Motion planning technique for robotic systems

A system, comprising:

• a camera configured to capture one or more images of a material handling environment;
• wherein the material handling environment includes items;
• a robot at least in part configured to move along a travel path relative to the items;
• wherein the robot is configured to pick the items;
• a management system configured to monitor the material handling environment through the images from the camera;
• wherein the management system is configured to determine dynamically multiple picking solutions for the items in real-time while the robot moves along the travel path;
• wherein the camera is mounted on the robot;
• wherein the robot has an end effector;
• wherein the robot is configured to move the end effector along the travel path;
• wherein the camera is mounted proximal to or on the end effector to capture to the images while moving along the travel path;
• wherein the robot is configured to move the end effector with the camera in an initial predefined path around the items to image an initial state of the items;
• wherein the management system is configured to rank multiple picking location options for the items based on the images from the camera as the camera moves along the initial predefined path;
• and
• wherein the management system is configured to change movement of the end effector from the initial predefined path to the travel path based on the rank.