================================================================
reLOC 0.09-vegas : Multirobot Solution solver
(C) Copyright 2011-2013 Pavel Surynek
----------------------------------------------------------------
Reading graph...
1,0
12,0
2,1
13,1
3,2
14,2
4,3
15,3
5,4
16,4
6,5
17,5
7,6
18,6
8,7
19,7
9,8
20,8
10,9
21,9
11,10
22,10
13,12
24,12
14,13
25,13
15,14
26,14
16,15
27,15
17,16
28,16
18,17
29,17
19,18
30,18
20,19
31,19
21,20
32,20
22,21
33,21
23,22
34,22
25,24
36,24
26,25
37,25
27,26
38,26
28,27
39,27
29,28
40,28
30,29
41,29
31,30
42,30
32,31
43,31
33,32
44,32
34,33
45,33
35,34
46,34
37,36
48,36
38,37
49,37
39,38
50,38
40,39
51,39
41,40
52,40
42,41
53,41
43,42
54,42
44,43
55,43
45,44
56,44
46,45
57,45
47,46
58,46
49,48
60,48
50,49
61,49
51,50
62,50
52,51
63,51
53,52
64,52
54,53
65,53
55,54
66,54
56,55
67,55
57,56
68,56
58,57
69,57
59,58
70,58
61,60
72,60
62,61
73,61
63,62
74,62
64,63
75,63
65,64
76,64
66,65
77,65
67,66
78,66
68,67
79,67
69,68
80,68
70,69
81,69
71,70
82,70
73,72
84,72
74,73
85,73
75,74
86,74
76,75
87,75
77,76
88,76
78,77
89,77
79,78
90,78
80,79
91,79
81,80
92,80
82,81
93,81
83,82
94,82
85,84
96,84
86,85
97,85
87,86
98,86
88,87
99,87
89,88
100,88
90,89
101,89
91,90
102,90
92,91
103,91
93,92
104,92
94,93
105,93
95,94
106,94
97,96
108,96
98,97
109,97
99,98
110,98
100,99
111,99
101,100
112,100
102,101
113,101
103,102
114,102
104,103
115,103
105,104
116,104
106,105
117,105
107,106
118,106
109,108
120,108
110,109
121,109
111,110
122,110
112,111
123,111
113,112
124,112
114,113
125,113
115,114
126,114
116,115
127,115
117,116
128,116
118,117
129,117
119,118
130,118
121,120
132,120
122,121
133,121
123,122
134,122
124,123
135,123
125,124
136,124
126,125
137,125
127,126
138,126
128,127
139,127
129,128
140,128
130,129
141,129
131,130
142,130
23,11
35,23
47,35
59,47
71,59
83,71
95,83
107,95
119,107
131,119
143,131
133,132
134,133
135,134
136,135
137,136
138,137
139,138
140,139
141,140
142,141
143,142
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=144 |E|=264) [
    Vertex: (id = 0) {1 12 }
    Vertex: (id = 1) {0 2 13 }
    Vertex: (id = 2) {1 3 14 }
    Vertex: (id = 3) {2 4 15 }
    Vertex: (id = 4) {3 5 16 }
    Vertex: (id = 5) {4 6 17 }
    Vertex: (id = 6) {5 7 18 }
    Vertex: (id = 7) {6 8 19 }
    Vertex: (id = 8) {7 9 20 }
    Vertex: (id = 9) {8 10 21 }
    Vertex: (id = 10) {9 11 22 }
    Vertex: (id = 11) {10 23 }
    Vertex: (id = 12) {0 13 24 }
    Vertex: (id = 13) {1 12 14 25 }
    Vertex: (id = 14) {2 13 15 26 }
    Vertex: (id = 15) {3 14 16 27 }
    Vertex: (id = 16) {4 15 17 28 }
    Vertex: (id = 17) {5 16 18 29 }
    Vertex: (id = 18) {6 17 19 30 }
    Vertex: (id = 19) {7 18 20 31 }
    Vertex: (id = 20) {8 19 21 32 }
    Vertex: (id = 21) {9 20 22 33 }
    Vertex: (id = 22) {10 21 23 34 }
    Vertex: (id = 23) {22 11 35 }
    Vertex: (id = 24) {12 25 36 }
    Vertex: (id = 25) {13 24 26 37 }
    Vertex: (id = 26) {14 25 27 38 }
    Vertex: (id = 27) {15 26 28 39 }
    Vertex: (id = 28) {16 27 29 40 }
    Vertex: (id = 29) {17 28 30 41 }
    Vertex: (id = 30) {18 29 31 42 }
    Vertex: (id = 31) {19 30 32 43 }
    Vertex: (id = 32) {20 31 33 44 }
    Vertex: (id = 33) {21 32 34 45 }
    Vertex: (id = 34) {22 33 35 46 }
    Vertex: (id = 35) {34 23 47 }
    Vertex: (id = 36) {24 37 48 }
    Vertex: (id = 37) {25 36 38 49 }
    Vertex: (id = 38) {26 37 39 50 }
    Vertex: (id = 39) {27 38 40 51 }
    Vertex: (id = 40) {28 39 41 52 }
    Vertex: (id = 41) {29 40 42 53 }
    Vertex: (id = 42) {30 41 43 54 }
    Vertex: (id = 43) {31 42 44 55 }
    Vertex: (id = 44) {32 43 45 56 }
    Vertex: (id = 45) {33 44 46 57 }
    Vertex: (id = 46) {34 45 47 58 }
    Vertex: (id = 47) {46 35 59 }
    Vertex: (id = 48) {36 49 60 }
    Vertex: (id = 49) {37 48 50 61 }
    Vertex: (id = 50) {38 49 51 62 }
    Vertex: (id = 51) {39 50 52 63 }
    Vertex: (id = 52) {40 51 53 64 }
    Vertex: (id = 53) {41 52 54 65 }
    Vertex: (id = 54) {42 53 55 66 }
    Vertex: (id = 55) {43 54 56 67 }
    Vertex: (id = 56) {44 55 57 68 }
    Vertex: (id = 57) {45 56 58 69 }
    Vertex: (id = 58) {46 57 59 70 }
    Vertex: (id = 59) {58 47 71 }
    Vertex: (id = 60) {48 61 72 }
    Vertex: (id = 61) {49 60 62 73 }
    Vertex: (id = 62) {50 61 63 74 }
    Vertex: (id = 63) {51 62 64 75 }
    Vertex: (id = 64) {52 63 65 76 }
    Vertex: (id = 65) {53 64 66 77 }
    Vertex: (id = 66) {54 65 67 78 }
    Vertex: (id = 67) {55 66 68 79 }
    Vertex: (id = 68) {56 67 69 80 }
    Vertex: (id = 69) {57 68 70 81 }
    Vertex: (id = 70) {58 69 71 82 }
    Vertex: (id = 71) {70 59 83 }
    Vertex: (id = 72) {60 73 84 }
    Vertex: (id = 73) {61 72 74 85 }
    Vertex: (id = 74) {62 73 75 86 }
    Vertex: (id = 75) {63 74 76 87 }
    Vertex: (id = 76) {64 75 77 88 }
    Vertex: (id = 77) {65 76 78 89 }
    Vertex: (id = 78) {66 77 79 90 }
    Vertex: (id = 79) {67 78 80 91 }
    Vertex: (id = 80) {68 79 81 92 }
    Vertex: (id = 81) {69 80 82 93 }
    Vertex: (id = 82) {70 81 83 94 }
    Vertex: (id = 83) {82 71 95 }
    Vertex: (id = 84) {72 85 96 }
    Vertex: (id = 85) {73 84 86 97 }
    Vertex: (id = 86) {74 85 87 98 }
    Vertex: (id = 87) {75 86 88 99 }
    Vertex: (id = 88) {76 87 89 100 }
    Vertex: (id = 89) {77 88 90 101 }
    Vertex: (id = 90) {78 89 91 102 }
    Vertex: (id = 91) {79 90 92 103 }
    Vertex: (id = 92) {80 91 93 104 }
    Vertex: (id = 93) {81 92 94 105 }
    Vertex: (id = 94) {82 93 95 106 }
    Vertex: (id = 95) {94 83 107 }
    Vertex: (id = 96) {84 97 108 }
    Vertex: (id = 97) {85 96 98 109 }
    Vertex: (id = 98) {86 97 99 110 }
    Vertex: (id = 99) {87 98 100 111 }
    Vertex: (id = 100) {88 99 101 112 }
    Vertex: (id = 101) {89 100 102 113 }
    Vertex: (id = 102) {90 101 103 114 }
    Vertex: (id = 103) {91 102 104 115 }
    Vertex: (id = 104) {92 103 105 116 }
    Vertex: (id = 105) {93 104 106 117 }
    Vertex: (id = 106) {94 105 107 118 }
    Vertex: (id = 107) {106 95 119 }
    Vertex: (id = 108) {96 109 120 }
    Vertex: (id = 109) {97 108 110 121 }
    Vertex: (id = 110) {98 109 111 122 }
    Vertex: (id = 111) {99 110 112 123 }
    Vertex: (id = 112) {100 111 113 124 }
    Vertex: (id = 113) {101 112 114 125 }
    Vertex: (id = 114) {102 113 115 126 }
    Vertex: (id = 115) {103 114 116 127 }
    Vertex: (id = 116) {104 115 117 128 }
    Vertex: (id = 117) {105 116 118 129 }
    Vertex: (id = 118) {106 117 119 130 }
    Vertex: (id = 119) {118 107 131 }
    Vertex: (id = 120) {108 121 132 }
    Vertex: (id = 121) {109 120 122 133 }
    Vertex: (id = 122) {110 121 123 134 }
    Vertex: (id = 123) {111 122 124 135 }
    Vertex: (id = 124) {112 123 125 136 }
    Vertex: (id = 125) {113 124 126 137 }
    Vertex: (id = 126) {114 125 127 138 }
    Vertex: (id = 127) {115 126 128 139 }
    Vertex: (id = 128) {116 127 129 140 }
    Vertex: (id = 129) {117 128 130 141 }
    Vertex: (id = 130) {118 129 131 142 }
    Vertex: (id = 131) {130 119 143 }
    Vertex: (id = 132) {120 133 }
    Vertex: (id = 133) {121 132 134 }
    Vertex: (id = 134) {122 133 135 }
    Vertex: (id = 135) {123 134 136 }
    Vertex: (id = 136) {124 135 137 }
    Vertex: (id = 137) {125 136 138 }
    Vertex: (id = 138) {126 137 139 }
    Vertex: (id = 139) {127 138 140 }
    Vertex: (id = 140) {128 139 141 }
    Vertex: (id = 141) {129 140 142 }
    Vertex: (id = 142) {130 141 143 }
    Vertex: (id = 143) {131 142 }
    Edge  0: 1 <-> 0
    Edge  1: 12 <-> 0
    Edge  2: 2 <-> 1
    Edge  3: 13 <-> 1
    Edge  4: 3 <-> 2
    Edge  5: 14 <-> 2
    Edge  6: 4 <-> 3
    Edge  7: 15 <-> 3
    Edge  8: 5 <-> 4
    Edge  9: 16 <-> 4
    Edge  10: 6 <-> 5
    Edge  11: 17 <-> 5
    Edge  12: 7 <-> 6
    Edge  13: 18 <-> 6
    Edge  14: 8 <-> 7
    Edge  15: 19 <-> 7
    Edge  16: 9 <-> 8
    Edge  17: 20 <-> 8
    Edge  18: 10 <-> 9
    Edge  19: 21 <-> 9
    Edge  20: 11 <-> 10
    Edge  21: 22 <-> 10
    Edge  22: 13 <-> 12
    Edge  23: 24 <-> 12
    Edge  24: 14 <-> 13
    Edge  25: 25 <-> 13
    Edge  26: 15 <-> 14
    Edge  27: 26 <-> 14
    Edge  28: 16 <-> 15
    Edge  29: 27 <-> 15
    Edge  30: 17 <-> 16
    Edge  31: 28 <-> 16
    Edge  32: 18 <-> 17
    Edge  33: 29 <-> 17
    Edge  34: 19 <-> 18
    Edge  35: 30 <-> 18
    Edge  36: 20 <-> 19
    Edge  37: 31 <-> 19
    Edge  38: 21 <-> 20
    Edge  39: 32 <-> 20
    Edge  40: 22 <-> 21
    Edge  41: 33 <-> 21
    Edge  42: 23 <-> 22
    Edge  43: 34 <-> 22
    Edge  44: 25 <-> 24
    Edge  45: 36 <-> 24
    Edge  46: 26 <-> 25
    Edge  47: 37 <-> 25
    Edge  48: 27 <-> 26
    Edge  49: 38 <-> 26
    Edge  50: 28 <-> 27
    Edge  51: 39 <-> 27
    Edge  52: 29 <-> 28
    Edge  53: 40 <-> 28
    Edge  54: 30 <-> 29
    Edge  55: 41 <-> 29
    Edge  56: 31 <-> 30
    Edge  57: 42 <-> 30
    Edge  58: 32 <-> 31
    Edge  59: 43 <-> 31
    Edge  60: 33 <-> 32
    Edge  61: 44 <-> 32
    Edge  62: 34 <-> 33
    Edge  63: 45 <-> 33
    Edge  64: 35 <-> 34
    Edge  65: 46 <-> 34
    Edge  66: 37 <-> 36
    Edge  67: 48 <-> 36
    Edge  68: 38 <-> 37
    Edge  69: 49 <-> 37
    Edge  70: 39 <-> 38
    Edge  71: 50 <-> 38
    Edge  72: 40 <-> 39
    Edge  73: 51 <-> 39
    Edge  74: 41 <-> 40
    Edge  75: 52 <-> 40
    Edge  76: 42 <-> 41
    Edge  77: 53 <-> 41
    Edge  78: 43 <-> 42
    Edge  79: 54 <-> 42
    Edge  80: 44 <-> 43
    Edge  81: 55 <-> 43
    Edge  82: 45 <-> 44
    Edge  83: 56 <-> 44
    Edge  84: 46 <-> 45
    Edge  85: 57 <-> 45
    Edge  86: 47 <-> 46
    Edge  87: 58 <-> 46
    Edge  88: 49 <-> 48
    Edge  89: 60 <-> 48
    Edge  90: 50 <-> 49
    Edge  91: 61 <-> 49
    Edge  92: 51 <-> 50
    Edge  93: 62 <-> 50
    Edge  94: 52 <-> 51
    Edge  95: 63 <-> 51
    Edge  96: 53 <-> 52
    Edge  97: 64 <-> 52
    Edge  98: 54 <-> 53
    Edge  99: 65 <-> 53
    Edge  100: 55 <-> 54
    Edge  101: 66 <-> 54
    Edge  102: 56 <-> 55
    Edge  103: 67 <-> 55
    Edge  104: 57 <-> 56
    Edge  105: 68 <-> 56
    Edge  106: 58 <-> 57
    Edge  107: 69 <-> 57
    Edge  108: 59 <-> 58
    Edge  109: 70 <-> 58
    Edge  110: 61 <-> 60
    Edge  111: 72 <-> 60
    Edge  112: 62 <-> 61
    Edge  113: 73 <-> 61
    Edge  114: 63 <-> 62
    Edge  115: 74 <-> 62
    Edge  116: 64 <-> 63
    Edge  117: 75 <-> 63
    Edge  118: 65 <-> 64
    Edge  119: 76 <-> 64
    Edge  120: 66 <-> 65
    Edge  121: 77 <-> 65
    Edge  122: 67 <-> 66
    Edge  123: 78 <-> 66
    Edge  124: 68 <-> 67
    Edge  125: 79 <-> 67
    Edge  126: 69 <-> 68
    Edge  127: 80 <-> 68
    Edge  128: 70 <-> 69
    Edge  129: 81 <-> 69
    Edge  130: 71 <-> 70
    Edge  131: 82 <-> 70
    Edge  132: 73 <-> 72
    Edge  133: 84 <-> 72
    Edge  134: 74 <-> 73
    Edge  135: 85 <-> 73
    Edge  136: 75 <-> 74
    Edge  137: 86 <-> 74
    Edge  138: 76 <-> 75
    Edge  139: 87 <-> 75
    Edge  140: 77 <-> 76
    Edge  141: 88 <-> 76
    Edge  142: 78 <-> 77
    Edge  143: 89 <-> 77
    Edge  144: 79 <-> 78
    Edge  145: 90 <-> 78
    Edge  146: 80 <-> 79
    Edge  147: 91 <-> 79
    Edge  148: 81 <-> 80
    Edge  149: 92 <-> 80
    Edge  150: 82 <-> 81
    Edge  151: 93 <-> 81
    Edge  152: 83 <-> 82
    Edge  153: 94 <-> 82
    Edge  154: 85 <-> 84
    Edge  155: 96 <-> 84
    Edge  156: 86 <-> 85
    Edge  157: 97 <-> 85
    Edge  158: 87 <-> 86
    Edge  159: 98 <-> 86
    Edge  160: 88 <-> 87
    Edge  161: 99 <-> 87
    Edge  162: 89 <-> 88
    Edge  163: 100 <-> 88
    Edge  164: 90 <-> 89
    Edge  165: 101 <-> 89
    Edge  166: 91 <-> 90
    Edge  167: 102 <-> 90
    Edge  168: 92 <-> 91
    Edge  169: 103 <-> 91
    Edge  170: 93 <-> 92
    Edge  171: 104 <-> 92
    Edge  172: 94 <-> 93
    Edge  173: 105 <-> 93
    Edge  174: 95 <-> 94
    Edge  175: 106 <-> 94
    Edge  176: 97 <-> 96
    Edge  177: 108 <-> 96
    Edge  178: 98 <-> 97
    Edge  179: 109 <-> 97
    Edge  180: 99 <-> 98
    Edge  181: 110 <-> 98
    Edge  182: 100 <-> 99
    Edge  183: 111 <-> 99
    Edge  184: 101 <-> 100
    Edge  185: 112 <-> 100
    Edge  186: 102 <-> 101
    Edge  187: 113 <-> 101
    Edge  188: 103 <-> 102
    Edge  189: 114 <-> 102
    Edge  190: 104 <-> 103
    Edge  191: 115 <-> 103
    Edge  192: 105 <-> 104
    Edge  193: 116 <-> 104
    Edge  194: 106 <-> 105
    Edge  195: 117 <-> 105
    Edge  196: 107 <-> 106
    Edge  197: 118 <-> 106
    Edge  198: 109 <-> 108
    Edge  199: 120 <-> 108
    Edge  200: 110 <-> 109
    Edge  201: 121 <-> 109
    Edge  202: 111 <-> 110
    Edge  203: 122 <-> 110
    Edge  204: 112 <-> 111
    Edge  205: 123 <-> 111
    Edge  206: 113 <-> 112
    Edge  207: 124 <-> 112
    Edge  208: 114 <-> 113
    Edge  209: 125 <-> 113
    Edge  210: 115 <-> 114
    Edge  211: 126 <-> 114
    Edge  212: 116 <-> 115
    Edge  213: 127 <-> 115
    Edge  214: 117 <-> 116
    Edge  215: 128 <-> 116
    Edge  216: 118 <-> 117
    Edge  217: 129 <-> 117
    Edge  218: 119 <-> 118
    Edge  219: 130 <-> 118
    Edge  220: 121 <-> 120
    Edge  221: 132 <-> 120
    Edge  222: 122 <-> 121
    Edge  223: 133 <-> 121
    Edge  224: 123 <-> 122
    Edge  225: 134 <-> 122
    Edge  226: 124 <-> 123
    Edge  227: 135 <-> 123
    Edge  228: 125 <-> 124
    Edge  229: 136 <-> 124
    Edge  230: 126 <-> 125
    Edge  231: 137 <-> 125
    Edge  232: 127 <-> 126
    Edge  233: 138 <-> 126
    Edge  234: 128 <-> 127
    Edge  235: 139 <-> 127
    Edge  236: 129 <-> 128
    Edge  237: 140 <-> 128
    Edge  238: 130 <-> 129
    Edge  239: 141 <-> 129
    Edge  240: 131 <-> 130
    Edge  241: 142 <-> 130
    Edge  242: 23 <-> 11
    Edge  243: 35 <-> 23
    Edge  244: 47 <-> 35
    Edge  245: 59 <-> 47
    Edge  246: 71 <-> 59
    Edge  247: 83 <-> 71
    Edge  248: 95 <-> 83
    Edge  249: 107 <-> 95
    Edge  250: 119 <-> 107
    Edge  251: 131 <-> 119
    Edge  252: 143 <-> 131
    Edge  253: 133 <-> 132
    Edge  254: 134 <-> 133
    Edge  255: 135 <-> 134
    Edge  256: 136 <-> 135
    Edge  257: 137 <-> 136
    Edge  258: 138 <-> 137
    Edge  259: 139 <-> 138
    Edge  260: 140 <-> 139
    Edge  261: 141 <-> 140
    Edge  262: 142 <-> 141
    Edge  263: 143 <-> 142
]
Robot arrangement: (|R| = 24, |V| = 144) [
     robot locations: {1#114 2#143 3#10 4#7 5#44 6#92 7#39 8#65 9#131 10#15 11#66 12#99 13#48 14#130 15#136 16#53 17#58 18#54 19#71 20#5 21#91 22#79 23#37 24#120 }
     vertex occupancy: {0#0 0#1 0#2 0#3 0#4 20#5 0#6 4#7 0#8 0#9 3#10 0#11 0#12 0#13 0#14 10#15 0#16 0#17 0#18 0#19 0#20 0#21 0#22 0#23 0#24 0#25 0#26 0#27 0#28 0#29 0#30 0#31 0#32 0#33 0#34 0#35 0#36 23#37 0#38 7#39 0#40 0#41 0#42 0#43 5#44 0#45 0#46 0#47 13#48 0#49 0#50 0#51 0#52 16#53 18#54 0#55 0#56 0#57 17#58 0#59 0#60 0#61 0#62 0#63 0#64 8#65 11#66 0#67 0#68 0#69 0#70 19#71 0#72 0#73 0#74 0#75 0#76 0#77 0#78 22#79 0#80 0#81 0#82 0#83 0#84 0#85 0#86 0#87 0#88 0#89 0#90 21#91 6#92 0#93 0#94 0#95 0#96 0#97 0#98 12#99 0#100 0#101 0#102 0#103 0#104 0#105 0#106 0#107 0#108 0#109 0#110 0#111 0#112 0#113 1#114 0#115 0#116 0#117 0#118 0#119 24#120 0#121 0#122 0#123 0#124 0#125 0#126 0#127 0#128 0#129 14#130 9#131 0#132 0#133 0#134 0#135 15#136 0#137 0#138 0#139 0#140 0#141 0#142 2#143 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 24, |V| = 144) [
    robot goals: {
        1#{142}
        2#{6}
        3#{75}
        4#{134}
        5#{85}
        6#{63}
        7#{54}
        8#{37}
        9#{88}
        10#{102}
        11#{40}
        12#{111}
        13#{21}
        14#{125}
        15#{103}
        16#{128}
        17#{130}
        18#{99}
        19#{42}
        20#{29}
        21#{93}
        22#{133}
        23#{140}
        24#{113}
    }
    vertex compatibilities: {
        0@{}
        1@{}
        2@{}
        3@{}
        4@{}
        5@{}
        6@{2}
        7@{}
        8@{}
        9@{}
        10@{}
        11@{}
        12@{}
        13@{}
        14@{}
        15@{}
        16@{}
        17@{}
        18@{}
        19@{}
        20@{}
        21@{13}
        22@{}
        23@{}
        24@{}
        25@{}
        26@{}
        27@{}
        28@{}
        29@{20}
        30@{}
        31@{}
        32@{}
        33@{}
        34@{}
        35@{}
        36@{}
        37@{8}
        38@{}
        39@{}
        40@{11}
        41@{}
        42@{19}
        43@{}
        44@{}
        45@{}
        46@{}
        47@{}
        48@{}
        49@{}
        50@{}
        51@{}
        52@{}
        53@{}
        54@{7}
        55@{}
        56@{}
        57@{}
        58@{}
        59@{}
        60@{}
        61@{}
        62@{}
        63@{6}
        64@{}
        65@{}
        66@{}
        67@{}
        68@{}
        69@{}
        70@{}
        71@{}
        72@{}
        73@{}
        74@{}
        75@{3}
        76@{}
        77@{}
        78@{}
        79@{}
        80@{}
        81@{}
        82@{}
        83@{}
        84@{}
        85@{5}
        86@{}
        87@{}
        88@{9}
        89@{}
        90@{}
        91@{}
        92@{}
        93@{21}
        94@{}
        95@{}
        96@{}
        97@{}
        98@{}
        99@{18}
        100@{}
        101@{}
        102@{10}
        103@{15}
        104@{}
        105@{}
        106@{}
        107@{}
        108@{}
        109@{}
        110@{}
        111@{12}
        112@{}
        113@{24}
        114@{}
        115@{}
        116@{}
        117@{}
        118@{}
        119@{}
        120@{}
        121@{}
        122@{}
        123@{}
        124@{}
        125@{14}
        126@{}
        127@{}
        128@{16}
        129@{}
        130@{17}
        131@{}
        132@{}
        133@{22}
        134@{4}
        135@{}
        136@{}
        137@{}
        138@{}
        139@{}
        140@{23}
        141@{}
        142@{1}
        143@{}
    }
]
Open/close/exp size (steps): 5/1/5 (2)
Open/close/exp size (steps): 17/4/17 (5)
Open/close/exp size (steps): 27/8/27 (9)
Open/close/exp size (steps): 36/13/36 (14)
Open/close/exp size (steps): 3/1/3 (20)
Open/close/exp size (steps): 26/9/26 (28)
Open/close/exp size (steps): 43/19/43 (38)
Open/close/exp size (steps): 63/31/63 (50)
Open/close/exp size (steps): 92/46/92 (65)
Open/close/exp size (steps): 117/64/117 (83)
Open/close/exp size (steps): 153/86/153 (105)
Open/close/exp size (steps): 192/113/192 (132)
Open/close/exp size (steps): 56/24/56 (165)
Open/close/exp size (steps): 124/64/124 (205)
Open/close/exp size (steps): 47/19/47 (253)
Open/close/exp size (steps): 148/77/148 (311)
Open/close/exp size (steps): 66/25/66 (381)
Open/close/exp size (steps): 40/16/40 (465)
Open/close/exp size (steps): 13/3/13 (566)
Open/close/exp size (steps): 67/29/67 (688)
Open/close/exp size (steps): 28/8/28 (835)
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Groups 0 and 1 collide.
Solution of group 0
Mulirobot solution: (|moves| = 6, paralellism = 1.000) [
    Step 0: 1#114->115 
    Step 1: 1#115->116 
    Step 2: 1#116->117 
    Step 3: 1#117->118 
    Step 4: 1#118->130 
    Step 5: 1#130->142 
]
Solution of group 1
Mulirobot solution: (|moves| = 16, paralellism = 1.000) [
    Step 0: 1#143->131 
    Step 1: 1#131->130 
    Step 2: 1#130->118 
    Step 3: 1#118->106 
    Step 4: 1#106->94 
    Step 5: 1#94->82 
    Step 6: 1#82->70 
    Step 7: 1#70->58 
    Step 8: 1#58->46 
    Step 9: 1#46->34 
    Step 10: 1#34->22 
    Step 11: 1#22->10 
    Step 12: 1#10->9 
    Step 13: 1#9->8 
    Step 14: 1#8->7 
    Step 15: 1#7->6 
]
Occupation table complementary for group 0
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** Open/close/exp size (steps): 5/1/5 (2)
** Open/close/exp size (steps): 14/4/14 (5)
** Open/close/exp size (steps): 24/8/24 (9)
Alternative solution of group 0
Mulirobot solution: (|moves| = 6, paralellism = 1.000) [
    Step 0: 1#114->115 
    Step 1: 1#115->116 
    Step 2: 1#116->117 
    Step 3: 1#117->129 
    Step 4: 1#129->141 
    Step 5: 1#141->142 
]
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0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

Groups 1 and 8 collide.
Solution of group 1
Mulirobot solution: (|moves| = 16, paralellism = 1.000) [
    Step 0: 1#143->131 
    Step 1: 1#131->130 
    Step 2: 1#130->118 
    Step 3: 1#118->106 
    Step 4: 1#106->94 
    Step 5: 1#94->82 
    Step 6: 1#82->70 
    Step 7: 1#70->58 
    Step 8: 1#58->46 
    Step 9: 1#46->34 
    Step 10: 1#34->22 
    Step 11: 1#22->10 
    Step 12: 1#10->9 
    Step 13: 1#9->8 
    Step 14: 1#8->7 
    Step 15: 1#7->6 
]
Solution of group 8
Mulirobot solution: (|moves| = 10, paralellism = 1.000) [
    Step 0: 1#131->130 
    Step 1: 1#130->118 
    Step 2: 1#118->106 
    Step 3: 1#106->94 
    Step 4: 1#94->93 
    Step 5: 1#93->92 
    Step 6: 1#92->91 
    Step 7: 1#91->90 
    Step 8: 1#90->89 
    Step 9: 1#89->88 
]
Occupation table complementary for group 1
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 1 1 0 0 0 0 0 1 0 1 0 

** Open/close/exp size (steps): 6/3/6 (14)
** Open/close/exp size (steps): 20/9/20 (20)
** Open/close/exp size (steps): 29/17/29 (28)
** Open/close/exp size (steps): 22/27/22 (38)
** Open/close/exp size (steps): 40/39/40 (50)
** Open/close/exp size (steps): 68/54/68 (65)
** Open/close/exp size (steps): 102/72/102 (83)
** Open/close/exp size (steps): 108/94/108 (105)
** Open/close/exp size (steps): 88/121/88 (132)
** Open/close/exp size (steps): 81/154/81 (165)
** Open/close/exp size (steps): 41/194/41 (205)
** Open/close/exp size (steps): 48/242/48 (253)
** Open/close/exp size (steps): 23/300/23 (311)
** Open/close/exp size (steps): 2/370/2 (381)
Occupation table complementary for group 8
0 0 0 0 0 1 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 1 
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0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 
0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 
0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 1 1 0 0 0 0 0 1 0 1 0 

Unable to resolve collision between groups 1 and 8.
Merging groups 1 and 8.
Searching solution for merged group 1+8.
Open/close/exp size (steps): 82/49/82 (1012)
Open/close/exp size (steps): 382/262/382 (1225)
Open/close/exp size (steps): 623/518/623 (1481)
Open/close/exp size (steps): 995/826/995 (1789)
Open/close/exp size (steps): 1295/1196/1295 (2159)
Open/close/exp size (steps): 1771/1640/1771 (2603)
Open/close/exp size (steps): 2223/2173/2223 (3136)
Open/close/exp size (steps): 2852/2813/2852 (3776)
Open/close/exp size (steps): 3463/3581/3463 (4544)
Open/close/exp size (steps): 4317/4503/4317 (5466)
Open/close/exp size (steps): 5296/5610/5296 (6573)
Open/close/exp size (steps): 6321/6939/6321 (7902)
Open/close/exp size (steps): 7655/8534/7655 (9497)
Open/close/exp size (steps): 8179/10448/8179 (11411)
Open/close/exp size (steps): 7648/12745/7648 (13708)
Open/close/exp size (steps): 6763/15502/6763 (16465)
Open/close/exp size (steps): 6239/18811/6239 (19774)
Open/close/exp size (steps): 7146/22782/7146 (23745)
Open/close/exp size (steps): 10003/27548/10003 (28511)
Open/close/exp size (steps): 13273/33268/13273 (34231)
Open/close/exp size (steps): 10811/40132/10811 (41095)
Open/close/exp size (steps): 11006/48369/11006 (49332)
Open/close/exp size (steps): 12955/58254/12955 (59217)
Open/close/exp size (steps): 20258/70116/20258 (71079)
Open/close/exp size (steps): 15766/84351/15766 (85314)
Open/close/exp size (steps): 16045/101433/16045 (102396)
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Groups 1 and 9 collide.
Solution of group 1
Mulirobot solution: (|moves| = 26, paralellism = 1.529) [
    Step 0: 2#131->130 
    Step 1: 1#143->131 2#130->118 
    Step 2: 1#131->130 2#118->106 
    Step 3: 1#130->118 2#106->94 
    Step 4: 1#118->106 2#94->93 
    Step 5: 1#106->94 2#93->92 
    Step 6: 1#94->82 2#92->91 
    Step 7: 1#82->70 2#91->90 
    Step 8: 1#70->58 2#90->89 
    Step 9: 1#58->46 2#89->88 
    Step 10: 1#46->34 
    Step 11: 1#34->22 
    Step 12: 1#22->10 
    Step 13: 1#10->9 
    Step 14: 1#9->8 
    Step 15: 1#8->7 
    Step 16: 1#7->6 
]
Solution of group 9
Mulirobot solution: (|moves| = 10, paralellism = 1.000) [
    Step 0: 1#15->16 
    Step 1: 1#16->17 
    Step 2: 1#17->18 
    Step 3: 1#18->30 
    Step 4: 1#30->42 
    Step 5: 1#42->54 
    Step 6: 1#54->66 
    Step 7: 1#66->78 
    Step 8: 1#78->90 
    Step 9: 1#90->102 
]
Occupation table complementary for group 1
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** Open/close/exp size (steps): 120/82/120 (465)
** Open/close/exp size (steps): 142/183/142 (566)
** Open/close/exp size (steps): 100/305/100 (688)
** Open/close/exp size (steps): 250/452/250 (835)
** Open/close/exp size (steps): 356/629/356 (1012)
** Open/close/exp size (steps): 496/842/496 (1225)
** Open/close/exp size (steps): 705/1098/705 (1481)
** Open/close/exp size (steps): 995/1406/995 (1789)
** Open/close/exp size (steps): 1180/1776/1180 (2159)
** Open/close/exp size (steps): 1331/2220/1331 (2603)
** Open/close/exp size (steps): 1282/2753/1282 (3136)
** Open/close/exp size (steps): 1610/3393/1610 (3776)
** Open/close/exp size (steps): 1604/4161/1604 (4544)
** Open/close/exp size (steps): 2411/5083/2411 (5466)
** Open/close/exp size (steps): 3705/6190/3705 (6573)
** Open/close/exp size (steps): 4989/7519/4989 (7902)
** Open/close/exp size (steps): 5241/9114/5241 (9497)
** Open/close/exp size (steps): 5825/11028/5825 (11411)
** Open/close/exp size (steps): 5717/13325/5717 (13708)
** Open/close/exp size (steps): 5081/16082/5081 (16465)
** Open/close/exp size (steps): 5926/19391/5926 (19774)
** Open/close/exp size (steps): 7686/23362/7686 (23745)
Alternative solution of group 1
Mulirobot solution: (|moves| = 28, paralellism = 1.647) [
    Step 0: 2#131->119 
    Step 1: 1#143->131 2#119->107 
    Step 2: 1#131->119 2#107->95 
    Step 3: 1#119->107 2#95->83 
    Step 4: 1#107->95 2#83->82 
    Step 5: 1#95->94 2#82->81 
    Step 6: 1#94->82 2#81->80 
    Step 7: 1#82->70 2#80->79 
    Step 8: 1#70->58 2#79->91 
    Step 9: 1#58->46 
    Step 10: 1#46->34 2#91->90 
    Step 11: 1#34->22 2#90->89 
    Step 12: 1#22->10 2#89->88 
    Step 13: 1#10->9 
    Step 14: 1#9->8 
    Step 15: 1#8->7 
    Step 16: 1#7->6 
]
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Collision between groups 1 and 9 resolved.
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Groups 2 and 5 collide.
Solution of group 2
Mulirobot solution: (|moves| = 13, paralellism = 1.000) [
    Step 0: 1#10->9 
    Step 1: 1#9->8 
    Step 2: 1#8->7 
    Step 3: 1#7->6 
    Step 4: 1#6->5 
    Step 5: 1#5->4 
    Step 6: 1#4->3 
    Step 7: 1#3->15 
    Step 8: 1#15->27 
    Step 9: 1#27->39 
    Step 10: 1#39->51 
    Step 11: 1#51->63 
    Step 12: 1#63->75 
]
Solution of group 5
Mulirobot solution: (|moves| = 7, paralellism = 1.000) [
    Step 0: 1#92->80 
    Step 1: 1#80->68 
    Step 2: 1#68->67 
    Step 3: 1#67->66 
    Step 4: 1#66->65 
    Step 5: 1#65->64 
    Step 6: 1#64->63 
]
Occupation table complementary for group 2
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Alternative solution of group 2
Mulirobot solution: (|moves| = 15, paralellism = 1.000) [
    Step 0: 1#10->9 
    Step 1: 1#9->8 
    Step 2: 1#8->7 
    Step 3: 1#7->6 
    Step 4: 1#6->5 
    Step 5: 1#5->4 
    Step 6: 1#4->3 
    Step 7: 1#3->15 
    Step 8: 1#15->27 
    Step 9: 1#27->39 
    Step 10: 1#39->51 
    Step 11: 1#51->50 
    Step 12: 1#50->62 
    Step 13: 1#62->74 
    Step 14: 1#74->75 
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 

Groups 3 and 12 collide.
Solution of group 3
Mulirobot solution: (|moves| = 16, paralellism = 1.000) [
    Step 0: 1#7->6 
    Step 1: 1#6->5 
    Step 2: 1#5->4 
    Step 3: 1#4->3 
    Step 4: 1#3->2 
    Step 5: 1#2->14 
    Step 6: 1#14->26 
    Step 7: 1#26->38 
    Step 8: 1#38->50 
    Step 9: 1#50->62 
    Step 10: 1#62->74 
    Step 11: 1#74->86 
    Step 12: 1#86->98 
    Step 13: 1#98->110 
    Step 14: 1#110->122 
    Step 15: 1#122->134 
]
Solution of group 12
Mulirobot solution: (|moves| = 12, paralellism = 1.000) [
    Step 0: 1#48->36 
    Step 1: 1#36->24 
    Step 2: 1#24->12 
    Step 3: 1#12->13 
    Step 4: 1#13->14 
    Step 5: 1#14->15 
    Step 6: 1#15->16 
    Step 7: 1#16->17 
    Step 8: 1#17->18 
    Step 9: 1#18->19 
    Step 10: 1#19->20 
    Step 11: 1#20->21 
]
Occupation table complementary for group 3
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Alternative solution of group 3
Mulirobot solution: (|moves| = 16, paralellism = 1.000) [
    Step 0: 1#7->6 
    Step 1: 1#6->5 
    Step 2: 1#5->4 
    Step 3: 1#4->16 
    Step 4: 1#16->28 
    Step 5: 1#28->27 
    Step 6: 1#27->26 
    Step 7: 1#26->38 
    Step 8: 1#38->50 
    Step 9: 1#50->62 
    Step 10: 1#62->74 
    Step 11: 1#74->86 
    Step 12: 1#86->98 
    Step 13: 1#98->110 
    Step 14: 1#110->122 
    Step 15: 1#122->134 
]
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Collision between groups 3 and 12 resolved.
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Groups 4 and 6 collide.
Solution of group 4
Mulirobot solution: (|moves| = 11, paralellism = 1.000) [
    Step 0: 1#44->43 
    Step 1: 1#43->42 
    Step 2: 1#42->41 
    Step 3: 1#41->40 
    Step 4: 1#40->39 
    Step 5: 1#39->38 
    Step 6: 1#38->37 
    Step 7: 1#37->49 
    Step 8: 1#49->61 
    Step 9: 1#61->73 
    Step 10: 1#73->85 
]
Solution of group 6
Mulirobot solution: (|moves| = 4, paralellism = 1.000) [
    Step 0: 1#39->40 
    Step 1: 1#40->41 
    Step 2: 1#41->42 
    Step 3: 1#42->54 
]
Occupation table complementary for group 4
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Occupation table complementary for group 6
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0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 2 0 0 0 0 1 0 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 2 0 0 0 0 1 0 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 
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Alternative solution of group 6
Mulirobot solution: (|moves| = 8, paralellism = 1.000) [
    Step 0: 1#39->51 
    Step 1: 1#51->63 
    Step 2: 1#63->64 
    Step 3: 1#64->52 
    Step 4: 1#52->53 
    Step 5: 1#53->41 
    Step 6: 1#41->53 
    Step 7: 1#53->54 
]
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

Collision between groups 4 and 6 resolved.
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
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Groups 4 and 7 collide.
Solution of group 4
Mulirobot solution: (|moves| = 11, paralellism = 1.000) [
    Step 0: 1#44->43 
    Step 1: 1#43->42 
    Step 2: 1#42->41 
    Step 3: 1#41->40 
    Step 4: 1#40->39 
    Step 5: 1#39->38 
    Step 6: 1#38->37 
    Step 7: 1#37->49 
    Step 8: 1#49->61 
    Step 9: 1#61->73 
    Step 10: 1#73->85 
]
Solution of group 7
Mulirobot solution: (|moves| = 6, paralellism = 1.000) [
    Step 0: 1#65->53 
    Step 1: 1#53->41 
    Step 2: 1#41->40 
    Step 3: 1#40->39 
    Step 4: 1#39->38 
    Step 5: 1#38->37 
]
Occupation table complementary for group 4
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** Open/close/exp size (steps): 25/66/25 (28511)
Unable to resolve collision between groups 4 and 7.
Merging groups 4 and 7.
Searching solution for merged group 4+7.
Open/close/exp size (steps): 8724/19085/8724 (122895)
Open/close/exp size (steps): 11050/43684/11050 (147494)
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Groups 4 and 6 collide.
Solution of group 4
Mulirobot solution: (|moves| = 17, paralellism = 1.545) [
    Step 0: 1#44->43 2#65->53 
    Step 1: 1#43->42 2#53->41 
    Step 2: 1#42->54 2#41->40 
    Step 3: 1#54->53 2#40->39 
    Step 4: 1#53->52 2#39->38 
    Step 5: 1#52->51 2#38->37 
    Step 6: 1#51->50 
    Step 7: 1#50->49 
    Step 8: 1#49->61 
    Step 9: 1#61->73 
    Step 10: 1#73->85 
]
Solution of group 6
Mulirobot solution: (|moves| = 8, paralellism = 1.000) [
    Step 0: 1#39->51 
    Step 1: 1#51->63 
    Step 2: 1#63->64 
    Step 3: 1#64->52 
    Step 4: 1#52->53 
    Step 5: 1#53->41 
    Step 6: 1#41->53 
    Step 7: 1#53->54 
]
Occupation table complementary for group 4
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0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 1 0 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 1 1 0 0 0 0 0 1 0 1 0 
0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 1 0 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 1 1 0 0 0 0 0 1 0 1 0 

** Open/close/exp size (steps): 4091/5334/4091 (34231)
** Open/close/exp size (steps): 5327/12198/5327 (41095)
** Open/close/exp size (steps): 9543/20435/9543 (49332)
Alternative solution of group 4
Mulirobot solution: (|moves| = 25, paralellism = 1.562) [
    Step 0: 1#44->32 2#65->64 
    Step 1: 1#32->31 2#64->65 
    Step 2: 1#31->43 
    Step 3: 1#43->55 2#65->77 
    Step 4: 1#55->56 2#77->76 
    Step 5: 1#56->68 
    Step 6: 2#76->75 
    Step 7: 1#68->67 2#75->74 
    Step 8: 1#67->66 2#74->73 
    Step 9: 1#66->65 2#73->61 
    Step 10: 1#65->64 2#61->49 
    Step 11: 1#64->76 2#49->37 
    Step 12: 1#76->75 
    Step 13: 1#75->87 
    Step 14: 1#87->86 
    Step 15: 1#86->85 
]
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Collision between groups 4 and 6 resolved.
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Groups 5 and 20 collide.
Solution of group 5
Mulirobot solution: (|moves| = 7, paralellism = 1.000) [
    Step 0: 1#92->80 
    Step 1: 1#80->68 
    Step 2: 1#68->67 
    Step 3: 1#67->66 
    Step 4: 1#66->65 
    Step 5: 1#65->64 
    Step 6: 1#64->63 
]
Solution of group 20
Mulirobot solution: (|moves| = 2, paralellism = 1.000) [
    Step 0: 1#91->92 
    Step 1: 1#92->93 
]
Occupation table complementary for group 5
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Occupation table complementary for group 20
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Alternative solution of group 20
Mulirobot solution: (|moves| = 2, paralellism = 0.667) [
    Step 0: 
    Step 1: 1#91->92 
    Step 2: 1#92->93 
]
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Collision between groups 5 and 20 resolved.
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Groups 7 and 9 collide.
Solution of group 7
Mulirobot solution: (|moves| = 15, paralellism = 1.000) [
    Step 0: 1#37->38 
    Step 1: 1#38->39 
    Step 2: 1#39->40 
    Step 3: 1#40->41 
    Step 4: 1#41->42 
    Step 5: 1#42->43 
    Step 6: 1#43->44 
    Step 7: 1#44->56 
    Step 8: 1#56->68 
    Step 9: 1#68->80 
    Step 10: 1#80->92 
    Step 11: 1#92->104 
    Step 12: 1#104->116 
    Step 13: 1#116->128 
    Step 14: 1#128->140 
]
Solution of group 9
Mulirobot solution: (|moves| = 10, paralellism = 1.000) [
    Step 0: 1#15->16 
    Step 1: 1#16->17 
    Step 2: 1#17->18 
    Step 3: 1#18->30 
    Step 4: 1#30->42 
    Step 5: 1#42->54 
    Step 6: 1#54->66 
    Step 7: 1#66->78 
    Step 8: 1#78->90 
    Step 9: 1#90->102 
]
Occupation table complementary for group 7
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Alternative solution of group 7
Mulirobot solution: (|moves| = 15, paralellism = 1.000) [
    Step 0: 1#37->49 
    Step 1: 1#49->61 
    Step 2: 1#61->73 
    Step 3: 1#73->85 
    Step 4: 1#85->86 
    Step 5: 1#86->98 
    Step 6: 1#98->110 
    Step 7: 1#110->122 
    Step 8: 1#122->123 
    Step 9: 1#123->124 
    Step 10: 1#124->136 
    Step 11: 1#136->137 
    Step 12: 1#137->138 
    Step 13: 1#138->139 
    Step 14: 1#139->140 
]
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

Groups 8 and 11 collide.
Solution of group 8
Mulirobot solution: (|moves| = 6, paralellism = 1.000) [
    Step 0: 1#120->108 
    Step 1: 1#108->109 
    Step 2: 1#109->110 
    Step 3: 1#110->111 
    Step 4: 1#111->112 
    Step 5: 1#112->113 
]
Solution of group 11
Mulirobot solution: (|moves| = 1, paralellism = 1.000) [
    Step 0: 1#99->111 
]
Occupation table complementary for group 8
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0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 2 0 0 0 0 1 0 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 
0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 2 0 0 0 0 1 0 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 1 1 0 0 0 0 0 1 0 1 0 
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Alternative solution of group 8
Mulirobot solution: (|moves| = 6, paralellism = 1.000) [
    Step 0: 1#120->121 
    Step 1: 1#121->122 
    Step 2: 1#122->123 
    Step 3: 1#123->124 
    Step 4: 1#124->112 
    Step 5: 1#112->113 
]
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

Collision between groups 8 and 11 resolved.
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Groups 9 and 19 collide.
Solution of group 9
Mulirobot solution: (|moves| = 10, paralellism = 1.000) [
    Step 0: 1#15->16 
    Step 1: 1#16->17 
    Step 2: 1#17->18 
    Step 3: 1#18->30 
    Step 4: 1#30->42 
    Step 5: 1#42->54 
    Step 6: 1#54->66 
    Step 7: 1#66->78 
    Step 8: 1#78->90 
    Step 9: 1#90->102 
]
Solution of group 19
Mulirobot solution: (|moves| = 2, paralellism = 1.000) [
    Step 0: 1#5->17 
    Step 1: 1#17->29 
]
Occupation table complementary for group 9
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0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 1 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 1 0 0 0 0 1 0 0 0 1 0 
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Alternative solution of group 9
Mulirobot solution: (|moves| = 12, paralellism = 0.923) [
    Step 0: 1#15->27 
    Step 1: 1#27->39 
    Step 2: 1#39->38 
    Step 3: 1#38->39 
    Step 4: 1#39->51 
    Step 5: 1#51->52 
    Step 6: 
    Step 7: 1#52->64 
    Step 8: 1#64->76 
    Step 9: 1#76->88 
    Step 10: 1#88->100 
    Step 11: 1#100->101 
    Step 12: 1#101->102 
]
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Collision between groups 9 and 19 resolved.
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Groups 10 and 15 collide.
Solution of group 10
Mulirobot solution: (|moves| = 4, paralellism = 1.000) [
    Step 0: 1#66->54 
    Step 1: 1#54->42 
    Step 2: 1#42->41 
    Step 3: 1#41->40 
]
Solution of group 15
Mulirobot solution: (|moves| = 9, paralellism = 1.000) [
    Step 0: 1#53->54 
    Step 1: 1#54->55 
    Step 2: 1#55->56 
    Step 3: 1#56->68 
    Step 4: 1#68->80 
    Step 5: 1#80->92 
    Step 6: 1#92->104 
    Step 7: 1#104->116 
    Step 8: 1#116->128 
]
Occupation table complementary for group 10
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0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 2 0 0 0 0 1 0 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 1 1 0 0 0 0 0 1 0 1 0 

Alternative solution of group 10
Mulirobot solution: (|moves| = 10, paralellism = 0.909) [
    Step 0: 1#66->67 
    Step 1: 1#67->66 
    Step 2: 1#66->54 
    Step 3: 1#54->42 
    Step 4: 1#42->54 
    Step 5: 1#54->66 
    Step 6: 1#66->65 
    Step 7: 
    Step 8: 1#65->53 
    Step 9: 1#53->41 
    Step 10: 1#41->40 
]
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
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Collision between groups 10 and 15 resolved.
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Groups 15 and 17 collide.
Solution of group 15
Mulirobot solution: (|moves| = 9, paralellism = 1.000) [
    Step 0: 1#53->54 
    Step 1: 1#54->55 
    Step 2: 1#55->56 
    Step 3: 1#56->68 
    Step 4: 1#68->80 
    Step 5: 1#80->92 
    Step 6: 1#92->104 
    Step 7: 1#104->116 
    Step 8: 1#116->128 
]
Solution of group 17
Mulirobot solution: (|moves| = 7, paralellism = 1.000) [
    Step 0: 1#54->53 
    Step 1: 1#53->52 
    Step 2: 1#52->51 
    Step 3: 1#51->63 
    Step 4: 1#63->75 
    Step 5: 1#75->87 
    Step 6: 1#87->99 
]
Occupation table complementary for group 15
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Merging groups 15 and 17.
Searching solution for merged group 15+17.
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Groups 1 and 15 collide.
Solution of group 1
Mulirobot solution: (|moves| = 28, paralellism = 1.647) [
    Step 0: 2#131->119 
    Step 1: 1#143->131 2#119->107 
    Step 2: 1#131->119 2#107->95 
    Step 3: 1#119->107 2#95->83 
    Step 4: 1#107->95 2#83->82 
    Step 5: 1#95->94 2#82->81 
    Step 6: 1#94->82 2#81->80 
    Step 7: 1#82->70 2#80->79 
    Step 8: 1#70->58 2#79->91 
    Step 9: 1#58->46 
    Step 10: 1#46->34 2#91->90 
    Step 11: 1#34->22 2#90->89 
    Step 12: 1#22->10 2#89->88 
    Step 13: 1#10->9 
    Step 14: 1#9->8 
    Step 15: 1#8->7 
    Step 16: 1#7->6 
]
Solution of group 15
Mulirobot solution: (|moves| = 16, paralellism = 1.600) [
    Step 0: 2#54->66 
    Step 1: 1#53->54 2#66->65 
    Step 2: 1#54->55 2#65->64 
    Step 3: 1#55->56 2#64->63 
    Step 4: 1#56->68 2#63->75 
    Step 5: 1#68->80 2#75->87 
    Step 6: 1#80->92 2#87->99 
    Step 7: 1#92->104 
    Step 8: 1#104->116 
    Step 9: 1#116->128 
]
Occupation table complementary for group 1
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** Open/close/exp size (steps): 4304/6234/4304 (59217)
** Open/close/exp size (steps): 5616/18096/5616 (71079)
Alternative solution of group 1
Mulirobot solution: (|moves| = 28, paralellism = 1.647) [
    Step 0: 2#131->119 
    Step 1: 1#143->131 2#119->107 
    Step 2: 1#131->119 2#107->95 
    Step 3: 1#119->107 2#95->83 
    Step 4: 1#107->95 2#83->82 
    Step 5: 1#95->94 2#82->81 
    Step 6: 1#94->82 
    Step 7: 1#82->70 2#81->80 
    Step 8: 1#70->58 2#80->79 
    Step 9: 1#58->46 2#79->78 
    Step 10: 1#46->34 2#78->77 
    Step 11: 1#34->22 2#77->89 
    Step 12: 1#22->10 2#89->88 
    Step 13: 1#10->9 
    Step 14: 1#9->8 
    Step 15: 1#8->7 
    Step 16: 1#7->6 
]
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Collision between groups 1 and 15 resolved.
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Groups 4 and 15 collide.
Solution of group 4
Mulirobot solution: (|moves| = 25, paralellism = 1.562) [
    Step 0: 1#44->32 2#65->64 
    Step 1: 1#32->31 2#64->65 
    Step 2: 1#31->43 
    Step 3: 1#43->55 2#65->77 
    Step 4: 1#55->56 2#77->76 
    Step 5: 1#56->68 
    Step 6: 2#76->75 
    Step 7: 1#68->67 2#75->74 
    Step 8: 1#67->66 2#74->73 
    Step 9: 1#66->65 2#73->61 
    Step 10: 1#65->64 2#61->49 
    Step 11: 1#64->76 2#49->37 
    Step 12: 1#76->75 
    Step 13: 1#75->87 
    Step 14: 1#87->86 
    Step 15: 1#86->85 
]
Solution of group 15
Mulirobot solution: (|moves| = 16, paralellism = 1.600) [
    Step 0: 2#54->66 
    Step 1: 1#53->54 2#66->65 
    Step 2: 1#54->55 2#65->64 
    Step 3: 1#55->56 2#64->63 
    Step 4: 1#56->68 2#63->75 
    Step 5: 1#68->80 2#75->87 
    Step 6: 1#80->92 2#87->99 
    Step 7: 1#92->104 
    Step 8: 1#104->116 
    Step 9: 1#116->128 
]
Occupation table complementary for group 4
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0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 1 0 0 0 0 0 2 0 0 1 1 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 1 0 0 0 0 0 1 0 0 1 0 
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 1 0 0 0 0 0 2 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 
0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 1 0 0 0 0 0 2 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 1 1 0 0 0 0 0 1 0 1 0 
0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 1 0 0 0 0 0 2 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 1 1 0 0 0 0 0 1 0 1 0 

** Open/close/exp size (steps): 1395/7246/1395 (85314)
** Open/close/exp size (steps): 4057/24328/4057 (102396)
Alternative solution of group 4
Mulirobot solution: (|moves| = 19, paralellism = 1.267) [
    Step 0: 1#44->43 2#65->64 
    Step 1: 1#43->42 2#64->52 
    Step 2: 1#42->41 2#52->51 
    Step 3: 2#51->50 
    Step 4: 1#41->40 2#50->38 
    Step 5: 2#38->37 
    Step 6: 1#40->28 
    Step 7: 1#28->40 
    Step 8: 1#40->52 
    Step 9: 1#52->64 
    Step 10: 1#64->76 
    Step 11: 1#76->75 
    Step 12: 1#75->87 
    Step 13: 1#87->86 
    Step 14: 1#86->85 
]
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Groups 6 and 15 collide.
Solution of group 6
Mulirobot solution: (|moves| = 8, paralellism = 1.000) [
    Step 0: 1#39->51 
    Step 1: 1#51->63 
    Step 2: 1#63->64 
    Step 3: 1#64->52 
    Step 4: 1#52->53 
    Step 5: 1#53->41 
    Step 6: 1#41->53 
    Step 7: 1#53->54 
]
Solution of group 15
Mulirobot solution: (|moves| = 16, paralellism = 1.600) [
    Step 0: 2#54->66 
    Step 1: 1#53->54 2#66->65 
    Step 2: 1#54->55 2#65->64 
    Step 3: 1#55->56 2#64->63 
    Step 4: 1#56->68 2#63->75 
    Step 5: 1#68->80 2#75->87 
    Step 6: 1#80->92 2#87->99 
    Step 7: 1#92->104 
    Step 8: 1#104->116 
    Step 9: 1#116->128 
]
Occupation table complementary for group 6
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Alternative solution of group 6
Mulirobot solution: (|moves| = 6, paralellism = 0.857) [
    Step 0: 1#39->40 
    Step 1: 1#40->28 
    Step 2: 1#28->40 
    Step 3: 1#40->52 
    Step 4: 1#52->53 
    Step 5: 
    Step 6: 1#53->54 
]
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Collision between groups 6 and 15 resolved.
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Groups 10 and 15 collide.
Solution of group 10
Mulirobot solution: (|moves| = 10, paralellism = 0.909) [
    Step 0: 1#66->67 
    Step 1: 1#67->66 
    Step 2: 1#66->54 
    Step 3: 1#54->42 
    Step 4: 1#42->54 
    Step 5: 1#54->66 
    Step 6: 1#66->65 
    Step 7: 
    Step 8: 1#65->53 
    Step 9: 1#53->41 
    Step 10: 1#41->40 
]
Solution of group 15
Mulirobot solution: (|moves| = 16, paralellism = 1.600) [
    Step 0: 2#54->66 
    Step 1: 1#53->54 2#66->65 
    Step 2: 1#54->55 2#65->64 
    Step 3: 1#55->56 2#64->63 
    Step 4: 1#56->68 2#63->75 
    Step 5: 1#68->80 2#75->87 
    Step 6: 1#80->92 2#87->99 
    Step 7: 1#92->104 
    Step 8: 1#104->116 
    Step 9: 1#116->128 
]
Occupation table complementary for group 10
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Occupation table complementary for group 15
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0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 2 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 
0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 2 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 1 0 0 0 0 0 1 0 1 0 
0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 2 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 1 0 0 0 0 0 1 0 1 0 

** Open/close/exp size (steps): 4175/13318/4175 (122895)
** Open/close/exp size (steps): 5481/37917/5481 (147494)
Alternative solution of group 15
Mulirobot solution: (|moves| = 18, paralellism = 1.059) [
    Step 0: 
    Step 1: 1#53->65 2#54->55 
    Step 2: 
    Step 3: 1#65->77 
    Step 4: 1#77->78 
    Step 5: 1#78->79 
    Step 6: 1#79->91 
    Step 7: 1#91->92 
    Step 8: 1#92->104 
    Step 9: 1#104->116 2#55->67 
    Step 10: 1#116->128 2#67->66 
    Step 11: 2#66->78 
    Step 12: 2#78->77 
    Step 13: 2#77->89 
    Step 14: 2#89->101 
    Step 15: 2#101->100 
    Step 16: 2#100->99 
]
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Collision between groups 10 and 15 resolved.
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Groups 16 and 18 collide.
Solution of group 16
Mulirobot solution: (|moves| = 6, paralellism = 1.000) [
    Step 0: 1#58->70 
    Step 1: 1#70->82 
    Step 2: 1#82->94 
    Step 3: 1#94->106 
    Step 4: 1#106->118 
    Step 5: 1#118->130 
]
Solution of group 18
Mulirobot solution: (|moves| = 7, paralellism = 1.000) [
    Step 0: 1#71->70 
    Step 1: 1#70->58 
    Step 2: 1#58->46 
    Step 3: 1#46->45 
    Step 4: 1#45->44 
    Step 5: 1#44->43 
    Step 6: 1#43->42 
]
Occupation table complementary for group 16
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Alternative solution of group 16
Mulirobot solution: (|moves| = 10, paralellism = 1.000) [
    Step 0: 1#58->57 
    Step 1: 1#57->69 
    Step 2: 1#69->81 
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0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

Computed optimal makespan:17
Makespan optimal solution:
Mulirobot solution: (|moves| = 214, paralellism = 12.588) [
    Step 0: 1#114->115 9#131->119 3#10->9 4#7->6 5#44->43 8#65->64 6#92->80 7#39->40 23#37->49 24#120->121 10#15->27 11#66->67 12#99->111 13#48->36 14#130->129 15#136->124 17#58->57 22#79->78 19#71->70 20#5->17 
    Step 1: 1#115->116 2#143->131 9#119->107 3#9->8 4#6->5 5#43->42 8#64->52 6#80->68 7#40->28 23#49->61 24#121->122 10#27->39 11#67->66 13#36->24 14#129->128 15#124->112 16#53->65 18#54->55 17#57->69 22#78->77 19#70->58 20#17->29 21#91->92 
    Step 2: 1#116->117 2#131->119 9#107->95 3#8->7 4#5->4 5#42->41 8#52->51 6#68->67 7#28->40 23#61->73 24#122->123 10#39->38 11#66->54 13#24->12 14#128->127 15#112->100 17#69->81 22#77->76 19#58->46 21#92->93 
    Step 3: 1#117->129 2#119->107 9#95->83 3#7->6 4#4->16 8#51->50 6#67->66 7#40->52 23#73->85 24#123->124 10#38->39 11#54->42 13#12->13 14#127->126 15#100->101 16#65->77 17#81->80 22#76->75 19#46->45 
    Step 4: 1#129->141 2#107->95 9#83->82 3#6->5 4#16->28 5#41->40 8#50->38 6#66->65 7#52->53 23#85->86 24#124->112 10#39->51 11#42->54 13#13->14 14#126->125 15#101->102 16#77->78 17#80->92 22#75->74 19#45->44 
    Step 5: 1#141->142 2#95->94 9#82->81 3#5->4 4#28->27 8#38->37 6#65->64 23#86->98 24#112->113 10#51->52 11#54->66 13#14->15 15#102->103 16#78->79 17#92->104 22#74->73 19#44->43 
    Step 6: 2#94->82 3#4->3 4#27->26 5#40->28 6#64->63 7#53->54 23#98->110 11#66->65 13#15->16 16#79->91 17#104->105 22#73->85 19#43->42 
    Step 7: 2#82->70 9#81->80 3#3->15 4#26->38 5#28->40 23#110->122 10#52->64 13#16->17 16#91->92 17#105->106 22#85->97 
    Step 8: 2#70->58 9#80->79 3#15->27 4#38->50 5#40->52 23#122->123 10#64->76 11#65->53 13#17->18 16#92->104 17#106->118 22#97->109 
    Step 9: 2#58->46 9#79->78 3#27->39 4#50->62 5#52->64 23#123->124 10#76->88 11#53->41 13#18->19 16#104->116 18#55->67 17#118->130 22#109->121 
    Step 10: 2#46->34 9#78->77 3#39->51 4#62->74 5#64->76 23#124->136 10#88->100 11#41->40 13#19->20 16#116->128 18#67->66 22#121->133 
    Step 11: 2#34->22 9#77->89 3#51->50 4#74->86 5#76->75 23#136->137 10#100->101 13#20->21 18#66->78 
    Step 12: 2#22->10 9#89->88 3#50->62 4#86->98 5#75->87 23#137->138 10#101->102 18#78->77 
    Step 13: 2#10->9 3#62->74 4#98->110 5#87->86 23#138->139 18#77->89 
    Step 14: 2#9->8 3#74->75 4#110->122 5#86->85 23#139->140 18#89->101 
    Step 15: 2#8->7 4#122->134 18#101->100 
    Step 16: 2#7->6 18#100->99 
]
Multirobot solution analysis: (
    total makespan           = 17
    total distance           = 186
    total trajectory         = 214
    average parallelism      = 12.588
    average distance         = 7.750
    average trajectory       = 8.917
    parallelism distribution  = [ 0 1 1 0 0 2 0 1 1 0 1 2 2 0 0 0 1 0 1 3 0 0 1 ]
    distance distribution     = [ 1 2 0 2 1 4 3 0 1 2 2 1 1 0 1 2 ]
    trajectory distribution   = [ 1 2 0 0 1 5 2 0 2 2 1 3 1 0 2 2 ]
)
Phase statistics (current phase = 'root_phase') [
        Phase (name = 'root_phase') [
            Total SAT solver calls         = 0
            Satisfiable SAT solver calls   = 0
            Unsatisfiable SAT solver calls = 0
            Indeterminate SAT solver calls = 0
            Move executions                = 214
            Produced CNF variables         = 0
            Produced CNF clauses           = 0
            Search steps                   = 0
            Wall clock TIME (seconds)      = 0.024
            CPU/machine TIME (seconds)     = 0.020
        ]
        Sub-phases {
            Phase (name = 'independent_solving') [
                Total SAT solver calls         = 0
                Satisfiable SAT solver calls   = 0
                Unsatisfiable SAT solver calls = 0
                Indeterminate SAT solver calls = 0
                Move executions                = 1161479
                Produced CNF variables         = 0
                Produced CNF clauses           = 0
                Search steps                   = 0
                Wall clock TIME (seconds)      = 7.153
                CPU/machine TIME (seconds)     = 7.150
            ]
        }
]
----------------------------------------------------------------