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Robotic-based compact storage and retrieval systems provide high-densitystorage in distribution center and warehouse applications. In the system, itemsare stored in bins, and the bins are organized inside a three-dimensional grid.Robots move on top of the grid to retrieve and deliver bins. To retrieve a bin,a robot removes all bins above one by one with its gripper, called bin digging.The closer the target bin is to the top of the grid, the less digging isrequired to retrieve the bin. In this paper, we propose a policy to optimallyarrange the bins in the grid while processing bin requests so that the mostfrequently accessed bins remain near the top of the grid. This improves theperformance of the system and makes it responsive to changes in bin demand. Oursolution approach identifies the optimal bin arrangement in the storagefacility, initiates a transition to this optimal set-up, and subsequentlyensures the ongoing maintenance of this arrangement for optimal performance. Weperform extensive simulations on a custom-built discrete event model of thesystem. Our simulation results show that under the proposed policy more thanhalf of the bins requested are located on top of the grid, reducing bin diggingcompared to existing policies. Compared to existing approaches, the proposedpolicy reduces the retrieval time of the requested bins by over 30% and thenumber of bin requests that exceed certain time thresholds by nearly 50%.

Minimizing Robot Digging Times to Retrieve Bins in Robotic-Based Compact Storage and Retrieval Systems