Assembly Sequence Planning for Rectangular Modular Robots with Accessibility Constraints

Algorithm 5

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:     If s 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) = s

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:   If G.parent(s) is a hole, then

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

22:     G.Tree[z] ← w

23:     G.parent(w) = s

24:    Return

25:   Else

26:    Label s as undiscovered

27:    Return