Abstract: A transportation system for autonomous vehicles may include a control system configured to determine respective vehicle trajectories for respective autonomous vehicles and to provide the respective vehicle trajectories to the respective autonomous vehicles. The transportation system may also include a pair of roadways extending alongside one another and physically divided from one another, a first roadway of the pair of roadways configured for vehicle travel in a first direction, and a second roadway of the pair of roadways configured for vehicle travel in a second direction opposite the first direction, a boarding zone that is vertically separated from the pair of roadways and includes a set of boarding slots configured to receive autonomous vehicles, and a mixing zone adjacent the set of boarding slots and configured to allow vehicle access to the set of boarding slots for vehicles from the first roadway and the second roadway.

Abstract: Facility layouts and configurations for an automated crop production system for controlled environment agriculture. In particular implementations, the core of the facility comprises a controlled growth environment and a central processing system. The controlled growth environment includes systems for exposing crops housed in modules, such as grow towers, to controlled environmental conditions. The central processing system may include various stations and functionality both for preparing crop-bearing modules to be inserted in the controlled growth environment, for harvesting crops from the crop-bearing modules after they have been extracted from the controlled growth environment, and for cleaning or washing crop-bearing modules for re-use. The controlled growth environment may include vertical farming structure having vertical grow towers and associated conveyance mechanisms for moving the vertical grow towers along one or more grow lines.