Described are automated guided vehicles (AGVs) that can autonomously engage and transport a payload carrier in a human collaborative materials handling facility environment. Embodiments of the present disclosure can be deployed in various materials handling facilities (e.g., a sortation facility, a cross dock center, a fulfillment center, a warehouse, a delivery center, etc.) to facilitate efficient and automated transport of a payload carrier, such as a cart, alongside human workers in unstructured, collaborative environments. Further, the exemplary autonomous vehicle of the present disclosure can engage payload carriers (e.g., carts, etc.) in various configurations and orientations to facilitate multiple modes of transport.