A storage fill and retrieval system includes fixed storage locations distributed in a storage space and defining at least one human pick zone having at least one collection tote location, at least one autonomous mobile robot configured for holding and transporting a tote within the storage space and having an end effector arranged for autonomous transfer of the tote between the at least one robot and a tote holding station and a collection tote location, and a storage management system communicably connected to the at least one robot and configured to associate each robot with a human pick zone, wherein the at least one robot is configured to transport the tote to the collection tote location of each associated human pick zone, and wherein each collection tote location is arranged for human picker access and defines an interface between a human picker and the at least one robot.