The present application discloses an automated restaurant comprising: a kitchen; a customer-tracking area comprising a dining area; and a plurality of vehicles. The kitchen comprises a storage apparatus to store ingredient containers, a transfer apparatus to move ingredient containers, and one or more cooking stations. Each vehicle is configured to move one or more food containers from cooking stations to dining tables. A tracking system comprises cameras, lidars, etc., which are fixedly mounted. The tracking system can dynamically map out the fixtures, humans and vehicles in the restaurant. Information from the tracking system is used to control the motion of the vehicles. The tracking system can dynamically track the positions of customers in the customer-tracking area, so that foods ordered by specific customers may be automatically sent by vehicles to the customers' locations.

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