Algorithm 1: Solving the energy-efficient collision-free machine/AGV scheduling problem in the virtual planning layer
1:	task state = new
2:	if AGV state = idle
3:	if assigned then task state = ready
4:	initialize the parameters of energy-efficient collision-free machine/AGV scheduling problem
5:	initialize the parameters of APC
6:	initialize the parameters of the solving system
7:	encode the APC individual by Equation (38)
8:	select fitness function by Equations (37) and (12)
9:	for ite = 1 to ${Ite}_{max}$
10:		produce the random seeds by $p_{seed}$
11:		produce seeds from the previous fruits
12:		calculate fitness by Equations (37) and (12)
13:		choose the best solutions by $p_{grow}$
14:		choose the elite individual with the highest fitness
15:		choose a fruit through parthenogenesis
16:		produce fruits through social learning by $p_{fruit}$
17:		end justification by $e_{th}$
18:	end for
19:	output the optimal solution in the virtual planning layer
20:	if scheduled then task state = performing
21:	if interrupted then task state = waiting
22:	if completed then task state = exit