(a) A gantry of a mobile harbor crane; (b) 3D representation of the gantry by stacking two cuboids on top of each other with blue dots depicting access points and red rectangles obstacle areas; (c) unfolded 2D representation of the gantry with grey areas representing non-accessible spaces, which are treated as obstacles; (d) solutions with one entry point and different angle restrictions: left – no restriction; right – 0^∘, 45^∘ and 90^∘; (e) solutions with two entry point and different angle restrictions: left – no restriction; right – 0^∘, 45^∘ and 90^∘; (f) multi-objective optimization results when trading-off geometrical/Euclidean optimality and domain-specific optimality (featuring only 0^∘ and 90^∘ angles)