| 摘要 |
A method for controlling movement of a body within a system comprises: a) selecting a path for the body between a first node (B) and a second node (C) , b) determining a desired movement envelope (20) for the body along the path that does not conflict with the movement envelope (23, 25) of any other body of the system, c) communicating the path and the start time of the desired movement envelope to the body, and d) causing the body to begin travelling over the selected path at the start time.
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