The last two months of Task 1 have been devoted to the development of a coordination strategy for efficiently solving the coordination problem in a realistic setting. The coordination of the AGVs and the constraints due to the control architecture of Elettric80 have been represented using extended coordination diagrams. In this way, the coordination problem has been transformed into a simpler planning problem in the coordination diagram. A scalable incremental planning algorithm that efficiently solves the coordination among the AGVs has been developed. The validity of the proposed strategy has been shown through simulations over a real plant and comparative analysis with the strategy currently used in Elettric80.