packages, boxes, bins, and/or other containers) and/or items therein. For example, the robotic system  100  can control/implement the receiving operation  320  of  FIG. 3  and/or the stocking operation  330  of  FIG. 3  to place the targeted objects/items at the storage area  902 . 
     The transition queues  904  can include temporary holding areas configured to provide access to targeted racks, objects/bins, and/or items according to a determined sequence. The transition queues  904  can be used as access buffer between the storage area  902  and the task stations  906 . Some examples of the transition queues  904  can include picking queues  816  of  FIG. 8A , the rack queues  806  of  FIG. 8A , the order queues  710  of  FIG. 7A , and/or other queues described above. Each of the task stations  906  can include an area configured to perform a task, a sub-task, an operation, or a combination thereof. Some examples of the task stations  906  can include the palletizing station  432  of  FIG. 4 , the depalletizing station  434  of  FIG. 4 , the rack feeding station  436  of  FIG. 4 , the rack picking station  438  of  FIG. 4 , the piece picking station  440  of  FIG. 4 , the destination station  442  of  FIG. 4 , and/or other stations for tasks/operations described above. 
     As illustrated in  FIG. 9A , the task stations  906  and/or the transition queues  904  can correspond to the rack picking station  438 , the piece picking station  440 , and/or the rack feeding station  436 . The task stations  906  and/or the transition queues  904  can correspond to an alternative embodiment of the rack picking station  438  and/or the piece picking station  440 . For example, the robotic system  100  can control different types of AGVs to transport the racks between the storage area  902  and the transition queues  904 , and transport objects between the racks at the transition queues  904  and the task stations  906 . The AGVs can follow storage access paths  922  between the storage area  902  and the transition queues  904 , and/or follow task access paths  924  between the transition queues  904  and the task stations  906 . The robotic system  100  (e.g., the AGVs  422  and/or the storage access system  404 ) can determine or access predetermined locations of the access paths  922  and/or the access paths  924 . 
       FIG. 9B  illustrates an example of the task stations  906 . The illustrated example can be an alternative embodiment of the piece picking station  440 , the rack feeding station  436 , and/or a portion thereof. The task station  906  can include a transfer unit  934 , such as the grouping unit  306  of  FIG. 3 , the picking unit  314  of  FIG. 3 , the removing unit  308 , and/or other robotic units described above configured to perform the corresponding tasks. 
     The task stations  906  can include one or more access locations  930  that represent predetermined stopping locations for the AGVs  422 . For example, the access locations  930  can be the end locations of the task access paths  924 . Accordingly, by placing the AGVs  422  at the access locations  930 , the robotic system  100  can place target containers  932  (e.g., pallets and/or bins) at predetermined task locations (e.g., source/destination locations described above). The robotic system  100  can operate the transfer unit  934  to access or place the target containers  932  to/from the access locations  930 . The transfer unit  934  can perform the tasks according to corresponding task locations  936 . 
     As an illustrative example of the picking task  342 , the AGVs  422  can bring the targeted bin to the access locations  930 . The picking unit  314  of  FIG. 3  (e.g., an instance of the transfer unit  934 ) can pick items from the targeted bin and transfer them to the corresponding task locations  936  (e.g., the target bin at the item destination locations  814  of  FIG. 8A ). As an illustrative example of the storage grouping task  326  of  FIG. 3 , the corresponding task locations  936  can be the object pick up location (e.g., the source location  502  of  FIG. 5A ) and the access locations  930  can be the object placement location (e.g., the destination locations  504  of  FIG. 5A ). Alternatively, the corresponding task locations  936  can be the object placement location (e.g., the destination location  604  of  FIG. 6A ) and the access locations  930  can be the object pick up location (e.g., the source location  602  of  FIG. 6A ) for a portion of the depalletizing task. 
       FIG. 9C  is an illustration of example transport units in accordance with one or more embodiments of the present technology. In some embodiments, the AGVs  422  of  FIG. 4  can include a rack transport unit  942  and/or a shelf access unit  944 . The rack transport unit  942  can be configured to transport the storage racks between designated locations, such as between the storage area  902  of  FIG. 9A  and the transition queue  904  of  FIG. 9A . In one or more embodiments, the rack transport unit  942  can include a locomotive robot configured to contact and lift the targeted racks for transport. 
     The shelf access unit  944  can be configured to transport objects or bins to/from racks and other corresponding locations. The shelf access unit  944  may include access mechanisms, such as arms and/or fork lifts configured to place and/or remove objects/bins from shelves. For example, the access mechanism for the shelf access unit  944  can include a height adjustable platform with extendable arms attached thereto. The height adjustable platform can be raised or lowered along vertically-oriented rails of the shelf access unit  944  to a corresponding height of a rack shelf that includes the target object (e.g., bin/container). Once the height adjustable platform is at the corresponding height, the extendable arms can be extended and securing flaps attached at distal ends of the extendable arms can be engaged (e.g., folded or rotated) to secure the back of the target object (e.g., the side of the bin/container facing away from the shelf access unit  944 ). The extendable arms and the securing flaps may engage and load the target object onto the height adjustable platform when the extendable arms are retracted towards the shelf access unit  944 . In some embodiments, the shelf access unit  944  can transport the objects or bins to/from racks in the storage area  902  and/or the transition queue  904 . The shelf access unit  944  may transport the objects to/from the task stations  906 . In some embodiments, the robotic system  100  (via, e.g., the storage access system  404 ) can control the shelf access unit  944  to directly remove the one or more bins from the storage racks in the storage area and transport the removed bins to the picking station. 
     Example Operation Flow 
       FIG. 10  is a flow diagram for a method  1000  of operating the robotic system  100  of  FIG. 1  in accordance with one or more embodiments of the present technology. The method  1000  can be for performing and coordinating operations and the multiple tasks for each of the tasks. The method  1000  can be implemented based on executing the instructions stored on one or more of the storage devices  204  of  FIG. 2  with one or more of the processors  202  of  FIG. 2 . Accordingly, the one or more processors  202  may implement operations (by, e.g., generating/sending commands, settings, and/or plans) to control one or more units (e.g., the robotic units, the sensors  216  of  FIG. 2 , etc.) and/or components therein. 
     At block  1002 , the robotic system  100  can identify an operation trigger for performing an operation. In some embodiments, the management system  402  of  FIG. 4  and/or the master controller  408  of  FIG. 4  may identify the operation trigger based on one or more external inputs and/or operator inputs. The available operations (e.g., the receiving operation  320 , the stocking operation  330 , etc. illustrated in  FIG. 3 ) may each have one or more predetermined conditions assigned as triggers. For example, an arrival of a shipping vehicle can be an operation trigger for the receiving operation  320 . Object/item counts for one or more containers (e.g., pallets, bins, storage racks) falling below maintenance may trigger the stocking operation  330 . Reception of an order may trigger the shipping operation  340 . 
     At block  1004 , the robotic system  100  can determine a target condition for the operation. The target condition can represent a goal or an objective associated with each operation (e.g., an end state of completing the operation). For example, the target condition for the receiving operation  320  can include groupings of incoming objects and/or storage locations for the incoming objects. The target condition for the stocking operation  330  can include updated groupings, targeted item/object counts per container, and/or updated storage locations already in storage. The target condition for the shipping operation  340  can include groupings of the ordered objects/items. The management system  402 , the master controller  408 , and/or the storage access system  404  of  FIG. 4  can determine the target condition according to one or more predetermined rules/processes. 
     At block  1006 , the robotic system  100  can identify a sequence of tasks and/or corresponding stations for the identified operation. For example, the management system  402  and/or the master controller  408  can identify a predetermined set/sequence of tasks associated with the triggered operation. Accordingly, the management system  402  and/or the master controller  408  can identify the robotic units, the subsystems, and/or the task stations associated with the tasks. 
     At block  1008 , the robotic system  100  can perform the tasks according to the identified sequence. In some embodiments, the management system  402  can communicate information for triggering and performing the tasks to the master controller  408 , the storage access system  404 , and/or the robotic units. At each task station, the robotic system  100  can implement the corresponding task. 
     At block  1010 , the robotic system  100  can obtain an access sequence for each task. For example, the management system  402  and/or the master controller  408  can obtain the access sequence based on computing packing simulations, tracking container placement status, coordinating incoming objects, computing rack sequences, preparing order queues, and/or identifying queue/storage information as described above. 
     At block  1012 , the robotic system  100  can implement access of target objects/bins/racks at corresponding start locations at the corresponding task location. For example, the management system  402  and/or the master controller  408  can implement the access based on generating one or more access coordination factors (via, e.g., activating the MoveIn flag) as described above. The storage access system  404  and/or the master controller  408  can control the object transport units  305  (e.g., the AGVs  422  of  FIG. 4  and/or the conveyors  424  of  FIG. 4 ) based on the one or more access coordination factors to place the target objects/bins/racks at the start locations. 
     At block  1014 , the robotic system  100  can control key actions of the task. For example, the master controller  408  can implement the task, such as by communicating the corresponding motion plan and/or corresponding commands/settings to the robotic unit in the task station. The master controller  408  may communicate the information to one or more units illustrated in  FIG. 3 , such as the devanning unit  302 , the sorting unit, the object transport unit  305 , the grouping unit  306 , the group transport unit  307 , the removing unit  308 , the package opening unit  310 , the rack transport unit  312 , the shelving unit, the picking unit  314 , and/or the packing unit  316 . The robotic units can execute the motion plan or the corresponding commands/settings to perform the tasks. 
     At block  1016 , the robotic system  100  can transfer manipulated objects/items to a subsequent task/station. For example, the management system  402  and/or the master controller  408  can implement the transfer based on generating one or more coordination factors (via, e.g., activating the MoveOut flag) as described above. The storage access system  404  and/or the master controller  408  can control the object transport units  305  (e.g., the AGVs  422  and/or the conveyors  424 ) based on the one or more access coordination factors to remove the target object/bins/items that was manipulated by the key action. 
     The robotic system  100  can repeat the above-described processes to perform subsequent task(s). The robotic system  100  can transport various objects, racks, and/or items between task stations and implement the tasks as described above to perform the triggered operations. 
     The robotic system  100  can coordinate a sequence of tasks for performing different operations. As described above, the robotic system  100  can coordinate various actions to sequentially perform the tasks with minimal to no operator inputs. Accordingly, the robotic system  100  can provide autonomous or near-autonomous management of operations at warehouses and/or shipping centers. 
     CONCLUSION 
     The above Detailed Description of examples of the disclosed technology is not intended to be exhaustive or to limit the disclosed technology to the precise form disclosed above. While specific examples for the disclosed technology are described above for illustrative purposes, various equivalent modifications are possible within the scope of the disclosed technology, as those skilled in the relevant art will recognize. For example, while processes or blocks are presented in a given order, alternative implementations may perform routines having steps, or employ systems having blocks, in a different order, and some processes or blocks may be deleted, moved, added, subdivided, combined, and/or modified to provide alternative or sub-combinations. Each of these processes or blocks may be implemented in a variety of different ways. Also, while processes or blocks are at times shown as being performed in series, these processes or blocks may instead be performed or implemented in parallel, or may be performed at different times. Further, any specific numbers noted herein are only examples; alternative implementations may employ differing values or ranges. 
     These and other changes can be made to the disclosed technology in light of the above Detailed Description. While the Detailed Description describes certain examples of the disclosed technology as well as the best mode contemplated, the disclosed technology can be practiced in many ways, no matter how detailed the above description appears in text. Details of the system may vary considerably in its specific implementation, while still being encompassed by the technology disclosed herein. As noted above, particular terminology used when describing certain features or aspects of the disclosed technology should not be taken to imply that the terminology is being redefined herein to be restricted to any specific characteristics, features, or aspects of the disclosed technology with which that terminology is associated. Accordingly, the invention is not limited, except as by the appended claims. In general, the terms used in the following claims should not be construed to limit the disclosed technology to the specific examples disclosed in the specification, unless the above Detailed Description section explicitly defines such terms. 
     Although certain aspects of the invention are presented below in certain claim forms, the applicant contemplates the various aspects of the invention in any number of claim forms. Accordingly, the applicant reserves the right to pursue additional claims after filing this application to pursue such additional claim forms, in either this application or in a continuing application.