US Patent 11431546 Control method and apparatus in a mobile automation system

A control method in a mobile automation system including a mobile automation apparatus and a control server. The method comprises, at the mobile automation apparatus: receiving a task identifier and a plurality of task fragments from the control server, each task fragment containing (i) a subset of identifiers for respective sub-regions in a facility, and (ii) an operational constraint. The method further includes, for each task fragment: generating a path traversing the subset of sub-regions, and while travelling along the path, performing the identified task.