In this study the routing problem for unit-load automated storage and retrieval systems (AS/RSs) with separate input and output points is considered under the shared storage policy. The problem is to find an optimal travel route of a S/R (storage and retrieval) machine to process given storage and retrieval requests so that the total travel time is minimised, where the input and output points are possibly separate and the shared storage policy is assumed. We first give two types of formulations as 0–1 integer linear programming problems corresponding to two types of dwell point settings: the dwell point is the input point and the output point. Next, we propose a simple but efficient exact solution algorithm based on the formulations that utilises a general MILP (Mixed Integer Linear Programming) solver. Its efficiency is then demonstrated by numerical experiments. Instances with 400 items (200 for each storage and retrieval) are solved within 100 s.