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A method for moving a mobile drive unit Within a Workspace includes receiving a path. The path includes at least an initial segment and one or more additional segments. The initial segment includes a portion of the path adjacent to the? rst point; and at least one of the additional segments includes a portion of the path adjacent to the second point. The method further includes storing the path, reserving the initial segment of the path, and moving aWay from the? rst point along the initial segment. After initiating movement along the initial segment, the method includes reserving each of the additional segments of the path and moving toWard the second point along each of the additional segments While that segment is reserved.