Assembly Sequence Planning for Rectangular Modular Robots with Accessibility Constraints

Figure 8

(a) A target structure with an internal hole. (b) If the internal hole is modeled as a singular robot system h₁, the target structure cannot be assembled. In fact, robot system C cannot be assembled in C → h₁ or h₁ → C order (c). As shown, respectively, in (d) and (e), robot system C induces conflicting edges in h₁ and vice versa.

(a)

(b)

(c)

(d)

(e)