It is disclosed storage and order-picking system (10) operated in accordance with a rendezvous-picking principle, wherein goods to be picked are removed from source containers (18) and delivered to target containers (20) at locally variable picking stations (22) in accordance with customer orders, comprising: a plurality of vehicles (16) for transporting the source containers (18) and the target containers (20) within the system (10); a warehouse area (12), where a plurality of the source containers (18) is stocked, preferably in racks (34, 36); an action area (14) in which the vehicles (16) move, preferably in an autonomous manner; a locally variable picking station (22) having a variable relative position (P) within the action area (14) which changes again and again over time dependent on customer orders and at which a rendezvous-picking is performed by a picking person (24) and/or a picking robot (26); and a controlling device (30) configured for the rendezvous-picking by determining the relative position (P) as well as associated transport orders for the vehicles (16) by the controlling device in an optimized manner, wherein the transport orders for the vehicles (16) define a temporally and locally synchronized meeting of a customer-order specific number of the source containers (18) and a customer-order specific number of the target containers (20) at the variable picking station (22).
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