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I got this post forwarded by a friend. I hope this is still alive. I did some research on RMFS back in the day. I also shared basically all my code here: https://github.com/merschformann/RAWSim-O Maybe it's useful to you in some way (apologies for some wild-growth in the code base in advance; it grew quickly and had to satisfy many ideas). Personally, I was interested in more accurate results (not too many abstractions), which is why I started with a detailed simulation model. Then, I focused on problems that arose from that approach (path planning, basic control logic, etc.). I later worked for a supplier of an RMFS and was able to verify the accuracy of my model to some extent (it came quite close - depending on the parameters of course). However, there are certainly different angles from which to approach RMFS research-wise. It also depends a bit on whether specific methodologies are expected from you (you mentioned Queuing Networks, etc.). I can also highly recommend finding someone for collaboration (it gave me a lot, not only regarding research but also personally - I met my best research buddy at a conference). I may be a bit out of touch with the state-of-the-art as I moved to new applications. But if it helps, feel free to ping me for some discussion. (I had quite some people contacting me about this, and I'm always happy to help [as time allows it and as helpful as I can be ;) ])