A robotic vehicle can seek markers in one or more zones and take action if the marker so indicates. Systems, methods, and computer-readable media can cause a robotic vehicle to seek and identify a marker, then determine whether action should be taken based on a characteristic of the marker. If an action should be performed, the robotic vehicle can perform an action, and if no action should be performed, a determination can be made whether to seek another marker, move to another zone, or terminate the robotic vehicle's routine.