AUTOMATED STORAGE AND RETRIEVAL SYSTEM

An autonomous rover (110) comprising a frame (110F) having a first end (110E1) and a second end (110E2) longitudinally spaced from the first end and forming a payload bay (200), the payload bay being sized to support a pickface (210); at least first, second and third common registration surfaces (110PB, 202, 203), each of the at least the first common registration surface, the second common registration surface, and the third common registration surface being configured to engage the pickface supported on payload supports (201) in the payload bay, and distinct and decoupled from the payload supports; and a drive section (220A) being connected to the at least the first common registration surface, the second common registration surface, and the third common registration surface, and configured to variably position the at least the first common registration surface, the second common registration surface, and the third common registration surface relative to each other and at least one storage shelf (300) of an automated storage and retrieval system so as to justify the pickface in three degrees of freedom to effect placement of the pickface on the at least one storage shelf;