Patent ID: 8290613

Claim:
An automated system for a three-dimensional warehousing facility for receiving an item at a delivery bay, storing the item in a storage space, and retrieving the item from the storage space, the automated system comprising: a. mechanical elements for transporting the item between the delivery bay and the storage space; and b. a distributed control system including: i. a plurality of independent controllers, each with an associated controller program and each associated with one of the mechanical elements; and ii. a network interconnecting the controllers for communications among the controllers, wherein each of the controllers, running its associated controller program, controls the operation of its associated mechanical element and communicates, via the network, with other controllers associated with other mechanical elements without the need for a central management computer running central management software and wherein the controller programs are distributed among the controllers to enable the controllers to control the whole automated system without the need for a central management computer running central management software.