Given a finite amount of "slots" in 3D space, e.g.
$$S = [(1,2,3),(1,3,3),(1,4,3),(1,3,4)] \in \mathbb{N}^3.$$
I'm trying to find an efficient algorithm to determine a minimal set of (rectangular) cuboids $B$ that cover all slots. E.g. a non minimal solution for the example above would be
$$B = \{\{S_1,S_3\}, \{S_0\}, \{S_2\}\}$$
and a minimal solution would be
$$B = \{\{S_0, S_1, S_2\},\{S_3\}\}.$$
An algorithm that converges would be preferred. Surely there has been some research on this already. I'd be very happy if someone could point me into the right direction!