US Patent 7066291 Robot system

A mobile robot system for performing a plurality of separate operations, and including at least one autonomous wheeled mobile robot having at least one wheel-driving motor, an on-board computer, a system for navigation, orientation, and maneuvering in an environment with moving obstacles, a sensor system, a wireless communication system operative to receive and send signals, and a plurality of dockable operation modules and operative to be selectively coupled to the autonomous mobile robot to form an operation unit, wherein the autonomous wheeled mobile robot autonomously docks to the dockable operation modules.