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C. I. Liu, H. Jula, K. Vukadinovic and P. Ioannou, “Automated Guided Vehicle System for Two Container Yard Layouts,” Transportation Research Part C: Emerging Technologies, Vol. 12, No. 5, 2004, pp. 349-368.
http://dx.doi.org/10.1016/j.trc.2004.07.014

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