A plant for forming pallets, comprising: an entry station, arranged to make an entry pallet (Pi) containing a plurality of packages accessible inside the plant; a plurality of picking areas, each of which is configured to receive at least one entry pallet (Pi); one or more autonomous entry vehicles, each of which is arranged to withdraw at least one entry pallet (Pi) from the entry station and to lead the withdrawn pallet (Pi) to a given picking area; a plurality of release areas, each of which is configured to receive at least one exit pallet (Pu); at least one manipulator, structured to withdraw a package from an entry pallet (Pi) and to position the package on an exit pallet (Pu); an exit station, arranged to make an exit pallet (Pu) containing a plurality of packages accessible outside the plant; one or more autonomous exit vehicles, each of which is arranged to withdraw at least one exit pallet (Pu) from the release area and to lead the withdrawn pallet (Pu) to a subsequent release area or to the exit station; wherein the manipulator is movable along a path parallel to a main direction between at least two extreme positions; the picking areas are distributed on one side of the path, in a position reachable by the manipulator; the release areas are distributed on the opposite side of the path with respect to the picking areas, in a position reachable by the manipulator; characterized in that the plant comprises a control module, arranged to control the autonomous entry vehicles, the autonomous exit vehicles and the manipulator according to a predetermined control algorithm, said control module operating on the basis of at least the following data: - composition of the entry pallets (Pi), comprising the number and type of packages; - position of the picking areas and the release areas, comprising the presence or absence of a pallet; - position of the entry AGVs and exit AGVs, comprising the presence or absence of a pallet on board; - position of the manipulator; - desired composition of each exit pallet (Pu). an entry station, arranged to make an entry pallet (Pi) containing a plurality of packages accessible inside the plant; a plurality of picking areas, each of which is configured to receive at least one entry pallet (Pi); one or more autonomous entry vehicles, each of which is arranged to withdraw at least one entry pallet (Pi) from the entry station and to lead the withdrawn pallet (Pi) to a given picking area; a plurality of release areas, each of which is configured to receive at least one exit pallet (Pu); at least one manipulator, structured to withdraw a package from an entry pallet (Pi) and to position the package on an exit pallet (Pu); an exit station, arranged to make an exit pallet (Pu) containing a plurality of packages accessible outside the plant; one or more autonomous exit vehicles, each of which is arranged to withdraw at least one exit pallet (Pu) from the release area and to lead the withdrawn pallet (Pu) to a subsequent release area or to the exit station; wherein the manipulator is movable along a path parallel to a main direction between at least two extreme positions; the picking areas are distributed on one side of the path, in a position reachable by the manipulator; the release areas are distributed on the opposite side of the path with respect to the picking areas, in a position reachable by the manipulator; characterized in that the plant comprises a control module, arranged to control the autonomous entry vehicles, the autonomous exit vehicles and the manipulator according to a predetermined control algorithm, said control module operating on the basis of at least the following data: - composition of the entry pallets (Pi), comprising the number and type of packages; - position of the picking areas and the release areas, comprising the presence or absence of a pallet; - position of the entry AGVs and exit AGVs, comprising the presence or absence of a pallet on board; - position of the manipulator; - desired composition of each exit pallet (Pu). - composition of the entry pallets (Pi), comprising the number and type of packages; - position of the picking areas and the release areas, comprising the presence or absence of a pallet; - position of the entry AGVs and exit AGVs, comprising the presence or absence of a pallet on board; - position of the manipulator; - desired composition of each exit pallet (Pu).