---
publication_id: "OT-2026-000000639"
title: "Controlling robotic vehicles in an automated storage and retrieval system"
published_at: "2026-09-15T19:03:11.654799Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000000639"
categories:
  - "sensors-controls-machine-vision/industrial-control"
keywords:
  - "g05d1/693"
  - "g05d1/693"
  - "b65g1/0464"
  - "b65g1/0464"
  - "b65g43/00"
  - "b65g43/00"
---

# Controlling robotic vehicles in an automated storage and retrieval system

## Abstract

The disclosure relates to a method of controlling a robotic vehicle in an automated storage and retrieval system. The method comprises determining (S600) to route a first robotic vehicle to a first location in the automated storage and retrieval system, and determining (S605) that a second robotic vehicle is occupying the first location. A first command is sent (S610) in response to determining that the second robotic vehicle is occupying the first location. The first command comprises commanding the first robotic vehicle to travel to a second location that is proximal to the first location. A second command is buffered (S615) for the first robotic vehicle while the second robotic vehicle is occupying the first location, and sent (S620) to the first robotic vehicle when the second robotic vehicle has vacated the first location.