question

I think of three different solutions.

1. Creating an own ASRS from a basic taskexecuter.
2. Coordinated tasksequence with two vehicles.
3. force offset travel by updating properties

solution 2

A taskexecuter is loading an ASRS whenever a different aisle is required. The ASRS is at an aisle end, then the taskexecuter loads it and travels to another aisle. Then it unloads the ASRS.

solution 3

Offset travel is deactivated upon resetting a model, but if you activate offset travel for an ASRS vehicle right before hitting run model, then an ASRS perform offset travel. You can automate this by setting a property after reset through a message. Please refer to On Message trigger in attached model. Unfortunately the ASRS vehicle does not continue after an unloading process at an offset location. Instead this vehicle resets itself to a default state. To prevent this I let finish an offset travel by traveling back to a control point. The involved control point add an offset task to travel to this location back. Please refer to control point On Arrival trigger source code.

multi_aisle_asrs.fsm

multi_aisle_asrs_compensate_locations.fsm