In distributed systems like clouds or service oriented frameworks, applications are typically assembled by deploying and connecting a large number of heterogeneous software components, spanning from fine-grained packages to coarse-grained complex services. The complexity of such systems requires a rich set of techniques and tools to support the automation of their deployment process. By relying on a formal model of components, we describe a sound and complete algorithm for computing the sequence of actions allowing the deployment of a desired configuration. Moreover, differently from other proposals in the literature, our technique works even in the presence of circular dependencies among components. We give a proof for the polynomiality of the devised algorithm, thus guaranteeing efficiency and effectiveness of automatic tools for component deployment based on our algorithm.