Recent progress in the field of robotic manipulation has generated interest in fully automatic object packing in warehouses. This paper proposes a formulation of the packing problem that is tailored to the automated warehousing domain. Besides minimizing waste space inside a container, the problem requires stability of the object pile during packing and the feasibility of the robot motion executing the placement plans. To address this problem, a set of constraints are formulated, and a constructive packing pipeline is proposed to solve for these constraints. The pipeline is able to pack geometrically complex, non-convex objects with stability while satisfying robot constraints. In particular, a new 3D positioning heuristic called Heightmap-Minimization heuristic is proposed, and heightmaps are used to speed up the search. Experimental evaluation of the method is conducted with a realistic physical simulator on a dataset of scanned real-world items, demonstrating stable and high-quality packing plans compared with other 3D packing methods.
 Given a set of rectangular pieces to be cut from an unlimited number of standardized stock pieces (bins), the Two-Dimensional Finite Bin Packing Problem is to determine the minimum number of stock pieces that provide all the pieces. The problem is NP-hard in the strong sense and finds many practical applications in the cutting and packing area. We analyze a well-known lower bound and determine its worst-case performance. We propose not lower bounds which are used within a branch-and-bound algorithm for the exact solution of the problem. Extensive computational testing on problem instances from the literature involving up to 120 pieces shows the effectiveness of the proposed approach. One of the main issues in addressing three-dimensional packing problems is finding an efficient and accurate definition of the points at which to place the items inside the bins, because the performance of exact and heuristic solution methods is actually strongly influenced by the choice of a placement rule. We introduce the extreme point concept and present a new extreme point-based rule for packing items inside a three-dimensional container. The extreme point rule is independent from the particular packing problem addressed and can handle additional constraints, such as fixing the position of the items. The new extreme point rule is also used to derive new constructive heuristics for the three-dimensional bin-packing problem. Extensive computational results show the effectiveness of the new heuristics compared to state-of-the-art results. Moreover, the same heuristics, when applied to the two-dimensional bin-packing problem, outperform those specifically designed for the problem. The following abstract problem models several practical problems in computer science and operations research: given a list L of real numbers between 0 and l, place the elements of L into a minimum number @math of “bins” so that no bin contains numbers whose sum exceeds l. Motivated by the likelihood that an excessive amount of computation will be required by any algorithm which actually determines an optimal placement, we examine the performance of a number of simple algorithms which obtain “good” placements. The first-fit algorithm places each number, in succession, into the first bin in which it fits. The best-fit algorithm places each number, in succession, into the most nearly full bin in which it fits. We show that neither the first-fit nor the best-fit algorithm will ever use more than @math bins. Furthermore, we outline a proof that, if L is in decreasing order, then neither algorithm will use more than @math bins. Examples are given to show that both upper bou... We consider problems of packing an arbitrary collection of rectangular pieces into an open-ended, rectangular bin so as to minimize the height achieved by any piece. This problem has numerous applications in operations research and studies of computer operation. We devise efficient approximation algorithms, study their limitations, and derive worst-case bounds on the performance of the packings they produce. The problem addressed in this paper is that of orthogonally packing a given set of rectangular-shaped items into the minimum number of three-dimensional rectangular bins. The problem is strongly NP-hard and extremely difficult to solve in practice. Lower bounds are discussed, and it is proved that the asymptotic worst-case performance ratio of the continuous lower bound is ?. An exact algorithm for filling a single bin is developed, leading to the definition of an exact branch-and-bound algorithm for the three-dimensional bin packing problem, which also incorporates original approximation algorithms. Extensive computational results, involving instances with up to 90 items, are presented: It is shown that many instances can be solved to optimality within a reasonable time limit. In the three-dimensional bin packing problem the task is to orthogonally pack a given set of rectangular items into a minimum number of three-dimensional rectangular bins. We give a characterization of the algorithm proposed by (2000) for the exact solution of the problem, showing that not all orthogonal packings can be generated by the proposed algorithm. The packings, however, have the property of being robot packings, which is relevant in practical settings. References to the modified algorithm, which solves the orthogonal as well as robot packable three-dimensional problem, are given.