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An assembly sequence planner is a system which, given a description of an assembly to be manufactured, identi es subassemblies and generates high-level plans for the construction of the each subassembly, including the nal assembly. Previous research has shown that feasible plans can be e ciently produced for large assemblies, but the generation of good plans has met with less success. Not only are there di culties in de ning \good plans," but all published methods for nding good plans havedoi:10.1109/70.554344 fatcat:pl7cstmf6zdt3mfet6neouabpe