<p>A mobile robot that includes a chassis, a drive system disposed on the chassis and configured to maneuver the robot over a work surface, a deck system, and a control system connected to the drive system and the deck system. The deck system includes a payload deck configured to receive a removable payload and a deck shifter configured to move the payload deck relative to the chassis. The control system includes a control arbitration system and a behavior system in communication with each other. The behavior system executes a behavior that evaluates and provides an outcome evaluation on a predicted outcome of a robot command. The control arbitration system selects and executes a robot command based at least in part on the outcome evaluation.</p>
