Methods, systems and apparatus for controlling movement of transporting devices

A system for controlling movement of transporting devices arranged to transport containers, the containers being stored in stacks arranged in a facility, the facility having pathways arranged in a grid-like structure above the stacks, the transporting devices being configured to operate on the grid-like structure, the system comprising:

• a movement optimisation unit configured to determine a route of a transporting device from one location on a grid-like structure to another location on the grid-like structure for each transporting device;
• a reservation unit configured to reserve a path on the grid-like structure for each transporting device based on the determined route, wherein the path reserved for each transporting device is provided such that no two transporting devices have locations on the grid-like structure which would cause transporting devices to overlap at a same time;
• and
• a clearance unit configured to provide clearance for each transporting device to traverse a portion of the reserved path,
• wherein when the clearance unit withholds providing clearance for a transporting device to traverse a portion of the reserved path, the clearance unit is arranged to cause the dynamic r-planning of the route of the transporting device.