Abstract
The paper considers the problem of packing nonconvex polyhedra into a container of minimum volume. An exact mathematical model of the problem of packing nonconvex polyhedra with continuous translations and rotations is constructed. Characteristics of the mathematical model are analyzed and are used as the basis to develop a multistage solution approach to obtain a nearly optimal solution, which is not the global minimum but is a proved local minimum. Numerical examples are given.
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