{HEAD ~ a plurality} of {TAIL ~ nodes} having location information to respectively correspond to the starting position and the target positions at which the articles are transported 
{ HEAD ~ a plurality } of { TAIL ~ nodes } having location information to respectively correspond to the starting position and the target positions at which the articles are transported
HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH