For grid storage with known arrival and departure orders, zero-rearrangement operation at full density is possible exactly when the access side has at least three columns.
A high-density system for carton sequencing,
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Fully Packed and Ready to Go: High-Density, Rearrangement-Free, Grid-Based Storage and Retrieval
For grid storage with known arrival and departure orders, zero-rearrangement operation at full density is possible exactly when the access side has at least three columns.