Assembly Sequence Planning for Rectangular Modular Robots with Accessibility Constraints

Algorithm 4

AssemblyOrder (G, s) configurations with internal holes.

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:    Ifs is a hole and w is not a hole or the first added robot system then

6:     If exists a discovered robot system z ∈ G.adj[w] then

7:      G.Tree[z] ← w

8:      G.parent(w) = z

9:     AssemblyOrder (G, w)

10:    Else

11:     G.Tree[s] ← w

12:    G.parent(w) = s

13:    AssemblyOrder (G, w)

14:   Else

15:    deleteBranch (G, s)

16:    Label s as undiscovered

17:    Return

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

19:  deleteBranch (G, s)

20:  Label s as undiscovered

21:  Return