US Patent 11046517 Coordinated operation of robots on different planes

Provided is an automated vertical transfer system for a site that includes one or more mezzanines or other structures that create different operational vertical planes. The system may include a robot controller and one or more robots that operate exclusively on one of the different operational vertical planes. The robot controller may synchronize and/or coordinate the operations of the robots and/or other devices so that objects may be transferred across planes while each robot remains and continues operations on one plane.