Article sorting with intermingled robots of assorted sizes

A system for use in directing an article sorting operation, the system comprising:

• a server comprising a memory, a processor, and a routing engine;
• a grid comprising a plurality of grid cells for a plurality of computer-controlled vehicles to travel thereon, each grid cell having a grid cell length X;
• the plurality of computer-controlled vehicles comprising a first size vehicle having a first vehicle length greater than the grid cell length X and a second size vehicle having a second vehicle length greater than the first vehicle length;
• a destination container;
• a plurality of articles to be sorted to the destination container, the plurality of articles comprising a first article and a second article;
• wherein the system is configured to:
• receive, at the server, article information corresponding to the first article and the second article;
• assign, by the server, the first article to be transported by the first size vehicle to the destination container, and of the second article to be transported by the second size vehicle to the destination container;
• determine, by the routing engine, a first route for the first size vehicle such that the first route has a first width equaling A*X, where A is a whole number;
• determine, by the routing engine, a second route for the second size vehicle such that the second route has a second width equaling B*X, where B is a whole number greater than A.