Assembly Sequence Planning for Rectangular Modular Robots with Accessibility Constraints

<div>This figure shows an application of Rule 2. When the target configuration is assembled in the order shown by the arrows, hole <i>h</i><sub>2</sub> does not connect with any robot already in the structure. In fact, <i>h</i><sub>2</sub> only connects with <i>h</i><sub>1</sub>, which is another hole.</div>

Journal of Robotics

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Figure 10

Figure 10: Assembly Sequence Planning for Rectangular Modular Robots with Accessibility Constraints 