US Patent 10126747 Coordination of mobile drive units

In one example, an intersection of a first path and a second path may be determined. The first path may be associated with a first mobile drive unit and the second path may be associated with a second mobile drive unit. A plurality of velocity sets may be determined based on the intersection. A velocity set may be selected from the plurality of velocity sets. The velocity set may include velocity values that correspond to the first mobile drive unit and the second mobile drive unit. The selected velocity set may be provided to at least one of the first mobile drive unit or the second mobile drive unit.