Corman, F., Xin, J., Negenborn, R. R., D’Ariano, A., Samà, M., Toli, A. (2016) “Optimal Scheduling and Routing of Free-range AGVs at Large Scale Automated Container Terminals”, Periodica Polytechnica Transportation Engineering, 44(3), pp. 145–154. https://doi.org/10.3311/PPtr.8620