The material flow in dynamically changing logistic systems underlies specific conditions, as destinations and stopovers
only exist temporarily. The order-dependent circulation of rental articles constitutes such a case, where the
articles are on the move between the lender and one or more customers. The related planning and control processes
are highly complex and challenging as they comprise the scheduling of orders, the compilation of transports and the
determination of suitable routes. This paper introduces an autonomously controlled approach for the distribution of
rental articles, including the autonomous decision-making and the representation of the involved objects as
autonomous entities. A use case from the field of event logistics illustrates the proceeding for the integration of the
approach in real world processes.