A robotic system for autonomously operating on a workpiece, comprising: at least one robot communicatively coupled to a data processing system including a processor, and having a robotic arm and an end effector coupled to the robotic arm; the processor configured to autonomously generate a master plan for movement of the end effector for operating on an operating surface of a workpiece positioned in a physical environment, the master plan being based on a computer aided design model of the workpiece and defining movement paths of the end effector based at least in part on a reach distance of the robotic arm of the robot at each of a plurality of working waypoints included in the master plan to correspond to a plurality of fiducial markers mounted on the workpiece and represented in the CAD model; the processor configured to autonomously perform the following sequence of steps for each one of the fiducial markers: register the robot to the workpiece in the physical environment when the robot is driving toward and/or is at an approach waypoint in front of a fiducial marker, and iteratively adjust a position of a tessellated workpiece collision geometry within a world map of the physical environment unless or until an approximate workpiece position of the tessellated workpiece collision geometry within the world map substantially matches an actual workpiece position in the physical environment when the robot is driving toward and/or is at the working waypoint corresponding to the fiducial marker; construct, with the robot at the working waypoint, a robotic arm trajectory for performing a sequence of movements of the end effector along the movement paths associated with the working waypoint; and execute the robotic arm trajectory and cause the end effector to operate on a portion of the operating surface of the workpiece corresponding to the portion of the master plan defined for the robot at the working waypoint. at least one robot communicatively coupled to a data processing system including a processor, and having a robotic arm and an end effector coupled to the robotic arm; the processor configured to autonomously generate a master plan for movement of the end effector for operating on an operating surface of a workpiece positioned in a physical environment, the master plan being based on a computer aided design model of the workpiece and defining movement paths of the end effector based at least in part on a reach distance of the robotic arm of the robot at each of a plurality of working waypoints included in the master plan to correspond to a plurality of fiducial markers mounted on the workpiece and represented in the CAD model; the processor configured to autonomously perform the following sequence of steps for each one of the fiducial markers: register the robot to the workpiece in the physical environment when the robot is driving toward and/or is at an approach waypoint in front of a fiducial marker, and iteratively adjust a position of a tessellated workpiece collision geometry within a world map of the physical environment unless or until an approximate workpiece position of the tessellated workpiece collision geometry within the world map substantially matches an actual workpiece position in the physical environment when the robot is driving toward and/or is at the working waypoint corresponding to the fiducial marker; construct, with the robot at the working waypoint, a robotic arm trajectory for performing a sequence of movements of the end effector along the movement paths associated with the working waypoint; and execute the robotic arm trajectory and cause the end effector to operate on a portion of the operating surface of the workpiece corresponding to the portion of the master plan defined for the robot at the working waypoint. register the robot to the workpiece in the physical environment when the robot is driving toward and/or is at an approach waypoint in front of a fiducial marker, and iteratively adjust a position of a tessellated workpiece collision geometry within a world map of the physical environment unless or until an approximate workpiece position of the tessellated workpiece collision geometry within the world map substantially matches an actual workpiece position in the physical environment when the robot is driving toward and/or is at the working waypoint corresponding to the fiducial marker; construct, with the robot at the working waypoint, a robotic arm trajectory for performing a sequence of movements of the end effector along the movement paths associated with the working waypoint; and execute the robotic arm trajectory and cause the end effector to operate on a portion of the operating surface of the workpiece corresponding to the portion of the master plan defined for the robot at the working waypoint.