================================================================ 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#34 2#23 3#9 4#17 5#22 6#32 7#2 8#31 9#1 10#14 11#0 12#35 } vertex occupancy: {11#0 9#1 7#2 0#3 0#4 0#5 0#6 0#7 0#8 3#9 0#10 0#11 0#12 0#13 10#14 0#15 0#16 4#17 0#18 0#19 0#20 0#21 5#22 2#23 0#24 0#25 0#26 0#27 0#28 0#29 0#30 8#31 6#32 0#33 1#34 12#35 } ] Robot arrangement: (|R| = -1, |V| = 0) [ robot locations: {} vertex occupancy: {} ] Robot goal: (|R| = 12, |V| = 36) [ robot goals: { 1#{35} 2#{23} 3#{2} 4#{12} 5#{9} 6#{3} 7#{32} 8#{19} 9#{4} 10#{17} 11#{5} 12#{0} } vertex compatibilities: { 0@{12} 1@{} 2@{3} 3@{6} 4@{9} 5@{11} 6@{} 7@{} 8@{} 9@{5} 10@{} 11@{} 12@{4} 13@{} 14@{} 15@{} 16@{} 17@{10} 18@{} 19@{8} 20@{} 21@{} 22@{} 23@{2} 24@{} 25@{} 26@{} 27@{} 28@{} 29@{} 30@{} 31@{} 32@{7} 33@{} 34@{} 35@{1} } ] Open/close/exp size (steps): 1/0/1 (2) Open/close/exp size (steps): 1/0/1 (5) Open/close/exp size (steps): 8/2/8 (9) Open/close/exp size (steps): 9/2/9 (14) Open/close/exp size (steps): 15/4/15 (20) Open/close/exp size (steps): 32/12/32 (28) Open/close/exp size (steps): 7/2/7 (38) Open/close/exp size (steps): 9/3/9 (50) Open/close/exp size (steps): 40/18/40 (65) Open/close/exp size (steps): 70/36/70 (83) 0 0 0 0 0 0 0 0 0 0 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 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 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 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 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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 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 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 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 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 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 Groups 0 and 11 collide. Solution of group 0 Mulirobot solution: (|moves| = 1, paralellism = 1.000) [ Step 0: 1#34->35 ] Solution of group 11 Mulirobot solution: (|moves| = 10, paralellism = 1.000) [ Step 0: 1#35->29 Step 1: 1#29->28 Step 2: 1#28->22 Step 3: 1#22->16 Step 4: 1#16->10 Step 5: 1#10->4 Step 6: 1#4->3 Step 7: 1#3->2 Step 8: 1#2->1 Step 9: 1#1->0 ] Occupation table complementary for group 0 1 1 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 0 1 1 0 0 1 0 1 1 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 1 1 0 0 1 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 1 0 0 0 0 1 0 0 1 0 1 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 1 0 0 1 1 0 1 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 1 1 1 0 0 0 1 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 1 1 1 0 0 0 1 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 1 1 1 0 0 0 1 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 1 1 1 1 1 0 0 0 1 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 1 0 1 1 1 1 0 0 0 1 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 ** Open/close/exp size (steps): 2/1/2 (2) Alternative solution of group 0 Mulirobot solution: (|moves| = 1, paralellism = 0.500) [ Step 0: Step 1: 1#34->35 ] 0 0 0 0 0 0 0 0 0 0 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 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 Collision between groups 0 and 11 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 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 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 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 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 1 0 0 0 0 0 0 0 0 0 0 0 0 Groups 1 and 4 collide. Solution of group 1 Mulirobot solution: (|moves| = 2, paralellism = 1.000) [ Step 0: 1#23->22 Step 1: 1#22->23 ] Solution of group 4 Mulirobot solution: (|moves| = 3, paralellism = 1.000) [ Step 0: 1#22->16 Step 1: 1#16->10 Step 2: 1#10->9 ] Occupation table complementary for group 1 1 1 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 1 0 1 1 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 1 1 0 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 1 1 0 0 0 0 1 0 0 0 0 1 0 0 1 0 1 1 0 1 0 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 1 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 0 1 1 0 0 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 1 0 0 0 1 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 1 0 0 0 1 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 1 0 0 0 1 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 1 1 1 1 0 0 0 1 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 1 0 1 1 1 1 0 0 0 1 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 Occupation table complementary for group 4 1 1 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 1 0 1 1 0 1 1 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 1 1 0 0 1 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 1 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 1 0 0 0 0 1 0 0 1 1 0 1 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 1 1 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 1 1 1 1 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 1 0 1 1 1 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 Unable to resolve collision between groups 1 and 4. Merging groups 1 and 4. Searching solution for merged group 1+4. Open/close/exp size (steps): 6/2/6 (105) Open/close/exp size (steps): 63/29/63 (132) Open/close/exp size (steps): 73/62/73 (165) 0 0 0 0 0 0 0 0 0 0 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 2 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 2 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 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 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 2 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 2 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 2 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 2 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 Groups 1 and 3 collide. Solution of group 1 Mulirobot solution: (|moves| = 3, paralellism = 1.000) [ Step 0: 2#22->16 Step 1: 2#16->10 Step 2: 2#10->9 ] Solution of group 3 Mulirobot solution: (|moves| = 5, paralellism = 1.000) [ Step 0: 1#17->16 Step 1: 1#16->15 Step 2: 1#15->14 Step 3: 1#14->13 Step 4: 1#13->12 ] Occupation table complementary for group 1 1 1 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 1 0 1 1 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 1 0 0 0 0 1 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 0 1 1 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 1 1 1 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 1 0 1 1 1 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 ** Open/close/exp size (steps): 1/0/1 (5) ** Open/close/exp size (steps): 1/4/1 (9) ** Open/close/exp size (steps): 4/9/4 (14) ** Open/close/exp size (steps): 11/15/11 (20) ** Open/close/exp size (steps): 17/23/17 (28) ** Open/close/exp size (steps): 21/33/21 (38) Alternative solution of group 1 Mulirobot solution: (|moves| = 5, paralellism = 1.000) [ Step 0: 2#22->21 Step 1: Step 2: 1#23->29 Step 3: 1#29->23 2#21->15 Step 4: 2#15->9 ] 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 2 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 2 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 2 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 2 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 2 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 Collision between groups 1 and 3 resolved. 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 2 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 2 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 2 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 2 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 2 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 2 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 2 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 2 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 2 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 2 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 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 2 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 2 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 2 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 2 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 2 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 2 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 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 2 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 2 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 2 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 2 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 2 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 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 2 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 2 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 2 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 2 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 2 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 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 2 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 2 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 2 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 2 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 2 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 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 2 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 2 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 2 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 2 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 2 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 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 2 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 2 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 2 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 2 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 2 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 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 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 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 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 Groups 2 and 4 collide. Solution of group 2 Mulirobot solution: (|moves| = 2, paralellism = 1.000) [ Step 0: 1#9->3 Step 1: 1#3->2 ] Solution of group 4 Mulirobot solution: (|moves| = 10, paralellism = 1.000) [ Step 0: 1#35->29 Step 1: 1#29->28 Step 2: 1#28->22 Step 3: 1#22->16 Step 4: 1#16->10 Step 5: 1#10->4 Step 6: 1#4->3 Step 7: 1#3->2 Step 8: 1#2->1 Step 9: 1#1->0 ] Occupation table complementary for group 2 1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 2 1 0 0 0 0 0 0 0 1 1 0 1 1 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 2 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 1 1 2 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 1 2 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 2 1 1 0 1 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 1 1 0 0 0 2 1 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 1 0 0 0 2 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 1 0 0 0 2 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 1 0 0 0 2 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 1 1 1 0 0 0 2 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 1 0 0 1 1 1 0 0 0 2 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 ** Open/close/exp size (steps): 2/4/2 (50) Occupation table complementary for group 4 1 1 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 0 0 0 2 1 0 0 0 0 0 0 0 1 1 0 1 0 0 1 1 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 2 0 1 0 1 1 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 1 1 2 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 1 2 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 1 0 0 0 1 0 0 0 0 1 0 2 0 1 0 1 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 1 1 0 0 0 2 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 1 0 0 0 2 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 1 0 0 0 2 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 1 0 0 0 2 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 1 0 0 0 2 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 1 0 0 0 2 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 ** Open/close/exp size (steps): 11/9/11 (65) ** Open/close/exp size (steps): 28/27/28 (83) ** Open/close/exp size (steps): 26/49/26 (105) ** Open/close/exp size (steps): 6/76/6 (132) Unable to resolve collision between groups 2 and 4. Merging groups 2 and 4. Searching solution for merged group 2+4. Open/close/exp size (steps): 18/6/18 (205) Open/close/exp size (steps): 90/54/90 (253) Open/close/exp size (steps): 117/112/117 (311) Open/close/exp size (steps): 164/182/164 (381) Open/close/exp size (steps): 289/266/289 (465) Open/close/exp size (steps): 256/367/256 (566) Open/close/exp size (steps): 394/489/394 (688) Open/close/exp size (steps): 247/636/247 (835) Open/close/exp size (steps): 489/813/489 (1012) Open/close/exp size (steps): 371/1026/371 (1225) Open/close/exp size (steps): 368/1282/368 (1481) Open/close/exp size (steps): 813/1590/813 (1789) Open/close/exp size (steps): 798/1960/798 (2159) Open/close/exp size (steps): 1201/2404/1201 (2603) Open/close/exp size (steps): 668/2937/668 (3136) Open/close/exp size (steps): 1189/3577/1189 (3776) Open/close/exp size (steps): 619/4345/619 (4544) Open/close/exp size (steps): 1173/5267/1173 (5466) Open/close/exp size (steps): 1135/6374/1135 (6573) Open/close/exp size (steps): 823/7703/823 (7902) Open/close/exp size (steps): 979/9298/979 (9497) 0 0 0 0 0 0 0 0 0 0 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 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 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 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 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Solution of group 1 Mulirobot solution: (|moves| = 5, paralellism = 1.000) [ Step 0: 2#22->21 Step 1: Step 2: 1#23->29 Step 3: 1#29->23 2#21->15 Step 4: 2#15->9 ] Solution of group 2 Mulirobot solution: (|moves| = 12, paralellism = 1.200) [ Step 0: 1#9->3 2#35->29 Step 1: 1#3->2 2#29->28 Step 2: 2#28->22 Step 3: 2#22->16 Step 4: 2#16->10 Step 5: 2#10->9 Step 6: 2#9->8 Step 7: 2#8->7 Step 8: 2#7->1 Step 9: 2#1->0 ] Occupation table complementary for group 1 1 1 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 2 0 1 1 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 1 0 0 2 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 1 1 0 0 0 0 0 0 0 2 0 0 0 0 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 1 0 2 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 1 0 0 0 0 1 0 0 2 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 1 1 0 0 0 0 2 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 1 0 0 0 2 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 1 0 0 2 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 1 0 2 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 2 1 1 1 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 2 0 1 1 1 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 ** Open/close/exp size (steps): 24/27/24 (165) ** Open/close/exp size (steps): 28/67/28 (205) ** Open/close/exp size (steps): 98/115/98 (253) ** Open/close/exp size (steps): 108/173/108 (311) ** Open/close/exp size (steps): 89/243/89 (381) ** Open/close/exp size (steps): 195/327/195 (465) ** Open/close/exp size (steps): 162/428/162 (566) ** Open/close/exp size (steps): 293/550/293 (688) Alternative solution of group 1 Mulirobot solution: (|moves| = 9, paralellism = 1.125) [ Step 0: 2#22->21 Step 1: Step 2: 1#23->29 Step 3: 1#29->23 Step 4: 1#23->22 2#21->15 Step 5: 1#22->23 2#15->16 Step 6: 2#16->10 Step 7: 2#10->9 ] 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 2 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 2 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 2 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 2 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 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 1 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 1 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 1 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 1 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 1 0 0 0 0 0 0 0 0 0 0 0 0 Collision between groups 1 and 2 resolved. 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 2 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 2 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 2 0 0 0 0 0 0 0 1 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 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 2 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 2 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 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 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 2 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 2 0 0 0 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 2 0 0 0 0 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 2 0 0 0 0 0 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 2 0 0 0 0 0 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 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 2 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 Groups 2 and 4 collide. Solution of group 2 Mulirobot solution: (|moves| = 12, paralellism = 1.200) [ Step 0: 1#9->3 2#35->29 Step 1: 1#3->2 2#29->28 Step 2: 2#28->22 Step 3: 2#22->16 Step 4: 2#16->10 Step 5: 2#10->9 Step 6: 2#9->8 Step 7: 2#8->7 Step 8: 2#7->1 Step 9: 2#1->0 ] Solution of group 4 Mulirobot solution: (|moves| = 5, paralellism = 1.000) [ Step 0: 1#0->1 Step 1: 1#1->2 Step 2: 1#2->3 Step 3: 1#3->4 Step 4: 1#4->5 ] Occupation table complementary for group 2 1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 2 1 0 0 0 0 0 0 0 1 1 0 1 0 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 2 0 1 0 1 1 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 1 1 2 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 1 2 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 0 0 1 0 1 0 2 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 1 1 0 0 0 0 0 0 1 0 0 2 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 1 0 0 0 0 0 0 1 0 0 0 2 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 1 0 0 0 0 2 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 1 0 0 0 2 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 1 0 0 0 2 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 1 0 0 0 2 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 ** Open/close/exp size (steps): 30/105/30 (835) ** Open/close/exp size (steps): 110/282/110 (1012) ** Open/close/exp size (steps): 271/495/271 (1225) ** Open/close/exp size (steps): 287/751/287 (1481) ** Open/close/exp size (steps): 294/1059/294 (1789) ** Open/close/exp size (steps): 501/1429/501 (2159) ** Open/close/exp size (steps): 485/1873/485 (2603) ** Open/close/exp size (steps): 250/2406/250 (3136) ** Open/close/exp size (steps): 211/3046/211 (3776) ** Open/close/exp size (steps): 372/3814/372 (4544) ** Open/close/exp size (steps): 10/4736/10 (5466) Occupation table complementary for group 4 0 1 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 0 0 0 2 1 0 0 0 0 0 0 0 1 1 0 1 2 0 0 1 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 2 0 1 0 1 1 0 0 2 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 1 1 2 0 1 0 0 0 0 2 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 1 2 2 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 1 0 0 0 1 0 0 0 0 1 0 0 2 1 0 1 0 2 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 0 2 0 1 0 0 2 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 0 0 0 0 2 0 0 1 0 0 0 2 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 0 0 0 2 0 2 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 0 0 2 0 2 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 2 1 1 1 0 0 0 0 2 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 2 0 1 1 1 0 0 0 0 2 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 Unable to resolve collision between groups 2 and 4. Merging groups 2 and 4. Searching solution for merged group 2+4. Open/close/exp size (steps): 605/481/605 (11411) Open/close/exp size (steps): 1434/2778/1434 (13708) Open/close/exp size (steps): 3252/5535/3252 (16465) Open/close/exp size (steps): 7083/8844/7083 (19774) Open/close/exp size (steps): 3526/12815/3526 (23745) Open/close/exp size (steps): 10677/17581/10677 (28511) Open/close/exp size (steps): 11196/23301/11196 (34231) Open/close/exp size (steps): 5322/30165/5322 (41095) Open/close/exp size (steps): 13100/38402/13100 (49332) Open/close/exp size (steps): 5406/48287/5406 (59217) Open/close/exp size (steps): 28061/60149/28061 (71079) Open/close/exp size (steps): 43317/74384/43317 (85314) Open/close/exp size (steps): 38402/91466/38402 (102396) Open/close/exp size (steps): 31652/111965/31652 (122895) Open/close/exp size (steps): 59977/136564/59977 (147494) Open/close/exp size (steps): 31636/166083/31636 (177013) Open/close/exp size (steps): 59158/201506/59158 (212436) Open/close/exp size (steps): 90074/244014/90074 (254944) Open/close/exp size (steps): 65809/295024/65809 (305954) Open/close/exp size (steps): 68456/356236/68456 (367166) Open/close/exp size (steps): 54317/429691/54317 (440621) Open/close/exp size (steps): 105523/517837/105523 (528767) Open/close/exp size (steps): 92994/623613/92994 (634543) Open/close/exp size (steps): 57962/750545/57962 (761475) Open/close/exp size (steps): 128694/902864/128694 (913794) Open/close/exp size (steps): 51097/1085647/51097 (1096577) Open/close/exp size (steps): 107743/1304987/107743 (1315917) 0 0 0 0 0 0 0 0 0 0 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 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 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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 0 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 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 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 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 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 2 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 2 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 2 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 2 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 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 1 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 1 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 1 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 1 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 1 0 0 0 0 0 0 0 0 0 0 0 0 Groups 1 and 2 collide. Solution of group 1 Mulirobot solution: (|moves| = 9, paralellism = 1.125) [ Step 0: 2#22->21 Step 1: Step 2: 1#23->29 Step 3: 1#29->23 Step 4: 1#23->22 2#21->15 Step 5: 1#22->23 2#15->16 Step 6: 2#16->10 Step 7: 2#10->9 ] Solution of group 2 Mulirobot solution: (|moves| = 19, paralellism = 1.900) [ Step 0: 1#9->3 3#35->29 Step 1: 1#3->2 3#29->28 Step 2: 3#28->22 Step 3: 2#0->1 3#22->16 Step 4: 2#1->7 3#16->15 Step 5: 2#7->8 3#15->14 Step 6: 2#8->9 3#14->13 Step 7: 2#9->3 3#13->7 Step 8: 2#3->4 3#7->1 Step 9: 2#4->5 3#1->0 ] Occupation table complementary for group 1 2 1 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 3 2 0 1 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 1 0 0 3 0 0 0 0 1 0 2 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 1 1 0 0 0 0 0 0 0 3 0 0 0 0 0 0 1 2 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 1 0 3 0 0 0 0 0 0 0 0 0 0 0 0 1 0 2 1 0 1 0 0 0 1 0 0 0 0 1 0 0 3 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 2 0 0 0 0 1 0 0 3 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 0 0 0 2 0 0 0 1 0 3 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 0 0 0 0 2 0 0 1 3 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 0 0 3 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 3 1 1 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 3 0 1 1 1 2 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 ** Open/close/exp size (steps): 428/1014/428 (6573) Alternative solution of group 1 Mulirobot solution: (|moves| = 15, paralellism = 1.500) [ Step 0: 2#22->21 Step 1: Step 2: 1#23->29 2#21->27 Step 3: 1#29->23 2#27->28 Step 4: 1#23->29 2#28->22 Step 5: 1#29->23 2#22->16 Step 6: 1#23->22 2#16->10 Step 7: 1#22->16 Step 8: 1#16->22 2#10->9 Step 9: 1#22->23 ] 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 2 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 2 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 2 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 2 0 0 0 0 0 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 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 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 2 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 2 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 2 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 Collision between groups 1 and 2 resolved. 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 2 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 2 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 2 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 2 0 0 0 0 0 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 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0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 2 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 3 0 0 0 0 0 0 0 2 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 0 0 0 0 0 0 0 0 0 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 3 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 2 0 0 0 0 0 0 0 3 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 2 0 0 0 0 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 1 0 0 0 0 0 0 2 0 0 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 1 2 0 0 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 3 1 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 1 0 0 2 0 0 0 0 0 0 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 2 and 5 collide. Solution of group 2 Mulirobot solution: (|moves| = 19, paralellism = 1.900) [ Step 0: 1#9->3 3#35->29 Step 1: 1#3->2 3#29->28 Step 2: 3#28->22 Step 3: 2#0->1 3#22->16 Step 4: 2#1->7 3#16->15 Step 5: 2#7->8 3#15->14 Step 6: 2#8->9 3#14->13 Step 7: 2#9->3 3#13->7 Step 8: 2#3->4 3#7->1 Step 9: 2#4->5 3#1->0 ] Solution of group 5 Mulirobot solution: (|moves| = 6, paralellism = 1.000) [ Step 0: 1#32->26 Step 1: 1#26->20 Step 2: 1#20->14 Step 3: 1#14->8 Step 4: 1#8->2 Step 5: 1#2->3 ] Occupation table complementary for group 2 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 2 1 0 0 0 0 0 0 0 1 1 0 1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 2 0 1 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 1 1 2 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 1 0 0 0 0 0 0 2 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 0 0 1 0 1 0 0 0 1 0 0 1 0 2 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 2 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 1 0 0 0 2 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 0 0 0 0 2 0 1 0 0 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 0 0 0 0 2 0 1 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 0 0 0 2 0 0 1 0 0 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 0 0 0 2 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 ** Open/close/exp size (steps): 262/726/262 (7902) ** Open/close/exp size (steps): 913/2321/913 (9497) ** Open/close/exp size (steps): 1900/4235/1900 (11411) ** Open/close/exp size (steps): 1797/6532/1797 (13708) ** Open/close/exp size (steps): 6802/9289/6802 (16465) ** Open/close/exp size (steps): 5338/12598/5338 (19774) ** Open/close/exp size (steps): 4832/16569/4832 (23745) ** Open/close/exp size (steps): 2535/21335/2535 (28511) ** Open/close/exp size (steps): 15181/27055/15181 (34231) ** Open/close/exp size (steps): 13672/33919/13672 (41095) ** Open/close/exp size (steps): 7306/42156/7306 (49332) ** Open/close/exp size (steps): 18231/52041/18231 (59217) ** Open/close/exp size (steps): 6525/63903/6525 (71079) ** Open/close/exp size (steps): 23259/78138/23259 (85314) ** Open/close/exp size (steps): 8784/95220/8784 (102396) ** Open/close/exp size (steps): 10466/115719/10466 (122895) ** Open/close/exp size (steps): 33281/140318/33281 (147494) ** Open/close/exp size (steps): 16994/169837/16994 (177013) ** Open/close/exp size (steps): 34318/205260/34318 (212436) ** Open/close/exp size (steps): 28426/247768/28426 (254944) ** Open/close/exp size (steps): 21677/298778/21677 (305954) ** Open/close/exp size (steps): 21628/359990/21628 (367166) ** Open/close/exp size (steps): 9180/433445/9180 (440621) Occupation table complementary for group 5 2 1 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 0 0 0 2 1 0 0 0 0 0 0 0 1 0 0 1 3 2 0 1 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 2 0 1 0 1 0 0 0 3 0 0 0 0 1 0 2 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 1 0 2 0 1 0 0 0 0 3 0 0 0 0 0 0 1 2 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 1 0 3 0 0 0 0 2 0 1 0 0 0 0 0 1 0 2 1 0 1 0 0 0 0 0 0 0 0 1 0 0 3 1 0 1 0 0 0 1 0 0 1 0 2 0 0 0 0 0 0 1 0 0 1 0 1 0 0 2 0 0 0 0 1 0 0 3 0 1 0 1 0 0 2 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 1 0 1 0 0 0 2 0 0 0 1 0 3 0 2 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 0 0 0 0 2 2 0 1 3 0 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 2 1 0 0 3 0 0 2 0 1 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 3 1 0 1 0 0 0 0 2 0 0 1 0 0 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 3 0 1 0 1 2 0 0 0 2 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 Unable to resolve collision between groups 2 and 5. Merging groups 2 and 5. Searching solution for merged group 2+5. Open/close/exp size (steps): 111595/171062/111595 (1579125) Open/close/exp size (steps): 150316/486912/150316 (1894975) Open/close/exp size (steps): 725865/865932/725865 (2273995) Cannot decide existence of solution.. Multirobot solution analysis: ( total makespan = 0 total distance = 0 total trajectory = 0 average parallelism = -nan average distance = 0.000 average trajectory = 0.000 parallelism distribution = [ ] distance distribution = [ 11 ] trajectory distribution = [ ] ) 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 = 0 Produced CNF variables = 0 Produced CNF clauses = 0 Search steps = 0 Wall clock TIME (seconds) = 3.065 CPU/machine TIME (seconds) = 3.060 ] 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 = 8215172 Produced CNF variables = 0 Produced CNF clauses = 0 Search steps = 0 Wall clock TIME (seconds) = 64.013 CPU/machine TIME (seconds) = 64.010 ] } ] ----------------------------------------------------------------