We present analytic results for warehouse systems involving pairs of carousels. Specifically, for various picking strategies, we show that the sojourn time of the picker satisfies an integral equation that is a contraction mapping. As a result, numer
ical approximations for performance measures such as the throughput of the system are extremely accurate and converge fast (e.g. within 5 iterations) to their real values. We present simulation results validating our results and examining more complicated strategies for pairs of carousels.
