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This study presents an ongoing project that deals with the development of a dynamic scheduling system for FMS. In the case the FMS scheduling period is very short e.g. a shift or even a day, it is safe to regard the FMS external environment as a constant. As a result, instead of implementing a single highly complex controller as was suggested in the post, the control scheme in this study will develop a new controller for every scheduling period (next shift or next day). Unfortunately, the same can not be argued regarding the internal changes the FMS may encounter such as machine breakdowns or maintenance. These changes will be handled by a two-level control hierarchy. The suggested scheduling and control scheme is being developed, implemented and tested in a physical CIM/FMS environment at the CIM and Robotics Lab of the Faculty of Industrial Engineering and Management at the Technion.