Controlling automated pallet movers

An automated warehouse system, the system comprising:

• a plurality of automated pallet movers that are each configured to retrieve, transport, and deliver pallets according to routes resulting from performance of a control algorithm;
• a physical space in which the plurality of automated pallet movers are configured to concurrently operate, wherein the physical space includes a plurality of pallet handling locations, each pallet handling location being a location from which pallets are retrieved and/or to which pallets are delivered, and wherein the physical space includes a plurality of lanes between a first row of pallet handling locations and a second row of pallet handling locations, the plurality of lanes being configured for use by the automated pallet movers to transport pallets between pallet handling locations according to a performance of the control algorithm, wherein the plurality of lanes comprises:
• (i) a looping slow lane located along the first row of pallet handling locations and the second row of pallet handling locations, and
• (ii) a looping fast lane that loops in a same direction as the looping slow lane and is located inside of the looping slow lane;
• and
• a control system configured to provide pallet transportation commands to each of the plurality of automated pallet movers for operating in the physical space, wherein a pallet transportation command comprises, for an automated pallet mover:
• (i) a retrieval location that specifies a pallet handling location from which a pallet is to be retrieved by the automated pallet mover, and
• (ii) a destination location that specifies a pallet handling location to which the pallet is to be delivered by the automated pallet mover.