The transtainer is modeled as an autonomous whose goal is to efficiently perform the stacking operations of the containers in the yard. The transtainer has to minimize its empty movements. Each one is waiting for stacking request from different service agents, that facilitate the transtainer with:
-the containers to be move from the stack and where they are located: this is done for vessel or external truck loading.
-the containers to be moved to the stack and where they must be placed: this is done for vessel or external truck unloading.