Assembly Sequence Planning for Rectangular Modular Robots with Accessibility Constraints

Algorithm 2

addEdge (G, s).

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

2:  If vertex w is labeled as discovered then

3:   Create edge (w, s)

4: Check if any created edges are in conflict

5: IfA conflict occurs then

6:  Return false

7: Else

8:  Return true