• a Buffer Area where it is possible to temporarily store
pallets when the sorter is busy. This area is also used for
parking AGVs that are waiting for a new mission;
• a set of possible Paths representing the optical guidance
for AGVs. Each route section (i.e: path connecting only
two waypoints) is usually one-way, but some of them can
be two-way (e.g: the entrance of gates);
• a set of Waypoints near to the crossing points of paths.