A storage array in an automated storage and retrieval
system includes storage spaces arrayed on racks along picking aisles, multiple level decks, where at least one
deck communicates with each
aisle, where the decks and aisles are configured to define a rolling surface for an autonomous transport vehicle at each level of the decks, racks along at least one
aisle at each level are at multiple rack levels that are accessed from a respective rolling surface that is common to the multiple rack levels, and a vertical
pitch between rack levels varies for a portion of a respective
aisle, the vertical
pitch between at least two rack levels of the portion of the respective aisle is related to another vertical
pitch between at least two other rack levels of another aisle portion of the respective aisle so the vehicle effects multiple picks in ordered sequence in a common aisle pass.