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

Algorithm 6

PMM..

	Input: sequence of single moves .
	Output: the parallel move at current step.
(1)	Initialize, ,
(2)	whiledo
(3)	ifthen
(4)
(5)	end if
(6)	end while
(7)	return