{
  "abstract": "A system for allocating jobs and/or targets to robots in an automated storage and retrieval system includes a plurality of robots and a framework structure forming a three-dimensional storage grid structure for storing containers. Each robot has wheels configured to move along two perpendicular horizontal directions on the grid. A central computer system manages robot movement and task allocation via a warehouse management system comprising an assigner and a router. The assigner generates lists of job and target options for each robot, which are made accessible to the router. The router assigns jobs and targets using a multi-position search algorithm based on each robot's location and the route required to reach the assigned job and target. This coordinated approach enables efficient task and path assignment within the storage system.",
  "assignees": [
    "AUTOSTORE TECH AS"
  ],
  "authors": [
    "BERGE NESSA KRISTIAN",
    "HATTELAND KARL",
    "STUHAUG RAGNAR"
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  "supersedes": null,
  "title": "Multiposition search",
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