• the Gate Manager manages the allocation of gates at the
arrival of articulated lorries. It also takes into account the
amount of pallets to unload;
• the Buffer Manager governs the parking areas and buffering.
It can reserve a parking place for the agents that
require it;
• the Route Planner allocates the paths for AGVs. Each
path is computed by means of Dijkstra’s shortest path
algorithm [17];