## 6 Conclusions
We found the dispatching heuristic needs to reflect the system performance accurately, which is in line with common criticism of single-attribute dispatching heuristics. Regarding a practical implementation with AMR, this heuristic should take into account costs that stem from kinematic constraints, e.g., effort required for vehicle heading change. We are not sure if all performance-related considerations can be factored into a single cost value though, or if one should envision, e.g., a multi-stage dispatching architecture for differently prioritised jobs. In addition to the consistency of the cost function, another important consideration is the dispatching latency. In particular, when the margin around the decision boundary between assignments is small, real-time constraints become relevant, to prevent negative impact by decisions based on an outdated state of the environment. From following the simulation execution, we noticed potential improvements to the system efficiency by the introduction of predictive capabilities, i.e., regarding future vehicle availability and demand forecast. Overall, the problem of agent dispatching is a very important topic, relevant to a wide array of applications. This goes far beyond material handling systems or factory intralogistics alone. This can cover taxi dispatching, on-demand mobility, delivery drones, customer service, the coordination of first responders in search and rescue applications or even sports team games. Thus, we are eager to integrate our approach via the modular digital twin backend with an actual application scenario. Conceptualisation, F.M.g.B. ; methodology, F.M.g.B. ; software, F.M.g.B. and A.B. ; validation, F.M.g.B. and M.L. ; formal analysis, F.M.g.B. and M.L. ; investigation, F.M.g.B. and M.L. ; resources, M.L. ; data curation, F.M.g.B. and A.B. ; writing--original draft preparation, F.M.g.B. and A.B. ; writing--review and editing, F.M.g.B., A.B. and M.L. ; visualisation, F.M.g.B. ; supervision, M.L. ; project administration, M.L. ; funding acquisition, M.L. All authors have read and agreed to the published version of the manuscript. This research was funded by the _German Federal Ministry for Economic Affairs and Climate Change_ (BMWK), formerly known as _German Federal Ministry for Economic Affairs and Energy_ (grant number 20X1724C). The APC was covered by funding provided by the federal state of Bremen, Germany (grant number 201-001-10-3/2021-3-2). Not applicable. The full source code and the data logged during the experiments can be provided upon request. The authors declare no conflict of interest. The funders had no role in the design of the study; in the collection, analyses, or interpretation of data; in the writing of the manuscript, or in the decision to publish the results. The following abbreviations are used in this manuscript: \begin{tabular}{l l} ABM & Agent-Based Model \\ AGV & Automated Guided Vehicle \\ AGVS & Automated Guided Vehicle System \\ AMHS & Automated Material Handling System \\ AMR & Autonomous Mobile Robot \\ B\({}^{2}\)D\({}^{2}\) & Bidding-Based Dynamic Dispatching \\ DES & Discrete-Event Simulation \\ DT & Digital Twin \\ ERP & Enterprise Resource Planning \\ LSAP & Linear Sum Assignment Problem \\ MES & Manufacturing Execution System \\ MOD STTF & Modified Shortest Travel Time First \\ OHT & Overhead Hoist System \\ ORCA & Optimal Reciprocal Collision Avoidance \\ RTLS & Real-Time Location System \\ SLAM & Simultaneous Localisation and Mapping \\ SMP & Stable Marriage Problem \\ STTF & Shortest Travel Time First \\ \end{tabular}