  In this paper we present a framework of key algorithms and data-structures
for efficiently generating timetables for any number of AGVs from any given
positioning on any given graph to accomplish any given demands as long as a few
easily satisfiable assumptions are met. Our proposed algorithms provide
guaranteed solutions in predictable polynomial running-times, which is
fundamental to any real-time application. We also develop an improved
geographic reservation algorithm that provides a substantial run-time
improvement of the previously best-known algorithm from $O(nm)$ to $O(n)$.
