Mixed integer programming models on scheduling automated stacking cranes

Automated deep-sea container terminals are the main hubs to move millions of containers in today’s global supply chains. Terminal operators often decouple the landside and waterside operations by stacking containers in stacks perpendicular to the quay. Traditionally, a single automated stacking cranes (ASC) is deployed at each stack to handle containers. A recent trend is to use new configurations with more than one crane to improve efficiency. A variety of new configurations have been implemented, such as twin, double, and triple ASCs. In this paper, the authors explore and review the mixed integer programming models that have been developed for the stacking operations of these new configurations. They further discuss how these models can be extended to contemplate diverse operational constraints including precedence constraints, interference constraints, and other objective functions.