Abstract: An apparatus and method for controlling agent movement in an operating space, the apparatus comprising: a processor; a communication interface; a storage device for storing one or more routines, the processor controls the apparatus to: process information about the operating space received by the communication interface to predict one or more interfering condition; divide the operating space into a plurality of sub-regions based on the predicted one or more interfering condition; define operating constraints for each agent in each sub-region having the predicted one or more interfering condition; and generate a movement path in the respective sub-region having the predicted one or more interfering condition for each agent in each sub-region having the predicted one or more interfering condition based on the defined operating constraints so as to avoid the predicted one or more interfering condition.