A mobile robot for interacting with a workpiece is disclosed as the mobile robot transports across the ground relative to the workpiece. The mobile robot includes a tracker for tracking the workpiece; an end effector for interacting with the workpiece based on feedback from the tracker; and a control system. The control system is configured such that when the mobile robot is transporting in a transporting direction across the ground relative to the workpiece such that the tracker is tracking a first region of the workpiece, the control system causes the mobile robot to adjust according to the feedback from the tracker and effect a position of the end effector when interacting the end effector with the second region of the workpiece.