Order-fulfillment system including multipurpose mobile robots and related technology

A method comprising:

• executing, during a first time period, first operations of a first operation type in an order-fulfillment workflow via a plurality of first mobile robots respectively equipped with first end-effector sets of a first set type corresponding to the first operation type, wherein the plurality of first mobile robots is included in an order-fulfillment system;
• executing, during the first time period, second operations of a second operation type in the order-fulfillment workflow via a plurality of second mobile robots respectively equipped with second end-effector sets of a second set type corresponding to the second operation type, wherein the plurality of second mobile robots is included in the order-fulfillment system, wherein the first and second operation types are different, and wherein the first and second set types are different;
• swapping, during a second time period after the first time period, a given one of the first end-effector sets for an additional second end-effector set of the second set type, wherein swapping the given one of the first end-effector sets includes:
• unequipping the given one of the first end-effector sets from a given one of the first mobile robots, and
• equipping the additional second end-effector set to the given one of the first mobile robots after unequipping the given one of the first end-effector sets;
• and
• executing, during a third time period after the second time period, third operations of the second operation type in the order-fulfillment workflow via the plurality of second mobile robots respectively equipped with the second end-effector sets and via the given one of the first mobile robots equipped with the additional second end-effector set.