================================================================ reLOC 0.09-vegas : Multirobot Solution solver (C) Copyright 2011-2013 Pavel Surynek ---------------------------------------------------------------- Reading graph... 1,0 6,0 2,1 7,1 3,2 8,2 4,3 9,3 5,4 10,4 7,6 12,6 8,7 13,7 9,8 14,8 10,9 15,9 11,10 16,10 13,12 18,12 14,13 19,13 15,14 20,14 16,15 21,15 17,16 22,16 19,18 24,18 20,19 25,19 21,20 26,20 22,21 27,21 23,22 28,22 25,24 30,24 26,25 31,25 27,26 32,26 28,27 33,27 29,28 34,28 11,5 17,11 23,17 29,23 35,29 31,30 32,31 33,32 34,33 35,34 Reading initial arrangement... Reading goal arrangement... Undirected graph: (|V|=36 |E|=60) [ Vertex: (id = 0) {1 6 } Vertex: (id = 1) {0 2 7 } Vertex: (id = 2) {1 3 8 } Vertex: (id = 3) {2 4 9 } Vertex: (id = 4) {3 5 10 } Vertex: (id = 5) {4 11 } Vertex: (id = 6) {0 7 12 } Vertex: (id = 7) {1 6 8 13 } Vertex: (id = 8) {2 7 9 14 } Vertex: (id = 9) {3 8 10 15 } Vertex: (id = 10) {4 9 11 16 } Vertex: (id = 11) {10 5 17 } Vertex: (id = 12) {6 13 18 } Vertex: (id = 13) {7 12 14 19 } Vertex: (id = 14) {8 13 15 20 } Vertex: (id = 15) {9 14 16 21 } Vertex: (id = 16) {10 15 17 22 } Vertex: (id = 17) {16 11 23 } Vertex: (id = 18) {12 19 24 } Vertex: (id = 19) {13 18 20 25 } Vertex: (id = 20) {14 19 21 26 } Vertex: (id = 21) {15 20 22 27 } Vertex: (id = 22) {16 21 23 28 } Vertex: (id = 23) {22 17 29 } Vertex: (id = 24) {18 25 30 } Vertex: (id = 25) {19 24 26 31 } Vertex: (id = 26) {20 25 27 32 } Vertex: (id = 27) {21 26 28 33 } Vertex: (id = 28) {22 27 29 34 } Vertex: (id = 29) {28 23 35 } Vertex: (id = 30) {24 31 } Vertex: (id = 31) {25 30 32 } Vertex: (id = 32) {26 31 33 } Vertex: (id = 33) {27 32 34 } Vertex: (id = 34) {28 33 35 } Vertex: (id = 35) {29 34 } Edge 0: 1 <-> 0 Edge 1: 6 <-> 0 Edge 2: 2 <-> 1 Edge 3: 7 <-> 1 Edge 4: 3 <-> 2 Edge 5: 8 <-> 2 Edge 6: 4 <-> 3 Edge 7: 9 <-> 3 Edge 8: 5 <-> 4 Edge 9: 10 <-> 4 Edge 10: 7 <-> 6 Edge 11: 12 <-> 6 Edge 12: 8 <-> 7 Edge 13: 13 <-> 7 Edge 14: 9 <-> 8 Edge 15: 14 <-> 8 Edge 16: 10 <-> 9 Edge 17: 15 <-> 9 Edge 18: 11 <-> 10 Edge 19: 16 <-> 10 Edge 20: 13 <-> 12 Edge 21: 18 <-> 12 Edge 22: 14 <-> 13 Edge 23: 19 <-> 13 Edge 24: 15 <-> 14 Edge 25: 20 <-> 14 Edge 26: 16 <-> 15 Edge 27: 21 <-> 15 Edge 28: 17 <-> 16 Edge 29: 22 <-> 16 Edge 30: 19 <-> 18 Edge 31: 24 <-> 18 Edge 32: 20 <-> 19 Edge 33: 25 <-> 19 Edge 34: 21 <-> 20 Edge 35: 26 <-> 20 Edge 36: 22 <-> 21 Edge 37: 27 <-> 21 Edge 38: 23 <-> 22 Edge 39: 28 <-> 22 Edge 40: 25 <-> 24 Edge 41: 30 <-> 24 Edge 42: 26 <-> 25 Edge 43: 31 <-> 25 Edge 44: 27 <-> 26 Edge 45: 32 <-> 26 Edge 46: 28 <-> 27 Edge 47: 33 <-> 27 Edge 48: 29 <-> 28 Edge 49: 34 <-> 28 Edge 50: 11 <-> 5 Edge 51: 17 <-> 11 Edge 52: 23 <-> 17 Edge 53: 29 <-> 23 Edge 54: 35 <-> 29 Edge 55: 31 <-> 30 Edge 56: 32 <-> 31 Edge 57: 33 <-> 32 Edge 58: 34 <-> 33 Edge 59: 35 <-> 34 ] Robot arrangement: (|R| = 12, |V| = 36) [ robot locations: {1#15 2#23 3#1 4#4 5#25 6#11 7#0 8#18 9#29 10#3 11#22 12#34 } vertex occupancy: {7#0 3#1 0#2 10#3 4#4 0#5 0#6 0#7 0#8 0#9 0#10 6#11 0#12 0#13 0#14 1#15 0#16 0#17 8#18 0#19 0#20 0#21 11#22 2#23 0#24 5#25 0#26 0#27 0#28 9#29 0#30 0#31 0#32 0#33 12#34 0#35 } ] Robot arrangement: (|R| = -1, |V| = 0) [ robot locations: {} vertex occupancy: {} ] Robot goal: (|R| = 12, |V| = 36) [ robot goals: { 1#{35} 2#{22} 3#{19} 4#{20} 5#{23} 6#{30} 7#{4} 8#{8} 9#{34} 10#{1} 11#{17} 12#{21} } vertex compatibilities: { 0@{} 1@{10} 2@{} 3@{} 4@{7} 5@{} 6@{} 7@{} 8@{8} 9@{} 10@{} 11@{} 12@{} 13@{} 14@{} 15@{} 16@{} 17@{11} 18@{} 19@{3} 20@{4} 21@{12} 22@{2} 23@{5} 24@{} 25@{} 26@{} 27@{} 28@{} 29@{} 30@{6} 31@{} 32@{} 33@{} 34@{9} 35@{1} } ] Open/close/exp size (steps): 5/1/5 (2) Open/close/exp size (steps): 16/4/16 (5) Open/close/exp size (steps): 26/8/26 (9) Open/close/exp size (steps): 1/0/1 (14) Open/close/exp size (steps): 7/2/7 (20) Open/close/exp size (steps): 28/10/28 (28) Open/close/exp size (steps): 24/7/24 (38) Open/close/exp size (steps): 29/9/29 (50) Open/close/exp size (steps): 55/24/55 (65) Open/close/exp size (steps): 78/42/78 (83) Open/close/exp size (steps): 4/1/4 (105) 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 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 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 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 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 1 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 1 0 0 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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 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 1 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 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 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 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 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 1 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 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 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 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 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 1 Groups 0 and 10 collide. Solution of group 0 Mulirobot solution: (|moves| = 5, paralellism = 1.000) [ Step 0: 1#15->16 Step 1: 1#16->17 Step 2: 1#17->23 Step 3: 1#23->29 Step 4: 1#29->35 ] Solution of group 10 Mulirobot solution: (|moves| = 2, paralellism = 1.000) [ Step 0: 1#22->16 Step 1: 1#16->17 ] Occupation table complementary for group 0 1 1 0 1 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 1 1 0 1 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 0 0 1 0 0 1 0 1 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 1 0 0 0 1 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 0 0 1 0 0 1 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 1 0 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 1 0 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 1 1 1 1 0 0 0 0 0 0 1 0 0 0 1 0 ** Open/close/exp size (steps): 3/1/3 (2) ** Open/close/exp size (steps): 9/4/9 (5) Alternative solution of group 0 Mulirobot solution: (|moves| = 5, paralellism = 1.000) [ Step 0: 1#15->21 Step 1: 1#21->27 Step 2: 1#27->28 Step 3: 1#28->29 Step 4: 1#29->35 ] 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 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 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 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 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 1 Collision between groups 0 and 10 resolved. 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 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 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 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 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 1 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 Groups 1 and 4 collide. Solution of group 1 Mulirobot solution: (|moves| = 1, paralellism = 1.000) [ Step 0: 1#23->22 ] Solution of group 4 Mulirobot solution: (|moves| = 5, paralellism = 1.000) [ Step 0: 1#25->19 Step 1: 1#19->20 Step 2: 1#20->21 Step 3: 1#21->22 Step 4: 1#22->23 ] Occupation table complementary for group 1 1 1 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 0 0 1 0 0 1 0 1 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 1 0 0 0 1 0 0 0 1 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 0 0 1 0 0 1 0 1 0 1 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 1 0 1 1 1 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 1 0 1 1 1 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 1 1 1 1 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 1 1 0 1 1 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 1 1 0 1 0 0 0 0 0 0 1 0 0 0 1 1 ** Open/close/exp size (steps): 1/2/1 (9) Occupation table complementary for group 4 1 1 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 0 0 1 0 0 1 0 1 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 1 0 1 1 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 0 0 1 0 0 1 0 1 0 1 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 1 1 1 0 1 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 1 0 0 0 1 1 ** Open/close/exp size (steps): 7/2/7 (14) ** Open/close/exp size (steps): 7/8/7 (20) ** Open/close/exp size (steps): 15/16/15 (28) Alternative solution of group 4 Mulirobot solution: (|moves| = 7, paralellism = 1.000) [ Step 0: 1#25->19 Step 1: 1#19->20 Step 2: 1#20->26 Step 3: 1#26->27 Step 4: 1#27->28 Step 5: 1#28->29 Step 6: 1#29->23 ] 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 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 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 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 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 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 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 Collision between groups 1 and 4 resolved. 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 Groups 1 and 10 collide. Solution of group 1 Mulirobot solution: (|moves| = 1, paralellism = 1.000) [ Step 0: 1#23->22 ] Solution of group 10 Mulirobot solution: (|moves| = 2, paralellism = 1.000) [ Step 0: 1#22->16 Step 1: 1#16->17 ] Occupation table complementary for group 1 1 1 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 0 0 1 0 0 1 0 1 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 1 0 0 0 1 0 0 0 1 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 0 0 1 0 0 1 0 1 0 1 0 0 0 0 0 1 0 1 0 0 0 0 1 0 0 1 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 0 0 0 1 1 0 1 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 1 0 1 1 1 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 1 1 1 1 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 1 1 0 1 1 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 1 1 0 1 0 0 0 0 0 0 1 0 0 0 1 1 ** Open/close/exp size (steps): 1/1/1 (38) Alternative solution of group 1 Mulirobot solution: (|moves| = 3, paralellism = 0.750) [ Step 0: Step 1: 1#23->29 Step 2: 1#29->23 Step 3: 1#23->22 ] 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 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 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 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 Collision between groups 1 and 10 resolved. 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 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 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 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 1 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 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 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 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 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 1 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 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 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 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 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 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 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 1 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 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 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 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 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 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 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 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 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 1 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 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 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 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Groups 2 and 6 collide. Solution of group 2 Mulirobot solution: (|moves| = 3, paralellism = 1.000) [ Step 0: 1#1->7 Step 1: 1#7->13 Step 2: 1#13->19 ] Solution of group 6 Mulirobot solution: (|moves| = 4, paralellism = 1.000) [ Step 0: 1#0->1 Step 1: 1#1->2 Step 2: 1#2->3 Step 3: 1#3->4 ] Occupation table complementary for group 2 1 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 0 0 0 0 0 1 0 1 0 0 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 1 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 1 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 1 0 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 0 0 0 1 0 1 0 0 0 0 1 0 0 1 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 1 1 1 0 0 0 0 0 1 0 0 0 0 0 1 1 0 1 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 0 0 0 0 0 1 0 0 0 0 1 1 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 1 1 1 1 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 1 0 0 0 1 1 Occupation table complementary for group 6 0 1 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 1 0 0 0 0 1 0 0 0 1 1 0 0 0 1 0 0 1 0 1 0 0 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 1 0 0 0 1 0 0 0 1 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 1 0 1 0 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 1 0 1 0 1 1 0 0 0 0 1 0 1 0 0 0 0 1 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 1 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 1 0 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 1 1 1 1 0 0 0 0 0 0 1 0 0 0 1 1 Unable to resolve collision between groups 2 and 6. Merging groups 2 and 6. Searching solution for merged group 2+6. Open/close/exp size (steps): 55/24/55 (132) Open/close/exp size (steps): 93/57/93 (165) Open/close/exp size (steps): 99/97/99 (205) Open/close/exp size (steps): 141/145/141 (253) 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 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 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 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 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 1 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 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 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 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 1 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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Solution of group 2 Mulirobot solution: (|moves| = 7, paralellism = 1.400) [ Step 0: 1#1->7 Step 1: 1#7->13 2#0->1 Step 2: 1#13->19 2#1->2 Step 3: 2#2->3 Step 4: 2#3->4 ] Solution of group 3 Mulirobot solution: (|moves| = 5, paralellism = 1.000) [ Step 0: 1#4->3 Step 1: 1#3->2 Step 2: 1#2->8 Step 3: 1#8->14 Step 4: 1#14->20 ] Occupation table complementary for group 2 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 1 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 0 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 1 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 1 0 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 0 0 0 1 0 1 0 0 0 0 1 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 1 1 1 0 0 0 0 0 1 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 0 0 0 0 0 1 0 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 1 1 1 1 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 1 0 0 0 1 1 ** Open/close/exp size (steps): 6/7/6 (50) ** Open/close/exp size (steps): 11/22/11 (65) ** Open/close/exp size (steps): 8/40/8 (83) ** Open/close/exp size (steps): 11/62/11 (105) ** Open/close/exp size (steps): 30/89/30 (132) ** Open/close/exp size (steps): 45/122/45 (165) ** Open/close/exp size (steps): 35/162/35 (205) ** Open/close/exp size (steps): 77/210/77 (253) ** Open/close/exp size (steps): 58/268/58 (311) ** Open/close/exp size (steps): 61/338/61 (381) ** Open/close/exp size (steps): 48/422/48 (465) Occupation table complementary for group 3 2 1 0 1 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 1 0 0 0 0 1 0 2 0 1 0 0 0 0 1 0 0 1 0 1 0 0 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 1 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 1 0 0 1 2 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 1 0 1 0 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 2 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 1 0 1 1 0 0 0 0 1 0 1 0 0 0 0 1 0 0 1 0 0 2 0 1 0 1 0 0 0 0 0 0 0 0 1 0 1 0 1 1 0 0 0 0 0 1 0 0 0 0 0 1 1 0 1 0 0 2 0 0 0 1 0 0 0 1 0 0 0 0 1 0 1 0 1 1 0 0 0 0 0 0 1 0 0 0 0 1 1 0 1 0 0 2 0 0 0 1 0 0 0 0 0 0 0 0 1 1 1 0 1 1 1 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 2 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 2 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 0 1 1 Alternative solution of group 3 Mulirobot solution: (|moves| = 7, paralellism = 1.000) [ Step 0: 1#4->5 Step 1: 1#5->4 Step 2: 1#4->10 Step 3: 1#10->9 Step 4: 1#9->15 Step 5: 1#15->14 Step 6: 1#14->20 ] 2 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 2 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 2 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 2 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 2 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 2 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 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2 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 2 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 2 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 Groups 2 and 9 collide. Solution of group 2 Mulirobot solution: (|moves| = 7, paralellism = 1.400) [ Step 0: 1#1->7 Step 1: 1#7->13 2#0->1 Step 2: 1#13->19 2#1->2 Step 3: 2#2->3 Step 4: 2#3->4 ] Solution of group 9 Mulirobot solution: (|moves| = 2, paralellism = 1.000) [ Step 0: 1#3->2 Step 1: 1#2->1 ] Occupation table complementary for group 2 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 0 0 1 0 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 1 0 1 0 0 0 0 1 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 0 0 1 0 1 0 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 1 1 1 1 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 1 0 0 0 1 1 ** Open/close/exp size (steps): 7/10/7 (566) ** Open/close/exp size (steps): 40/132/40 (688) ** Open/close/exp size (steps): 63/279/63 (835) ** Open/close/exp size (steps): 40/456/40 (1012) Occupation table complementary for group 9 2 1 0 0 1 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 1 0 0 0 0 1 0 2 0 0 0 0 1 0 1 0 0 1 0 1 0 0 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 2 0 0 1 0 1 0 0 1 0 0 0 1 0 0 0 1 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 2 0 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 1 0 1 0 1 0 0 1 0 1 0 0 0 0 0 1 0 0 0 0 2 0 0 0 1 1 1 0 0 0 0 0 0 0 1 0 1 0 1 1 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 2 0 1 0 1 0 0 0 0 0 0 1 0 1 0 1 0 1 1 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 2 0 0 0 1 0 0 0 1 0 1 0 0 1 0 1 0 1 1 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 2 0 0 0 1 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 2 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 2 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 1 1 1 1 0 0 0 0 0 0 1 0 0 0 1 1 Unable to resolve collision between groups 2 and 9. Merging groups 2 and 9. Searching solution for merged group 2+9. Open/close/exp size (steps): 73/33/73 (311) Open/close/exp size (steps): 207/103/207 (381) Open/close/exp size (steps): 376/187/376 (465) Open/close/exp size (steps): 492/288/492 (566) Open/close/exp size (steps): 664/410/664 (688) Open/close/exp size (steps): 883/557/883 (835) Open/close/exp size (steps): 1176/734/1176 (1012) Open/close/exp size (steps): 1204/947/1204 (1225) Open/close/exp size (steps): 1162/1203/1162 (1481) Open/close/exp size (steps): 1512/1511/1512 (1789) Open/close/exp size (steps): 2246/1881/2246 (2159) Open/close/exp size (steps): 2983/2325/2983 (2603) Open/close/exp size (steps): 4202/2858/4202 (3136) Open/close/exp size (steps): 5419/3498/5419 (3776) Open/close/exp size (steps): 5157/4266/5157 (4544) Open/close/exp size (steps): 4687/5188/4687 (5466) Open/close/exp size (steps): 3990/6295/3990 (6573) Open/close/exp size (steps): 3974/7624/3974 (7902) Open/close/exp size (steps): 6162/9219/6162 (9497) 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 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0 0 0 0 0 0 0 3 0 2 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 3 0 0 2 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 3 0 0 2 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 3 0 0 2 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 2 1 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 3 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 2 0 0 0 0 0 0 3 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 2 0 0 0 0 3 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 3 0 2 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 3 0 0 2 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 3 0 0 2 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 3 0 0 2 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 3 0 0 2 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 3 0 0 2 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 Groups 2 and 5 collide. Solution of group 2 Mulirobot solution: (|moves| = 11, paralellism = 2.200) [ Step 0: 1#1->7 3#3->2 Step 1: 1#7->13 2#0->1 3#2->8 Step 2: 1#13->19 2#1->2 3#8->7 Step 3: 2#2->3 3#7->1 Step 4: 2#3->4 ] Solution of group 5 Mulirobot solution: (|moves| = 9, paralellism = 1.000) [ Step 0: 1#11->10 Step 1: 1#10->9 Step 2: 1#9->8 Step 3: 1#8->7 Step 4: 1#7->6 Step 5: 1#6->12 Step 6: 1#12->18 Step 7: 1#18->24 Step 8: 1#24->30 ] Occupation table complementary for group 2 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 0 0 1 0 1 0 0 1 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 1 0 1 0 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 1 1 1 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 1 0 0 0 1 1 ** Open/close/exp size (steps): 104/149/104 (1225) ** Open/close/exp size (steps): 225/405/225 (1481) ** Open/close/exp size (steps): 231/713/231 (1789) ** Open/close/exp size (steps): 214/1083/214 (2159) ** Open/close/exp size (steps): 481/1527/481 (2603) ** Open/close/exp size (steps): 750/2060/750 (3136) ** Open/close/exp size (steps): 515/2700/515 (3776) ** Open/close/exp size (steps): 1947/3468/1947 (4544) ** Open/close/exp size (steps): 2147/4390/2147 (5466) ** Open/close/exp size (steps): 1880/5497/1880 (6573) ** Open/close/exp size (steps): 1509/6826/1509 (7902) ** Open/close/exp size (steps): 3271/8421/3271 (9497) ** Open/close/exp size (steps): 4465/10335/4465 (11411) ** Open/close/exp size (steps): 6058/12632/6058 (13708) ** Open/close/exp size (steps): 4425/15389/4425 (16465) ** Open/close/exp size (steps): 4664/18698/4664 (19774) ** Open/close/exp size (steps): 6528/22669/6528 (23745) ** Open/close/exp size (steps): 10138/27435/10138 (28511) Alternative solution of group 2 Mulirobot solution: (|moves| = 15, paralellism = 1.667) [ Step 0: 1#1->7 3#3->2 Step 1: 1#7->13 Step 2: 1#13->19 2#0->1 3#2->3 Step 3: 2#1->2 3#3->4 Step 4: 2#2->3 Step 5: 2#3->9 Step 6: 3#4->3 Step 7: 2#9->10 3#3->2 Step 8: 2#10->4 3#2->1 ] 2 1 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 3 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 2 0 3 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 2 0 3 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 2 0 3 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 2 3 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 3 0 0 0 0 2 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 3 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 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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 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 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 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 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 1 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 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 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 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 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 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 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 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 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 1 0 0 0 0 0 Groups 5 and 7 collide. Solution of group 5 Mulirobot solution: (|moves| = 9, paralellism = 1.000) [ Step 0: 1#11->10 Step 1: 1#10->9 Step 2: 1#9->8 Step 3: 1#8->7 Step 4: 1#7->6 Step 5: 1#6->12 Step 6: 1#12->18 Step 7: 1#18->24 Step 8: 1#24->30 ] Solution of group 7 Mulirobot solution: (|moves| = 4, paralellism = 1.000) [ Step 0: 1#18->12 Step 1: 1#12->6 Step 2: 1#6->7 Step 3: 1#7->8 ] Occupation table complementary for group 5 2 1 0 3 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 1 0 0 0 0 1 0 2 0 3 0 0 1 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 2 0 3 0 1 0 1 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 1 0 0 2 0 3 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0 1 0 0 1 0 1 0 0 0 0 0 1 0 0 0 2 0 3 0 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 1 1 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 0 2 3 0 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0 1 1 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 3 0 0 0 1 2 0 0 0 0 1 0 0 1 0 1 0 1 1 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 0 3 0 0 0 0 1 2 0 0 0 0 0 0 0 1 0 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 3 0 0 0 0 0 1 0 2 0 0 0 0 0 0 1 0 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 1 1 0 3 0 0 2 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 1 1 Alternative solution of group 5 Mulirobot solution: (|moves| = 9, paralellism = 1.000) [ Step 0: 1#11->10 Step 1: 1#10->9 Step 2: 1#9->15 Step 3: 1#15->14 Step 4: 1#14->13 Step 5: 1#13->12 Step 6: 1#12->18 Step 7: 1#18->24 Step 8: 1#24->30 ] 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 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 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 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 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 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 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 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 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 1 0 0 0 0 0 Collision between groups 5 and 7 resolved. 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 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 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 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 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 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 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 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 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 1 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Groups 6 and 8 collide. Solution of group 6 Mulirobot solution: (|moves| = 3, paralellism = 1.000) [ Step 0: 1#34->28 Step 1: 1#28->22 Step 2: 1#22->21 ] Solution of group 8 Mulirobot solution: (|moves| = 2, paralellism = 1.000) [ Step 0: 1#29->28 Step 1: 1#28->34 ] Occupation table complementary for group 6 2 1 0 3 1 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 1 0 0 0 0 0 0 2 0 3 0 0 1 0 1 0 0 1 0 1 0 0 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 2 0 3 0 1 0 1 0 0 1 0 0 0 1 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 1 0 0 2 0 3 0 0 0 1 0 0 1 0 0 0 0 1 0 1 0 1 0 0 0 1 0 0 1 0 1 0 0 0 0 0 1 0 0 0 2 0 3 0 0 0 1 1 0 0 0 0 1 0 0 1 0 1 0 0 1 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 0 2 3 0 0 0 1 0 0 0 0 1 0 1 0 1 0 1 0 0 1 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 3 0 0 0 1 2 0 0 1 0 1 0 0 1 0 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 0 3 0 0 0 0 1 2 0 0 0 0 0 0 0 1 1 1 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 3 0 0 0 0 0 1 0 2 0 0 0 0 0 0 1 0 1 1 0 1 1 1 0 0 0 0 0 0 0 0 0 1 1 0 3 0 0 2 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 1 0 1 1 0 0 0 0 0 0 1 0 0 0 1 1 Alternative solution of group 6 Mulirobot solution: (|moves| = 7, paralellism = 1.000) [ Step 0: 1#34->33 Step 1: 1#33->32 Step 2: 1#32->31 Step 3: 1#31->25 Step 4: 1#25->26 Step 5: 1#26->27 Step 6: 1#27->21 ] 0 0 0 0 0 0 0 0 0 0 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 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 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 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 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 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 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Collision between groups 6 and 8 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 1 0 Computed optimal makespan:9 Makespan optimal solution: Mulirobot solution: (|moves| = 61, paralellism = 6.778) [ Step 0: 1#15->21 3#1->7 10#3->2 4#4->5 5#25->19 6#11->10 12#34->33 8#18->12 9#29->28 11#22->16 Step 1: 1#21->27 2#23->29 3#7->13 4#5->4 5#19->20 6#10->9 12#33->32 8#12->6 9#28->34 11#16->17 Step 2: 1#27->28 2#29->23 3#13->19 7#0->1 10#2->3 4#4->10 5#20->26 6#9->15 12#32->31 8#6->7 Step 3: 1#28->29 2#23->22 7#1->2 10#3->4 4#10->9 5#26->27 6#15->14 12#31->25 8#7->8 Step 4: 1#29->35 7#2->3 4#9->15 5#27->28 6#14->13 12#25->26 Step 5: 7#3->9 4#15->14 5#28->29 6#13->12 12#26->27 Step 6: 10#4->3 4#14->20 5#29->23 6#12->18 12#27->21 Step 7: 7#9->10 10#3->2 6#18->24 Step 8: 7#10->4 10#2->1 6#24->30 ] Multirobot solution analysis: ( total makespan = 9 total distance = 42 total trajectory = 61 average parallelism = 6.778 average distance = 3.500 average trajectory = 5.083 parallelism distribution = [ 0 0 2 0 2 1 0 0 1 3 ] distance distribution = [ 1 3 1 2 3 0 0 0 1 ] trajectory distribution = [ 0 2 2 1 1 2 3 0 1 ] ) 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 = 61 Produced CNF variables = 0 Produced CNF clauses = 0 Search steps = 0 Wall clock TIME (seconds) = 0.002 CPU/machine TIME (seconds) = 0.000 ] 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 = 118850 Produced CNF variables = 0 Produced CNF clauses = 0 Search steps = 0 Wall clock TIME (seconds) = 0.705 CPU/machine TIME (seconds) = 0.700 ] } ] ----------------------------------------------------------------