ENGAGING AN ELEMENT

1 . A method of manipulating an element using an autonomous vehicle, the method comprising:

following engagement with the element and during movement of the autonomous vehicle, detecting relative movement between the autonomous vehicle and the element;

in response to detecting the relative movement, making a determination that the engagement is inadequate for the autonomous vehicle to continue manipulating the element; and

controlling the autonomous vehicle based on the determination.

2 . The method of claim 1 , further comprising:

prior to the engagement with the element, detecting relative movement between the autonomous vehicle and the element; and

controlling the autonomous vehicle to continue to move based on detecting relative movement prior to engagement.

3 . The method of claim 1 , wherein the relative movement is detected by detecting a distance between the autonomous vehicle and the element during movement of the autonomous vehicle;

wherein the autonomous vehicle comprises an end-effector configured to engage with the element; and

wherein the distance indicates whether the end-effector is fully engaged with the element, partially engaged with the element, or disengaged from the element.

4 . The method of claim 3 , wherein the engagement is inadequate when the autonomous vehicle is moving forward and the element moves relative to the autonomous vehicle causing the distance to change.

5 . The method of claim 3 , wherein the engagement is inadequate when the autonomous vehicle is moving backward and the element moves relative to the autonomous vehicle causing the distance to change.

6 . The method of claim 1 , wherein controlling the autonomous vehicle comprises stopping movement of the autonomous vehicle in either forward or backward directions.

7 . The method of claim 1 , wherein the relative movement is detected by detecting a distance between the autonomous vehicle and the element during movement of the autonomous vehicle; and

wherein detecting the distance is performed using a light detection and ranging (LIDAR) system.

8 . The method of claim 1 , wherein the relative movement is detected by detecting a distance between the autonomous vehicle and the element during movement of the autonomous vehicle; and

wherein detecting the distance is performed using a three-dimensional (3D) camera.

9 . The method of claim 1 , wherein the relative movement is detected by detecting a distance between the autonomous vehicle and the element during movement of the autonomous vehicle; and

wherein detecting the distance is performed using one or more ultrasonic sensors.

10 . The method of claim 1 , further comprising:

detecting that the autonomous vehicle is moving based on encoders that detect tire rotation.

11 . The method of claim 1 , further comprising:

detecting that the autonomous vehicle is moving using laser-based detection relative to the environment.

12 . The method of claim 1 , further comprising:

detecting that the autonomous vehicle is moving using a three-dimensional (3D) camera.

13 . A system comprising:

an autonomous vehicle comprising a sensor to generate data based on relative movement between the autonomous vehicle and an element, the autonomous vehicle further comprising an end-effector to engage the element; and

a control system to perform operations comprising:

following full engagement between the end-effector and the element and during movement of the autonomous vehicle, receiving the data from the sensor based on the relative movement between the autonomous vehicle and the element;

in response to the relative movement, making a determination that the engagement is inadequate for the autonomous vehicle to continue manipulating the element; and

controlling the autonomous vehicle based on the determination.

14 . The system of claim 13 , wherein the control system is configured to perform operations comprising:

prior to the full engagement with the element, receiving the data from the sensor based on relative movement between the autonomous vehicle and the element; and

controlling the autonomous vehicle to continue to move based on the relative movement prior to engagement.

15 . The system of claim 13 , wherein the data represents a distance between the autonomous vehicle and the element during movement of the autonomous vehicle; and

wherein the distance indicates whether the end-effector is fully engaged with the element, partially engaged with the element, or disengaged from the element.

16 . The system of claim 15 , wherein the engagement is inadequate when the autonomous vehicle is moving forward and the element moves relative to the autonomous vehicle causing the distance to change.

17 . The system of claim 15 , wherein the engagement is inadequate when the autonomous vehicle is moving backward and the element moves relative to the autonomous vehicle causing the distance to change.

18 . The system of claim 13 , wherein controlling the autonomous vehicle comprises stopping movement of the autonomous vehicle in either forward or backward directions.

19 . The system of claim 13 , wherein the sensor comprises a light detection and ranging (LIDAR) system.

20 . The system of claim 13 , wherein the sensor comprises one or more three-dimensional (3D) cameras.

21 . The system of claim 13 , wherein the sensor comprises one or more ultrasonic sensors.

22 . The system of claim 13 , wherein the autonomous vehicle comprises one or more encoders to detect tire rotation and to output data to the control system based on the tire rotation.