Scheduling Optimization for Twin ASC in an Automated Container Terminal Based on Graph Theory

Table 1

Parameter notations.

Parameters
K	Set of ASCs with , and ASC1 represents the seaside ASC, ASC2 represents the landside ASC
J	set of all jobs with , and m represents the total number of jobs
	Job set of ASC k
	The origin position of job j J
	The destination position of job J
B	set of all bays in a single block with B = {0,1, …, 41}
	The travel time from the origin position of job to the destination position of job , and
	The travel time from the destination position of job to the origin position of job
	The picking and dropping time of ASC
	The safety distance between two ASCs
	Represent a virtual job in the initial position of ASC,
M	A very large number
Decision variables:
W	Makespan of the ASCs
	When jobs are executed by the same ASC and job is executed after job , 1, where , otherwise
	When ASC starts to perform job ,  = 1, otherwise  = 0
	When ASC finish executing job ,  = 1, otherwise  = 0
	When ASC is in bay b at the time , , otherwise