The routing strategy has been completed. It is based on an index evaluating the risk in terms of traffic of taking a given deviation. The risk factor measures the probability that a given path leads to a longer traveling time than the one of the path the AGV is traveling on. At each crossroad, an AGV computes the possible deviations and it chooses the one with lower risk.

The arena has been completed and tested using three AGVs. Now everything is ready for the experimental phase.