The present invention provides a system for moving an object within an environment, wherein the system includes: one or more modular wheels configured to move the object, wherein the one or more modular wheels include: a body configured to be attached to the object; a wheel; a drive configured to rotate the wheel; a sensor mounted to the body; and, one or more processing devices configured to control the one or more modular wheels in accordance with signals from the sensor to thereby rotate the wheel and move the object.