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