AUTONOMOUS TRANSPORT VEHICLE

An autonomous transport vehicle includes a frame forming a transport payload area of the vehicle. The payload area includes a payload contact support surface that defines a payload support plane that supports the payload. The payload area further includes an articulated underpick end effector that engages and underpicks the payload with respect to the support plane, and extends and retracts with respect to the payload area effecting payload transfer. Payload registration facets are mounted to the frame to engage the payload. The registration facets are disposed to provide, upon engagement with the payload, at least two degrees of registration capturing and securing the payload in a predetermined position in the payload area, and are configured to effect payload engagement with the at least two degrees of registration registering the payload substantially coincident with seating of the payload on the payload support plane of the payload area.