{
  "abstract": "A vehicle (802) for a container storage and retrieval system, the vehicle configured to traverse a grid of rails having rails arranged perpendicular to a first direction and rails arranged perpendicular to a second direction, and corresponding systems and methods. The vehicle comprises a vehicle body (300). The vehicle also comprises a first set of continuous tracks (808) for propelling the vehicle in the first direction, wherein each continuous track of the first set comprises a tread and one or more first protrusion (834) for engaging rails arranged perpendicular to the first direction, such that the first set of continuous tracks is configured to have least two points of contact with the rails arranged perpendicular to the first direction when traversing the grid of rails. The vehicle also comprises a second set of continuous tracks (810) for propelling the vehicle in the second direction, wherein each continuous track of the second set comprises a tread and one or more second protrusion (834) for engaging rails arranged perpendicular to the second direction, such that the second set of continuous tracks is configured to have least two points of contact with the rails arranged perpendicular to the second direction when traversing the grid of rails.",
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  "authors": [
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  "title": "A vehicle for a container storage and retrieval system",
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