An Efficient Procedure for Inserting Buffers to Generate Robust Berth Plans in Container Terminals

Table 1

The notations used for berth plans.

	The set of vessels,
	The estimated arrival time of vessel
	The estimated processing time of vessel
	The required departure time of vessel
	The length of vessel
	The assigned operation starting time of vessel
	The assigned berthing position of vessel
	The actual arrival time of vessel in reality
	The actual processing time of vessel in reality
	The actual departure time of vessel in reality