A method for operating a storage and order-picking system in which a plurality of manipulators processes a plurality of picking/storing orders in accordance with a manipulator-to-handling-unit principle operating in accordance with the "man-to-goods" principle where humans and/or machine are employed, wherein the system comprises a provision zone, a picking zone adjacent to the provision zone, a plurality of provision units (42, 62) in the provision zone, a plurality of transfer locations arranged stationary in the picking zone, a DTS including a plurality of DTVs, and a controlling device, wherein the transfer locations respectively comprise a frame on which handling units are deposited for retrieval or delivery by the DTVs, and wherein the method comprises the steps of: analyzing the plurality of picking/storing orders by means of the controlling device for determining retrieval/delivery locations in the provision zone; setting transfer actions by selecting for each of the retrieval/delivery locations at least one of the transfer locations in the picking zone as delivery/retrieval location in the pricking zone and by assigning the same to the respective retrieval/delivery locations in the provision zone, wherein the delivery/retrieval location is located within an action zone extending around the respective retrieval/delivery location in the provision zone and moving dynamically with the respective manipulator, and wherein each of the transfer actions further defines number and type of the handling units which are to be transferred by the respective manipulator between the locations assigned to each other; generating an action order for each of the manipulators by: selecting some of the transfer actions; and setting one, in particular unidirectional, moving path along which the respective manipulator moves between the selected retrieval/delivery locations in the provision zone through the, preferably entire, picking zone; and generating transport orders for the DTVs so that each of the manipulators can execute, during performance of its action orders, its transfer actions within its action zone, in particular uninterruptedly, due to the DTVs preparing the corresponding selected transfer locations within the action zone and/or downstream thereto in time for the transfer of the handling units. analyzing the plurality of picking/storing orders by means of the controlling device for determining retrieval/delivery locations in the provision zone; setting transfer actions by selecting for each of the retrieval/delivery locations at least one of the transfer locations in the picking zone as delivery/retrieval location in the pricking zone and by assigning the same to the respective retrieval/delivery locations in the provision zone, wherein the delivery/retrieval location is located within an action zone extending around the respective retrieval/delivery location in the provision zone and moving dynamically with the respective manipulator, and wherein each of the transfer actions further defines number and type of the handling units which are to be transferred by the respective manipulator between the locations assigned to each other; generating an action order for each of the manipulators by: selecting some of the transfer actions; and setting one, in particular unidirectional, moving path along which the respective manipulator moves between the selected retrieval/delivery locations in the provision zone through the, preferably entire, picking zone; and generating transport orders for the DTVs so that each of the manipulators can execute, during performance of its action orders, its transfer actions within its action zone, in particular uninterruptedly, due to the DTVs preparing the corresponding selected transfer locations within the action zone and/or downstream thereto in time for the transfer of the handling units. selecting some of the transfer actions; and setting one, in particular unidirectional, moving path along which the respective manipulator moves between the selected retrieval/delivery locations in the provision zone through the, preferably entire, picking zone; and generating transport orders for the DTVs so that each of the manipulators can execute, during performance of its action orders, its transfer actions within its action zone, in particular uninterruptedly, due to the DTVs preparing the corresponding selected transfer locations within the action zone and/or downstream thereto in time for the transfer of the handling units.