Algorithm 2: An algorithm for detection of usable empty storage volumes in the occupancy grid.

Input: free space core      Output: set of storage volume candidates C $C\leftarrow emptyset$ for each free space cores do     $C^{\prime }\leftarrow emptyset$     for each axis do         for each FSC layer do            if $FSClayer$ has only one connected component then                if $FSClayer$ is not rectangularly shaped then                    substitute FSC layer by its bounding box                end if                compute storage volume candidate by dilating FSC layer by $\delta$                if minimum size of storage volume candidate $\ge d_{bb}$ then                    detect storage surface                    adjust storage volume candidate to storage surface                    if this is the largest storage volume candidate for the current axis then                        add storage volume candidate to $C^{\prime }$                    end if                end if            end if         end for     end for     add the largest storage volume candidate contained in $C^{\prime }$ to set C end for