The paper describes a novel concept for the task assignment of Automated Guided Vehicles. It ena-bles the transfer of transport loads between vehicles at de-fined transfer stations during transport execution. Transfers are planned ad-hoc considering the current system status. For the computation of schedules different solution methods are presented and discussed based on test instances and a material flow simulation. As a result, it is shown that improvements can be achieved in respect to costs for driving and handling to realize schedules and thus to vehicle utilization.