Formulation of packing problem applying densest packing algorithms to planning of packing for robot

In this paper, the author deals with a formulation of packing several kinds of goods, which are separately packed into separated areas in a container. In order to minimize the size of a container, each volume of each kind of goods (“block”) should be minimized. In this minimization, packing procedures should be taken into account in order to determine feasibility of packing by a robot. In this paper, packing procedures are generated automatically by using the proposed method.