This paper presents a method for assigning destinations to drop off points in robotic sorting systems, taking into account robot congestion.
Progress in Material Handling Research
Koster, René de; Chen, Yuerong; Zou, Bipan; and Gong, Yeming Yale, "Sorting with Robots: where to drop off the parcel?" (2023). 16th Proceedings (Dresden, Germany- 2023). 7.