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The main contribution of this paper is a mathematical model describing performance metrics for coordinating multiple mobile robots in a seaport container terminal. The scenario described here requires dealing with many difficult practical challenges such as the presence of multiple levels of container stacking and sequencing, variable container orientations, and vehicular dynamics that require finite acceleration and deceleration times. Furthermore, in contrast to the automatically guideddoi:10.1109/robot.2010.5509706 dblp:conf/icra/YuanSHLDLPP10 fatcat:32ips73tmzc7rg3pbsswlm5ode