Assembly Sequence Planning for Rectangular Modular Robots with Accessibility Constraints

Table 5

ASP3 computational time for the examples with narrow corridors.

Target configuration	ASP result and starting point	Computational time (ms)
Figure 11(a)	See Figure 12(a)	3.706
Figure 11(b)	See Figure 12(b)	5.384
Figure 11(c)	See Figure 12(c)	3.375
Figure 12(d)	It does not exist	29
Figure 14	See Figure 14	8.87