Autonomous vehicle-based storage and retrieval systems are commonly used in e-commerce fulfillment as they allow a high and flexible throughput capacity. In these systems, roaming robots transport loads between a storage location and a workstation. Two main variants exist: Horizontal, where the...

Shuttle-based compact systems are new automated multi-deep unit-load storage systems with lifts that promise both low operational cost and large volume flexibility. In this paper, we develop novel queuing network models to estimate the performance of both single-tier and multi-tier shuttle-based...