Abstract: A method of controlling movement of a plurality of movable devices includes determining, by a processor, at least one of a first priority level or a first safety zone for a first movable device of the plurality of movable devices. The method also includes determining, by the processor, at least one of a second priority level or a second safety zone for a second movable device of the plurality of movable devices based on information relating to the second movable device. The method further includes generating, by the processor, a collision avoidance measure to avoid collision with the second movable device during movement based on at least one of the first priority level, the first safety zone, the second priority level, or the second safety zone.