Assembly Sequence Planning for Rectangular Modular Robots with Accessibility Constraints

Algorithm 1

AssemblyOrder (G, s).

1: Label s as discovered

2: For each vertex w in G.adj[s] do

3:   If vertex w is labeled as undiscovered then

4:    Ifw can be added to the structure (addEdge (G, w) is true) then

5:     G.Tree[s] ← w

6:     G.parent(w) = s

7:   Label w as discovered

8:   AssemblyOrder (G, w)

9:   Else

10:    deleteBranch (G, s)

11:    Label s as undiscovered

12:    Return

13: If exists w in G.adj[s] marked as undiscovered then

14:   deleteBranch (G, s)

15:   Label s as undiscovered

16: Return