A Two-Stage Path Planning Method for the Rearrangement Problem in Modular Puzzle-Based Storage System

Algorithm 5

BMM (, G).

	Input: sequence of single moves  =  , a set of all the longest block moves G.
	Output: the block move at the current step.
(1)	Initialize, ,
(2)	foreachdo
(3)	foreachdo
(4)	ifthen
(5)	whiledo
(6)	,
(7)	end while
(8)	end if
(9)	end foreach
(10)	end foreach
(11)	return