A method for queuing robots destined for a target location in an environment, comprising: establishing the target location ; establishing a predefined target zone proximate to the target location ; determining if a first robot occupies the target location ; if it is determined that the first robot occupies the target location , determining a priority for a second robot and a third robot based in an order of entry into the predefined target location ; if it is determined that the second robot has a first priority and the third robot has a second priority, lower than the first priority, navigating the second robot to a first queue location and navigating the third robot to a second queue location; causing the second robot to wait at the first queue location until the first robot no longer occupies the target location ; navigating the second robot to the target location after the first robot leaves the target location ; wherein the first queue location is offset from the target location by a predetermined distance; the target location being defined by a target pose and the first queue location being defined by a first queue pose; wherein the second robot navigates to the first queue location by navigating to the first queue pose; wherein the second queue location is offset from the first queue location by a predetermined distance; the second queue location being defined by a second queue pose; wherein the second robot navigates to the second queue location by navigating to the second queue pose; and determining if the first robot continues to occupy the target location and if it does not, navigating the second robot to the target location, navigating the third robot to the first queue location, and causing the third robot to wait at the first queue location until the second robot no longer occupies the target location . establishing the target location ; establishing a predefined target zone proximate to the target location ; determining if a first robot occupies the target location ; if it is determined that the first robot occupies the target location , determining a priority for a second robot and a third robot based in an order of entry into the predefined target location ; if it is determined that the second robot has a first priority and the third robot has a second priority, lower than the first priority, navigating the second robot to a first queue location and navigating the third robot to a second queue location; causing the second robot to wait at the first queue location until the first robot no longer occupies the target location ; navigating the second robot to the target location after the first robot leaves the target location ; wherein the first queue location is offset from the target location by a predetermined distance; the target location being defined by a target pose and the first queue location being defined by a first queue pose; wherein the second robot navigates to the first queue location by navigating to the first queue pose; wherein the second queue location is offset from the first queue location by a predetermined distance; the second queue location being defined by a second queue pose; wherein the second robot navigates to the second queue location by navigating to the second queue pose; and determining if the first robot continues to occupy the target location and if it does not, navigating the second robot to the target location, navigating the third robot to the first queue location, and causing the third robot to wait at the first queue location until the second robot no longer occupies the target location . <EOS>