US Patent 9926138 Determination of removal strategies

An item that is moving along a moving surface of an inventory conveyance system may be identified. An orientation of the item with respect to the moving surface may be determined based on sensing information that describes the item and a portion of the moving surface surrounding the item. A removal strategy for operating a robotic arm to remove the item from the moving surface may be determined based at least in part on the item and the orientation. The removal strategy may include a trajectory for the robotic arm to follow as part of removing the item from the moving surface.