COORDINATION OF PATHS OF A PLURALITY OF MOVABLE MACHINES

A method according to the invention for the at least partially automated coordination of a path arrangement of a machine arrangement, having a path (P1) of at least one first movable machine (R1) in the machine arrangement and an additional path (P2) of at least one second movable machine (R2), comprises the step of: determining (S90) at least one waiting dependence (W2; W3) between a path point (K13; K14) of a path (P1) of a first machine (R1) in the machine arrangement and a path point (K23; K23) of the additional path (P2) in order to avoid a collision between the second machine (R2) and this first machine (R1) provided that a quality criterion (T) for jointly leaving the path arrangement (P1) and the additional path (P2) while complying with this waiting dependence (W2; W3) is not worse, in particular is better, than when complying with an alternative inverse waiting dependence (W1; W4) between a path point (K15; K12) of the path (P1) of the first machine (R1) and a path point (K21; K25) of the additional