Silvano Martello David Pisinger Daniele Vigo Edgar den Boef Jan H. M. Korst Algorithm 864: General and robot-packable variants of the three-dimensional bin packing problem. 7 2007 33 ACM Trans. Math. Softw. 1 http://doi.acm.org/10.1145/1206040.1206047 db/journals/toms/toms33.html#MartelloPVBK07