A method includes: obtaining a pose of a mobile computing device associated with a worker in a facility; detecting a trigger event to initiate presentation, at the mobile computing device, of visual guidance corresponding to one of a plurality of mobile robots in the facility; in response to detecting the trigger event, selecting one of the mobile robots; determining, based on the pose of the mobile computing device and a map of the facility, whether the selected one of the mobile robots is visually obstructed from the pose of the mobile computing device; and when the selected one of the mobile robots is visually obstructed, providing visual guidance via the mobile computing device, the visual guidance indicating a current location of the selected mobile robot behind an obstruction.