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For overlapping operations, the ALVs may need to process an unload transaction after processing a load transaction or vice versa. In such situations, the ALVs have to move from one QC location to another QC location or from one SC location to another SC location. In this section, we adopt the analytical model from Roy and De Koster, 2015 to develop travel time expressions for such movements.

Additional Reference Material for the Paper Titled 'Optimal Stack Layout in a Sea Container Terminal with Automated Lifting Vehicles'