Patent Publication Number: US-2022214686-A1

Title: Systems and Methods for Servicing a Data Center Using Autonomous Vehicle

Description:
FIELD 
     The present disclosure relates to autonomous vehicles and, more particularly, to systems and methods for operating an autonomous vehicle within a data center. 
     BACKGROUND 
     Autonomously guided vehicles (AVs) or self-driving vehicles are vehicles that are capable of navigating to a destination with little or no human control input. For example, there have been various attempts by numerous enterprise organizations to develop AVs for commercial use and/or as a replacement to traditional vehicles. However, certain environments may pose additional hazards and security risks to using AVs than others. For instance, different navigation techniques may be used by AVs when encountering different terrains such as open road, sand, or within a city environment. 
     Data centers are buildings or dedicated locations within one or more buildings that are used to house numerous computing systems, components, and/or equipment such as servers. Computing systems within a data center may be associated with many different enterprise organizations including enterprise organizations that are direct competitors to each other. As such, a key technical challenge for operating a data center is to provide data security for each enterprise organization&#39;s computing systems. Additionally, when the computing systems require maintenance, an enterprise organization may use a person to assist in repairing or replacing components of the computing systems. However, while one enterprise organization may trust the person (e.g., the person might be an employee of the enterprise organization), another enterprise organization, such as a direct competitor, might not trust that person to be within vicinity of their computing systems that may contain sensitive information. 
     SUMMARY 
     A first aspect of the present disclosure provides a system for servicing a data center using an autonomous vehicle (AV). The system comprises an AV that is configured to: receive a task to perform within the data center, wherein the data center comprises a plurality of servers associated with a plurality of enterprise organizations; navigate from an initial location within the data center to a new location within the data center along a path extending through a portion of the data center, the path being determined automatically; and while navigating the path and in response to encountering a movable barrier disposed along the path, performing a procedure to bypass the movable barrier such that the AV can continue navigating along the path. 
     According to an implementation of the first aspect, wherein the task is to service a server, from the plurality of servers, and wherein the new location within the data center is a location of the server within the data center. 
     According to an implementation of the first aspect, wherein the AV is configured to perform the procedure to bypass the movable barrier by placing the server within an opening of the movable barrier, and wherein the system further comprises: the movable barrier, wherein the movable barrier prevents any individual from entering a zone of the data center, and wherein the movable barrier is configured to: actuate the opening from a first position to a second position, wherein the server is accessible to an individual in the second position without the individual entering the zone. 
     According to an implementation of the first aspect, wherein the movable barrier is further configured to: receive a replacement server within the opening; and actuate the opening from the second position back to the first position, wherein the replacement server is accessible to the AV in the first position. 
     According to an implementation of the first aspect, wherein the movable barrier prevents any AVs from entering a zone of the data center, and wherein the AV is configured to perform the procedure to bypass the movable barrier by: determining a new path to the new location; and navigating the AV to the new location using the new path. 
     According to an implementation of the first aspect, wherein the AV is configured to perform the procedure to bypass the movable barrier by: providing, to a second device, identification information associated with the AV, and wherein the system further comprises: the movable barrier, wherein the movable barrier is located within a zone of the data center that is managed by an enterprise organization, wherein the movable barrier prevents unauthorized access to servers, from the plurality of servers, within the zone, and wherein the movable barrier is configured to: permit the AV access to the zone based on the identification information. 
     According to an implementation of the first aspect, wherein the system further comprises: the second device, wherein the second device is a local data center control system and configured to: receive the identification information associated with the AV; grant the AV access to the zone based on the identification information; and provide instructions to the movable barrier permitting the AV access to the zone. 
     According to an implementation of the first aspect, wherein the local data center control system is further configured to: log an amount of time the AV is within the zone based on a second movable barrier associated with the zone and providing instructions to the movable barrier permitting the AV access to the zone. 
     According to an implementation of the first aspect, wherein the second device is the movable barrier. 
     According to an implementation of the first aspect, wherein the AV is configured to navigate from the initial location to the new location based on: receiving information associated with one or more identifiers located within the data center; and comparing the one or more identifiers with identifier information in memory of the AV to determine a location of the AV within the data center. 
     According to an implementation of the first aspect, wherein the information associated with the one or more identifiers comprises a radio frequency (RF) signal and an identification image, and wherein the AV is configured to compare the one or more identifiers by comparing the RF signal and the identification image with RF signals and identification images in the memory. 
     According to an implementation of the first aspect, wherein the system further comprises: a server maintenance system operatively coupled to the AV, wherein the server maintenance system is configured to: in response to determining the AV is located at the location of the server to be serviced, retrieve the server from a server rack. 
     A second aspect of the present disclosure provides a method for servicing a data center using an autonomous vehicle (AV), comprising: receiving, by the AV, a task to perform within the data center, wherein the data center comprises a plurality of servers associated with a plurality of enterprise organizations; navigating, by the AV, from an initial location within the data center to a new location within the data center along a path extending through a portion of the data center, the path being determined automatically; and while navigating the path and in response to encountering a movable barrier disposed along the path, performing, by the AV, a procedure to bypass the movable barrier such that the AV can continue navigating along the path. 
     According to an implementation of the second aspect, wherein the task is to service a server, from the plurality of servers, and wherein the new location within the data center is a location of the server within the data center. 
     According to an implementation of the second aspect, wherein the movable barrier prevents any AVs from entering a zone of the data center, and wherein performing the procedure to bypass the movable barrier comprises: determining a new path to the new location; and navigating the AV to the new location using the new path. 
     According to an implementation of the second aspect, wherein performing the procedure to bypass the movable barrier comprises providing, by the AV and to a second device, identification information associated with the AV, wherein the movable barrier is located within a zone of the data center that is managed by an enterprise organization, wherein the movable barrier prevents unauthorized access to servers, from the plurality of servers, within the zone, and wherein the AV is granted access to the zone based on providing the identification information. 
     According to an implementation of the second aspect, the method further comprising: receiving, by the second device, the identification information associated with the AV; granting, by the second device, the AV access to the zone based on the identification information; and providing, by the second device, instructions to the movable barrier permitting the AV access to the zone. 
     According to an implementation of the second aspect, wherein the second device is a local data center control system, and wherein the method further comprises: logging, by the local data center control system, an amount of time the AV is within the zone based on a second movable barrier associated with the zone and providing instructions to the movable barrier permitting the AV access to the zone. 
     According to an implementation of the second aspect, wherein the second device is the movable barrier. 
     A third aspect of the present disclosure provides a non-transitory computer-readable medium having processor-executable instructions stored thereon. The processor-executable instructions, when executed by one or more controllers, facilitate: receiving a task to perform within a data center, wherein the data center comprises a plurality of servers associated with a plurality of enterprise organizations; navigating an AV from an initial location within the data center to a new location within the data center along a path extending through a portion of the data center, the path being determined automatically; and while navigating the path and in response to encountering a movable barrier disposed along the path, performing a procedure to bypass the movable barrier such that the AV can continue navigating along the path. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Embodiments of the present disclosure will be described in even greater detail below based on the exemplary figures. The present disclosure is not limited to the exemplary embodiments. All features described and/or illustrated herein can be used alone or combined in different combinations in embodiments of the present disclosure. The features and advantages of various embodiments of the present disclosure will become apparent by reading the following detailed description with reference to the attached drawings which illustrate the following: 
         FIG. 1  illustrates a simplified block diagram depicting an autonomous vehicle within a data center environment according to one or more embodiments of the present disclosure; 
         FIG. 2  is a schematic illustration of an exemplary control system according to one or more embodiments of the present disclosure; 
         FIG. 3  illustrates a process for servicing a data center using an autonomous vehicle according to one or more embodiments of the present disclosure; 
         FIGS. 4 a -4 c    depict exemplary movable barriers within the data center according to one or more embodiments of the present disclosure; and 
         FIG. 5  depicts an autonomous vehicle navigating within the data center according to one or more embodiments of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     One possible and secure solution for servicing data centers without human intervention is to use AVs to perform maintenance and repair tasks within the data centers. Using AVs in these environments provides its own unique challenges such as navigating across different zones or regions (e.g., people only zones, vehicle and people zones, vehicle only zones, zones with a competitor&#39;s computing systems, and so on). 
     The present disclosure describes servicing a data center using an autonomous vehicle (AV), which provides advantages over the state of the art. For example, the present disclosure provides methods and processes for navigating an AV within a data center environment including complying with rules, policies, and/or protocols as the AV enters different regions or zones of the data center environment. For example, the data center environment may house computing systems such as servers associated with many different enterprise organizations and each enterprise organization may have their own rules or policies for the AV. Furthermore, the data center environment may include regions or zones that have rules or policies indicating whether the region is only intended for people, only intended for robots/AVs, or is open to both robots/AVs and people. For instance, when entering a new region, the AV may encounter a movable barrier such as a door or entranceway. The AV may be required to provide its credentials or other identification information prior to being allowed to enter the region. Based on providing the proper identification information, a data center control system may be configured to lower the movable barrier and allow the AV access to the region. This and other examples of navigating the AV within a data center will be described in further detail below. 
     Exemplary aspects of servicing a data center using an AV, according to the present disclosure, are further elucidated below in connection with exemplary embodiments, as depicted in the figures. The exemplary embodiments illustrate some implementations of the present disclosure and are not intended to limit the scope of the present disclosure. 
     Throughout the drawings, identical reference numbers designate similar, but not necessarily identical, elements. The figures are not necessarily to scale, and the size of some parts may be exaggerated to more clearly illustrate the example shown. Moreover, the drawings provide examples and/or implementations consistent with the description; however, the description is not limited to the examples and/or implementations provided in the drawings. 
     Where possible, any terms expressed in the singular form herein are meant to also include the plural form and vice versa, unless explicitly stated otherwise. Also, as used herein, the term “a” and/or “an” shall mean “one or more” even though the phrase “one or more” is also used herein. Furthermore, when it is said herein that something is “based on” something else, it may be based on one or more other things as well. In other words, unless expressly indicated otherwise, as used herein “based on” means “based at least in part on” or “based at least partially on”. 
       FIG. 1  illustrates a simplified block diagram depicting an autonomous vehicle within a data center environment  100  according to one or more embodiments of the present disclosure. 
     Referring to  FIG. 1 , the data center environment  100  includes an autonomous vehicle (AV)  110  (e.g., an autonomous forklift or robot), a global data center control system  120 , and local data center control system(s)  122 . Among other components, systems, and/or entities such as an engine and/or transmission, which are not shown, the AV  110  includes a vehicle control system  112  and a network interface  114 . In some examples, optionally, the AV  110  includes a location identification device  116  and/or a server maintenance system  118 . The AV  110  may be an autonomous forklift, robot, or any other type of robotic device or system that is capable of navigating and servicing a data center. 
     The vehicle control system  112  may communicate with the network interface  114 , the location identification device  116  and/or the server maintenance system  118  in order to navigate the AV  110  within the data center environment  100 . For instance, the vehicle control system  112  may receive instructions from the global data center control system  120  via the network interface  114 . The instructions may indicate for the AV  110  to move from a first location within the data center environment  100  to a second location. In transit between the first location to the second location, the AV  110  may encounter one or more movable barriers and/or enter or leave one or more zones. Each zone and/or movable barrier may be associated with different rules, policies, and/or other indications. For example, movable barriers (e.g., doors, entranceways, or doorways) may allow and/or permit access to certain regions, zones, or areas of the data center environment  100 . 
     For instance, one zone of the data center environment  100  may be a break-room that is only accessible to people. The movable barrier may prevent AVs  110  from entering this area. Another zone may be a zone solely for the operation of AVs  110  (e.g., people are not allowed within this zone due to security, safety, or for other reasons). The movable barrier may permit AVs from entering the area, but might not allow people to enter. Another zone may be a zone that requires a credential to pass through. For instance, the instruction may be for the AV  110  to repair a server within the data center environment  100 . To reach the server, the AV  110  may have to travel through a zone owned and/or operated by a particular enterprise organization. The enterprise organization may have their own rules or policies as to the people and machines (e.g., the AV  110 ) that may enter or move through their zone. As such, the enterprise organization may have movable barriers that permit entry based on the AV  110  providing their credentials. These examples will be described in further detail below. 
     The enterprise organization may be any type of corporation, company, organization, institution, or the like that is formed to pursue entrepreneurial endeavors such as by selling goods and/or by providing services. The data center environment  100  may include computing systems, devices, and/or equipment such as servers that are associated with numerous enterprise organizations. In other words, enterprise organizations, including direct competitors of each other, may own, operate, and/or manage servers and/or server racks within the same data center environment  100 . For example, within the data center environment  100 , multiple enterprise organizations may house their own servers/server racks. In some instances, these servers/server racks may store sensitive and/or confidential information about enterprise organization. As such, the enterprise organization may use movable barriers and/or other features to prevent other enterprise organizations (e.g., their direct competitors) from gaining access to their sensitive and/or confidential information. 
     The AV  110  receives and/or provides information to the global data center control system  120  and/or local data center control systems  122  using the network interface  114 . The global data center control system  120  includes one or more computing devices, computing platforms, systems, servers, processors, memory, and/or other apparatuses capable of performing tasks, functions, and/or other actions for the data center environment  100 . For example, the global data center control system  120  may receive one or more maintenance requests such as to replace a server within the data center environment  100 . The global data center control system  120  may provide instructions to the AV  110  to perform the maintenance task (e.g., replace the server). 
     In addition to having a global data center control system  120 , the data center environment  100  may further include one or more local data center control systems  122 . For instance, each of the local data center control systems  122  may manage rules and/or policies for one or more zones, regions, or areas within the data center environment  100 . For example, the data center environment  100  may be broken up into a plurality of zones or regions. A zone or region may include servers/server racks associated with a particular enterprise organization. A local data center control system  122  may be owned/managed by this enterprise organization and provide rules, policies, and/or conditions for a person and/or object (e.g., AV such as AV  110 ) to enter the zone. The AV  110  may enter the zone with the servers/server racks of the enterprise organization by providing information (e.g., identification information) to the local data center control system  122  that is in charge of the zone. By using the local center control system  122 , the enterprise organization may provide more security to the sensitive and/or confidential information stored within the servers. 
     In some examples, the global data center control system  120  may provide access to one or more zones within the data center environment  100 . For example, a smaller enterprise organization may own a few servers within the data center environment  100 . As such, it might not make economic sense for this enterprise organization to have its own local data center control system  122 . In such instances, the global data center control system  120  may perform the functions of the local data center control system  122  (e.g., allow an AV  110  to enter the zone with the servers). 
     In some instances, the AV  110  may include a location identification device  116 . When present, the location identification device  116  may be used by the AV  110  to determine a location or position within the data center environment  100 . For example, within the data center environment  100 , there may be certain identifiers that the AV  110  may use to determine its location within the data center environment  100 . For instance, the identifiers may be a wireless identifier such as a radio frequency (RF) identifier. The location identification device  116  may receive information from the identifier (e.g., RF identifier). Then, the AV  110  may use this information to determine a location within the data center environment  100 . By using the identifiers within the environment  100 , the AV  110  may be able to better navigate within the environment  100  to reach its destination. 
     For example, the environment  100  may include “zip codes” (e.g., zones or regions within the environment  100 ) defining a known size and shape. From the “zip code”, an AV  110  may be able to determine localization. For instance, differentiated discrete landmarks (e.g., identifiers) may be disposed proximate the zones within the environment  100 . The identifiers (e.g., landmarks such as 3-D fiducials) may be a cone, post, and so on, which may have a unique machine readable identifying label. From the identifiers, the AV  110  may define where the AV  110  is within the facility and specifically within the zone. Localization is a process to confirm where the AV  110  is placed within a 3-D environment without regard to the AV&#39;s pose. After completion of the localization process, the AV  110  may then proceed to localized registration. In other words, the AV  110  determines the zone one is located within, then a localization is determined based upon relationship known landmarks (identifiers) from the machine reading of the identifiers and finally registration. Furthermore, the identifiers may be used to confirm local robot sensor alignment. The identifiers may be on respective items and/or server racks. For instance, from an alignment perspective, the server rack may include specific features for localized registration. 
     In some examples, the AV  110  may include a server maintenance system  118 . When present, the server maintenance system  118  may include one or more devices, robotic components, processors, and/or additional entities that are used to repair, replace, and/or perform maintenance on servers within the data center environment  100 . For example, the server maintenance system  118  may be automated to pull or pick up a server from a server rack and replace the server with a new server. In some instances, the server maintenance system  118  may be part of the AV  110 . In other instances, the server maintenance system  118  may be a separate device from the AV  110 . In some variations, the server maintenance system  118  may unlock and undock the server to be repaired/replaced and pull the server out. At this point, the AV  110  may move to another location to drop off the server. By this using, the AV  110  may accomplish all gross navigation and delivery of different robotic payloads to different parts of the environment  100  for different tasks such as hard drive chain of custody, air filter replacement, and so on. In some instances, the server maintenance system  118  may locate the server to be repaired/replaced using optical registration (e.g., using fiducials and camera systems to create a registration to the manipulation systems coordinate frame), mechanical (e.g., the system  118  may include mechanical “docking” that will allow it to have a ground truth of its position with respect to its manipulation target), and/or optical reflective tracker (e.g., install targeting fiducials on the servers). After the system registration is performed, the system  118  may request the AV  110  to reposition itself if its position is not sufficiently accurate to access the target server. During the motion and manipulation to reach the server, the system  118  may constantly monitor the registration to ensure that the registration is within acceptable bounds, and may update motion plans accordingly. 
       FIG. 2  is a schematic illustration of an exemplary vehicle control system  112  according to one or more embodiments of the present disclosure. It will be appreciated that the vehicle control system shown in  FIG. 2  is merely an example and additional/alternative embodiments of the control system  112  from environment  100  are contemplated within the scope of the present disclosure. 
     The vehicle control system  112  includes a controller  202 . The controller  202  is not constrained to any particular hardware, and the controller&#39;s configuration may be implemented by any kind of programming (e.g., embedded Linux) or hardware design—or a combination of both. For instance, the controller  202  may be formed by a single processor, such as general purpose processor with the corresponding software implementing the described control operations. On the other hand, the controller  202  may be implemented by a specialized hardware, such as an ASIC (Application-Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), a DSP (Digital Signal Processor), or the like. 
     The controller  202  is in electrical communication with memory  212 . The memory  212  may be and/or include a computer-usable or computer-readable medium such as, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor computer-readable medium. More specific examples (e.g., a non-exhaustive list) of the computer-readable medium may include the following: an electrical connection having one or more wires; a tangible medium such as a portable computer diskette, a hard disk, a time-dependent access memory (RAM), a ROM, an erasable programmable read-only memory (EPROM or Flash memory), a compact disc read-only memory (CD ROM), or other tangible optical or magnetic storage device. The memory  212  may store corresponding software such as computer-readable instructions (code, script, etc.). The computer instructions being such that, when executed by the controller  202 , cause the controller  202  to control the control system  112  to provide for the operation of the AV  110  as described herein. 
     Sensors  206  may optionally be included within the vehicle control system  112 . These sensors  206  may provide sensor information to the vehicle control system  112  in order to navigate the AV  110  within the data center environment  100  and/or perform one or more tasks (e.g., replacing a server). Examples of sensors that can be used include vision devices such as cameras, proximity sensors such as touch or touchless proximity sensors, light or radiation detection devices such as LIDAR, magnetic pickups sensing magnets, metals, painted shapes such as lane markers, or other fiducials embedded in the floor or walls of the surrounding environment, and others. 
     The vehicle control system  112  may include an input/output (I/O) terminal  210  for sending and receiving various input and output signals. For example, the vehicle control system  112  may send/receive external communication to a user via the I/O terminal  210 . The control system  112  may further control a user feedback interface on the AV  110  via the I/O terminal  210  (or otherwise). The user may provide feedback using the user feedback interface. Additionally, and/or alternatively, the user feedback interface may display information to the user about the AV  110 . 
     While not shown in  FIG. 2 , the controller  202  may communicate with other devices within the data center environment  100  using the network interface  114 . For example, the controller  202  may receive instructions from the global data center control system  120 . The instructions may indicate for the AV  110  to navigate to a new location and/or replace a server within the data center environment  100 . The controller  202  may further communicate with the local data center control system  122 . For example, the controller  202  may provide an access request to one or more zones managed by the local data center control system  122 . 
     In some examples, the location identification device  116  and/or the server maintained system  118  may be included within the vehicle control system  112 . However, as shown in  FIG. 1  and described above, they may also be separate from the vehicle control system  112  and/or the AV  110  (e.g., the server maintenance system  118  may be separate from the AV  110 ). 
     When present, the location identification device  116  communicates with the controller  202  to determine a location of the AV  110  within the data center environment  100 . For example, the location identification device  116  may receive information associated with an identifier and use the information to determine the location. In some instances, the location identification device  116  may use more than one modality to determine the location. For instance, the location identifier device may be and/or include an image capturing device (e.g., camera), a light detection and ranging (LIDAR) device, radio frequency (RF) or RF localization device, a radio frequency identification (RFID) device, and/or wireless receiver (e.g., WIFI, BLU-TOOTH). The location identification device  116  may receive information associated with the identifier such as a captured image from the image capturing device, a LIDAR signal from the LIDAR device, an RF from the RF/RF localization device, an RFID tag from the RFID device, and/or a wireless signal from the wireless receiver. After receiving the information, the location identification device  116  may provide the information to the controller  202 . Then, based on the information, the controller  202  may determine a location within the data center environment  100 . 
     When present, the server maintenance system  118  may include an MCU  214 , one or more motor sensors  220 , drivers  216 , and/or motors  218 . As mentioned above, the server maintenance system  118  may be used by the AV  110  to repair, replace, and/or perform maintenance on servers within the data center environment  100 . 
     The vehicle control system  112  is configured to drive motors  218  of the server maintenance system  118 . As used herein, motors  218  include AC motors, DC motors, gear-driven motors, linear motors, actuators, or any other electrically controllable device used to effect the kinematics of the server maintenance system  118 . Accordingly, the control system  112  is configured to automatically and continually determine the physical state of the server maintenance system  118  and automatically control the various motors  218  to maneuver robotic components to repair, replace, and/or perform maintenance on the servers with the environment  100 . 
     The vehicle control system  112  may further include a motor control unit (MCU)  214  (also referred to herein as a motor controller), e.g., as part of the controller  202  or a separate device. The MCU  214  controls motor drivers  216  using feedback from motor sensors  220  (e.g., encoders) in order to provide real time control of the motors  218 . Accordingly, the MCU  214  receives instructions for controlling the motors  218  (e.g., receives motor/actuator control signals from the controller  202 ), and interprets those instructions, in conjunction with feedback signals from the motor sensors  220 , to provide control signals to the motor drivers  216  for accurate and real-time control of the motors  218  (e.g., sends motor/actuator driver signals). The motor drivers  216  transform the control signals, as communicated by the MCU  214 , into drive signals for driving the motors  218  (e.g., sends individual operation signals to the motors/actuators). In another embodiment, the MCU  314  is integrated with circuitry to directly control the motors  218 . 
     The MCU  214  may be included as part of the controller  202  or a stand-alone processing system (e.g., a microprocessor). Accordingly, just like the controller  202 , the MCU  214  is not constrained to any particular hardware, and the MCU&#39;s configuration may be implemented by any kind of programming or hardware design—or a combination of both. 
       FIG. 3  illustrates a process  300  for servicing a data center environment  100  using an autonomous vehicle  110  according to one or more embodiments of the present disclosure. The process  300  may be performed by the control system  112  and in particular, the controller  202  shown in  FIG. 2 . However, it will be recognized that any of the following blocks may be performed in any suitable order and that the process  300  may be performed in any suitable data center environment and by any suitable controller or processor. 
     At block  302 , the AV  110  receives a task to perform within the data center environment  100 . The data center environment  100  includes numerous servers associated with many different enterprise organizations. For example, as mentioned above, the data center environment  100  may house numerous computing systems, components, and/or equipment such as servers. The servers may belong to many different enterprise organizations and each enterprise organization&#39;s servers may be located within a different region, zone, zip code, or location of the data center environment  100 . The AV  110  may receive information from the global data center control system  120  and/or the local data center control system  122  indicating a task such as to fix a particular enterprise organization&#39;s server or to move to a new location within the data center environment  100 . 
     At block  304 , the AV  110  may navigate from an initial location within the data center environment  100  to a new location within the data center environment  100 . For example, the received task may be to move to a new location within the data center environment  100 . Based on the received task, the AV  110  may determine a path or route to the new location identified by the task. The determined path or route may include one or more movable barriers that prevent/restrict access to one or more zones. For example, the data center environment  100  may have numerous different zones or obstacles and the path determined by the AV  110  may seek to avoid and/or overcome these zones and/or obstacles. In some instances, the received task may be to replace a server for an enterprise organization. As such, the AV  110  may navigate from its current location (e.g., initial location) to the server&#39;s location (e.g., the new location). 
     At block  306 , based on navigating from the initial location to the new location, the AV  110  may encounter a movable barrier within the data center environment  100 . For example, while navigating to the new location, the AV  110  may encounter one or more obstacles such as movable barriers. The movable barriers may block and/or restrict access to zones within the data center environment  100 . For example, certain zones may be for only AVs, certain zones may be for only people, and certain zones may be for both people and AVs. For instance, the data center environment  100  may include zones for only people such as break-rooms or walk-ways. The movable barriers may prevent AVs access within these zones, but may allow access for people. The data center environment  100  may further include zones for only AVs. For example, a zone in the data center environment  100  may include the servers that may store confidential and/or sensitive information for an enterprise organization. As such, the enterprise organization may seek to prevent people from gaining access to these servers by using movable barriers. 
     The data center environment  100  may further include zones that permit access for both AVs and people. For example, the data center environment  100  may include movable barriers that allow access to people and/or AVs based on the identification information for the AV or person. In other words, the movable barriers may permit/restrict access to a particular zone based on if a person has the proper credentials (e.g., the person is an employee of the enterprise organization that manages the zone/servers within the zone or the person is authorized to service the servers within the zone). Furthermore, the movable barriers may permit/restrict access based on the AVs providing proper identification. 
     The movable barrier may be any obstacle, barrier, or deterrent that prevents and/or permits access to a particular zone of the data center environment  100 . For example, the movable barrier may be a door, access-way, or entrance-way. 
     In some instances, the movable barrier may include a hardware system and/or one or more computing devices/systems. For example, the AV  110  may use the network interface  114  to communicate with the movable barrier either directly or indirectly. Based on the communication, the movable barrier may permit the AV  110  to enter the zone or restrict the AV  110  from entering the zone. 
     At block  308 , in response to encountering the movable barrier, the AV  110  may perform a procedure to bypass the movable barrier. For example, the movable barrier may permit/restrict access to a particular zone and the AV  110  may bypass the movable barrier by performing a procedure. In some instances, the procedure may include the AV  110  communicating with the movable barrier, the global data center control system  120 , and/or the local data center control system  122  in order to bypass the movable barrier. For example, the AV  110  may provide identification information to the local data center control system  122  that manages the zone associated with the movable barrier. Based on the identification information, the movable barrier may move and grant the AV  110  access into the zone. 
       FIGS. 4 a -4 c    shows exemplary movable barriers within the data center environment  100  and will be used to describe blocks  306  and  308  in more detail. Each of the scenarios (e.g., scenarios  402 ,  410 ,  420 ,  422 ,  430 ,  432 ) includes a ground  401 . The ground  401  may be a floor surface of the data center environment  100 . For example,  FIG. 4 a    shows a movable barrier  412  that prevents individuals such as individual  408  from entering the zone  404  and allows the AV  110  to provide items such as servers and/or server parts to the individual  408 . For instance, initially in scenario  402 , the AV  110  may be operating within zone  404  and an individual  408  may be located within zone  406 . The movable barrier  412  may prevent the individual  408  from entering the zone  404 . In other words, zone  404  may only be accessible to the robots such as the AV  110 . As mentioned above, this may be beneficial to prevent individuals from gaining access to confidential and/or sensitive information stored in servers within the zone  404 . In some instances, one or more of these servers may require maintenance. Accordingly, the AV  110  may pick up or retrieve (e.g., by using the server maintenance system  118 ) a server and provide the server to the individual  408  using the movable barrier  412 . In scenario  410 , the movable barrier  412  may actuate and rotate such that the individual  408  may retrieve the server and/or perform maintenance on the server. As such, the AV  110  may service and/or repair the servers within zone  404  of the data center environment  100  using the movable barrier  412 . 
     To put it another way, at block  302 , the AV  110  may receive a task requiring a particular server be repaired. At block  304 , the AV  110  may navigate to retrieve the server and provide it to the movable barrier  412 . At blocks  306  and  308 , the AV  110  may bypass the movable barrier by placing the server within an opening provided by the movable barrier  412 . The movable barrier  412  may rotate and provide the server to the individual  408  within zone  406 . Therefore, the individual  408  might not be required to enter zone  404  as the AV  110  may be automated to repair and/or replace servers within the zone  406 . In some variations, the AV  110  may communicate with the movable barrier  412  such as by providing instructions to actuate the movable barrier  412  in order for the individual  408  to access the server. 
     In some variations, the movable barrier  412  may include an opening for an entire server rack. For example, the opening may be a large rotating cylinder. The AV  110  may pick up the entire server rack and place the server rack in the opening. Then, the movable barrier  412  may rotate the entire server rack to the other side for maintenance. 
     In some examples, the movable barrier  412  may be an airlock. For example, the airlock  412  may prevent the individual  408  from entering the zone  404 . 
       FIG. 4 b    shows a movable barrier  424  that prevents/allows individuals such as individual  408  and/or AVs  110  from entering the zone  428 . For instance, initially in scenario  420 , the AV  110  and the individual  408  may be within zone  426  and seeking to enter zone  428 . The movable barrier  424  may permit the individual  408  to enter zone  428 , but may prevent the AV  110  from entering zone  428 . For example, as mentioned previously, the zone  428  may include servers owned/managed by an enterprise organization. The enterprise organization seek to prevent access to the zone  428 . However, in some instances, the AV  110  may need to navigate through the zone  428  to get to a destination within the data center environment  100 . As such, the AV  110  may provide identification information and based on verifying the identification information, the movable barrier  424  to allow access to the AV  110 . For instance, in scenario  422  and after granting access to the AV  110 , the movable barrier  414  is moved in such a way to permit the AV  110  to access zone  428 . As such, the AV  110  is able to navigate through zone  428  to reach a destination. 
     To put it another way, at block  302 , the AV  110  may receive a task requiring a particular server be repaired or requiring the AV  110  to move to a new location within the data center environment  100 . At block  304 , the AV  110  may navigate to the destination. While navigating to the destination and at block  306 , the AV  110  may encounter a movable barrier  424 . Based on encountering the movable barrier  424  and at block  308 , the AV  110  may perform a procedure to bypass the movable barrier  424 . For example, the AV  110  may provide identification information to a second device. The second device may be the movable barrier  424 , the global data center control system  120 , and/or the local data center control system  122 . For instance, the movable barrier  424  may include one or more processors, memory, and a network interface. The movable barrier  424  may receive the identification information from the AV  110  and based on the identification information, the movable barrier  424  may grant or restrict access to the zone  428 . If the movable barrier  424  grants access to the AV  110 , then scenario  422  and the movable barrier  424  may move aside to allow the AV  110  into the zone  428 . 
     In some instances, the second device may be the local data center control system  122 . For example, an enterprise organization may own and/or operate zone  428  as well as the local data center control system  122 . The local data center control system  122  may grant or deny access to zone  428  using the movable barrier  424 . For example, based on receiving identification information from the AV  110 , the local data center control system  122  may grant the AV  110  access to zone  428 . As mentioned above, the data center environment  100  may include numerous zones and each zone may be associated with a different enterprise organization. Each enterprise organization may have a local data center control system  122 . Therefore, while navigating to a destination, the AV  110  may provide identification information to numerous local data center control systems  122  to gain access to their respective zones. 
     In some examples, the second device may be the global data center control system  120 . For example, an enterprise organization may own and/or operate zone  428 . However, the enterprise organization may not own, manage, and/or operate a local data center control system  122  (e.g., the enterprise organization may only include a few servers within the environment  100  and might not require an independent local data center control system  122 ). Therefore, the global data center control system  120  may perform the functionalities of the local data center control system  122 . For example, based on receiving identification information from the AV  110 , the global data center control system  120  may grant the AV  110  access to zone  428 . 
     In some instances, the second device may store information indicating a time period that the AV  110  is within the zone. For instance, the zone  428  may include two or more movable barriers and the AV  110  may use one movable barrier to enter the zone  428  and one to exit the zone  428 . Based on information from the two movable barriers, the second device may determine an amount of time the AV  110  was within the zone  428 . The second device may use this information to ensure the AV  110  did not access any confidential and/or sensitive information from the servers within the zone  428 . 
       FIG. 4 c    shows a movable barrier  434  that prevents AVs such as AV  110  from entering the zone  438 . For instance, initially in scenario  430 , the AV  110  may be operating within zone  436  and an individual  408  may be located within zone  438 . The movable barrier  434  may prevent the AV  110  from entering the zone  438 . For instance, the zone  438  may be a break-room for people to rest and relax. The AV  110  may have accidentally navigated there and as such, the AV  110  may be prevented from entering the zone  438  by the movable barrier  434 . However, the individual  408  may enter or exit the zone  438  using the movable barrier  434 . For example, in scenario  432 , the movable barrier  434  may lift up and the individual  408  may exit zone  438  and enter zone  436 . Even though the movable barrier  434  lifts up, the AV  110  might still not be able to enter zone  438 . 
     To put it another way, at block  302 , the AV  110  may receive a task requiring a particular server be repaired. At block  304 , the AV  110  may navigate to retrieve the server. At block  306 , the navigation may have accidentally led the AV  110  to the movable barrier  434 . Accordingly, at block  308 , the AV  110  may bypass the movable barrier by determining a new route to the destination that does not involve entering zone  438 . Then, the AV  110  may use the new route to navigate to the new destination. 
     In some examples, at block  304  and during navigating from the initial location to the new location, the AV  110  may use one or more identifiers located within the data center environment  100  to determine a location of the AV  110  within the data center environment  100 . A desired or intended path of the AV  110  between the initial and new locations may be predetermined or predefined for the AV  110 , or may be determined by the AV  110  or another control authority based on the current location of the AV  110 , other traffic in the area, and the like. The location identifiers (e.g., machine readable labels) within the data center environment  100  may include, but are not limited to, magnetic strips within the floor, stargazing (i.e., printed patterns on roof of data center environment  100 ), unique images, LIDAR signals, RF signals, RFID tags, and/or wireless signals. The location identification device  116  may use one or more of the identifiers to determine a location of the AV  110  within the data center environment  100 . 
     In some instances, the identifier may be a device such as a dongle that is attached to a server rack. The device may produce/emit an RF frequency that is detectable by the location identification device  116 . For example, a task may be for the AV  110  to assist in installing a new server rack. The new server rack may include a device that emits an RF frequency such that the AV  110  may be able to identify the server rack. 
     In some variations, more than two types of identifiers (e.g., RF signals and/or images) may be used by the location identification device  116  to identify the location of the AV  110 . In some instances, the AV  110  may communicate with the global data center control system  120  to determine the AV&#39;s  110  location within the environment  100 . For example, the AV  110  may provide the information from the identifiers to the global data center control system  120 . The global data center control system  120  may provide the location within the data center environment  100  back to the AV  110 . In other instances, the AV  110  may determine, based on the information from the identifiers, the location of the AV  110  locally. For instance, the AV  110  may compare the information from the identifiers with information from memory (e.g., memory  212 ) to determine the location of the AV  110 . For example, the memory  212  may include a map or database with a plurality of identifiers and their associated locations within the data center environment  100 . The AV  110  may compare the information from the identifiers (e.g., an RF signal) with the plurality of identifiers within the memory  212  to determine the location of the AV  110 . 
     In some examples, the AV  110  may reach the new location and perform the received task, which may include repairing and/or replacing a server within a server rack. The server maintenance system  118  may be used to locate the server to be repaired/replaced as well as assisting in repairing/replacing the server. For example, the AV  110  may receive the task indicating a particular location of the server, including a height of a server, within the data center environment  100 . The AV  110  may navigate to the location, but might not have the necessary capabilities to reach the server (e.g., the server is at a height that is inaccessible to the AV  110 ). As such, the AV  110  may use the server maintenance system  118  to reach the server. Additionally, and/or alternatively, the AV  110  may be able to reach the location, but might not have the capabilities of locating the server. For instance, a server rack may include a plurality of servers and the AV  110  might not have the capability to locate a particular server within the server rack especially if all the servers appear identical. Accordingly, the AV  110  may use the server maintenance system  118  to determine the server identified by the task in order to repair/replace it. In some instances, the server maintenance system  118  may include one or more robotic components and may use registration to determine the server identified by the task. For example, the server may include registration markers that are identifiable by the server maintenance system  118 . 
       FIG. 5  depicts an AV  110  navigating within the data center environment  100  according to one or more embodiments of the present disclosure. For example, the AV  110  may receive a task to fix a target server  510 . The AV  110  may determine a path (e.g., path  516 ) to reach the target server  510 . The path may include navigating through one or more movable barriers that may prevent/permit the AV  110  to gain access to one or more zones associated with an enterprise organization, which is described above. After determining the path  516 , the AV  110  may navigate along path  516  to reach the target server  510  and along the path  516 , the AV  110  may encounter movable barriers such as barriers  504 ,  506 , and  514 . For example, the AV  110  may encounter a movable barrier for people  504 . In other words, the movable barrier  504  may be similar to movable barrier  434  in  FIG. 4 c   . For instance, the movable barrier  504  may be to prevent the AV  110  from entering the zone  502  that is specifically for people (e.g., a breakroom). As such, the AV  110  may perform a process to bypass the movable barrier  504  and continue on path  516 . 
     Next, the AV  110  may encounter the location identifier  518 . The AV  110  may use the location identification device  116  to determine its location within the data center environment  100 . Following this, the AV  110  may seek to enter the zone  508  that is associated with a first enterprise organization. The movable barrier  506  may initially prevent access to zone  508 . As described above, the AV  110  may provide identification information and may then gain access to zone  508 . Accordingly, the AV  110  may bypass the movable barrier  506  and proceed along the path  516 . 
     Then, the AV  110  may enter a zone  512  that is inaccessible to people. The target server  510  may be within this zone and the AV  110  may eventually reach the target server  510 . The AV  110  may use the server maintenance system  118  to identify the server  510  within the server rack/zone  512  and/or perform maintenance on the server  510 . For example, the AV  110  may retrieve the target server  510  and proceed along the path to the movable barrier for AVs  514 . The movable barrier  514  may be similar to movable barrier  412  shown in  FIG. 4 a   . For example, the AV  110  may place the server  510  within the opening of the movable barrier  514 . The movable barrier  514  may rotate and provide access to a mechanic or technician such that they are able to fix the server  510 . Additionally, and/or alternatively, the movable barrier  514  may provide a new server to the AV  110 . In other words, the AV  110  may replace the target server  510  with the new provided server from the movable barrier  514 . 
     While embodiments of the invention have been illustrated and described in detail in the drawings and foregoing description, such illustration and description are to be considered illustrative or exemplary and not restrictive. It will be understood that changes and modifications may be made by those of ordinary skill within the scope of the following claims. In particular, the present invention covers further embodiments with any combination of features from different embodiments described above and below. For example, the various embodiments of the kinematic, control, electrical, mounting, and user interface subsystems can be used interchangeably without departing from the scope of the invention. Additionally, statements made herein characterizing the invention refer to an embodiment of the invention and not necessarily all embodiments. 
     The terms used in the claims should be construed to have the broadest reasonable interpretation consistent with the foregoing description. For example, the use of the article “a” or “the” in introducing an element should not be interpreted as being exclusive of a plurality of elements. Likewise, the recitation of “or” should be interpreted as being inclusive, such that the recitation of “A or B” is not exclusive of “A and B,” unless it is clear from the context or the foregoing description that only one of A and B is intended. Further, the recitation of “at least one of A, B and C” should be interpreted as one or more of a group of elements consisting of A, B and C, and should not be interpreted as requiring at least one of each of the listed elements A, B and C, regardless of whether A, B and C are related as categories or otherwise. Moreover, the recitation of “A, B and/or C” or “at least one of A, B or C” should be interpreted as including any singular entity from the listed elements, e.g., A, any subset from the listed elements, e.g., A and B, or the entire list of elements A, B and C.