Abstract: Methods for anti-collision control of pickers in a packaging line are disclosed. The line includes linear conveyors for the inlet of items and for the outlet of items, robots or picking devices that operate with shared working areas. The anti-collision method comprises an algorithm to assign a pickup location or a delivery location to a generic first robot including: checking for a pickup or delivery location already assigned to other robots and in a working area shared with the first robot; dynamically redefining the working area of the first robot to obtain a new working area such that the locations already assigned to other robots are outside of the dynamically-redefined area; assigning of a respective pickup or delivery location belonging to the redefined working area to the first robot. A prediction algorithm is disclosed to improve management of items and balancing of work load between the robots.