Automated storage and retrieval system with a vehicle pen

A computer-implemented method of moving at least one of a plurality of remotely operated vehicles between a first area and a second area of an automated storage and retrieval system, the automated storage and retrieval system comprising a storage grid configured to store a plurality of storage containers in vertical stacks, the plurality of remotely operated vehicles, and a rail system comprising rails and tracks onto which the plurality of remotely operated vehicles operate, wherein the automated storage and retrieval system comprises the first area and the second area, wherein the first area is linked to the second area for passage of one or more vehicles of the plurality of remotely operated vehicles by a vehicle pen comprising an entry barrier and an exit barrier to regulate the passage of the one or more vehicles between the first area and the second area, wherein the entry and the exit barriers are moveable between an open position in which passage of the one or more of the vehicles is allowed, and a closed position in which passage of the one or more vehicles is restricted, wherein the entry and exit barriers are regulated such that the entry barrier can be opened only when the exit barrier is closed, and vice versa, and wherein the computer-implemented method comprises:

• moving the at least one of the plurality of remotely operated vehicles on the first area towards the entry barrier of the vehicle pen,
• opening the entry barrier after being confirmed that the exit barrier is closed,
• moving the at least one of the plurality of remotely operated vehicles through the entry barrier of the vehicle pen,
• closing the entry barrier while the vehicle is in the vehicle pen,
• confirming that the entry barrier is in the closed position,
• unlocking or opening the exit barrier, wherein the exit barrier may be opened manually or automatically,
• moving vehicle through the exit barrier and into the second area, and
• closing the exit barrier.