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Given a set of rectangular items such as dishes, cups, saucers, or forks and a rectangular shelf of a dish cart, the twodimensional single bin packing problem (2D-BPP) involves orthogonally packing a subset of the items within the shelf such that the sum of the values of the packed items is maximized. If the value of an item is given by its area, the objective is to maximize the covered area of the shelf. Thus, this paper aims to optimize the transport capacity of a serving robot carrying adoi:10.12785/amis/080517 fatcat:p4qvb4zvxfegbgwyobhlxoqnhi