================================================================ 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| = 15, |V| = 36) [ robot locations: {1#19 2#5 3#9 4#15 5#23 6#1 7#4 8#25 9#11 10#0 11#18 12#29 13#3 14#22 15#34 } vertex occupancy: {10#0 6#1 0#2 13#3 7#4 2#5 0#6 0#7 0#8 3#9 0#10 9#11 0#12 0#13 0#14 4#15 0#16 0#17 11#18 1#19 0#20 0#21 14#22 5#23 0#24 8#25 0#26 0#27 0#28 12#29 0#30 0#31 0#32 0#33 15#34 0#35 } ] Robot arrangement: (|R| = -1, |V| = 0) [ robot locations: {} vertex occupancy: {} ] Robot goal: (|R| = 15, |V| = 36) [ robot goals: { 1#{26} 2#{20} 3#{17} 4#{31} 5#{33} 6#{8} 7#{10} 8#{27} 9#{13} 10#{11} 11#{19} 12#{25} 13#{15} 14#{5} 15#{2} } vertex compatibilities: { 0@{} 1@{} 2@{15} 3@{} 4@{} 5@{14} 6@{} 7@{} 8@{6} 9@{} 10@{7} 11@{10} 12@{} 13@{9} 14@{} 15@{13} 16@{} 17@{3} 18@{} 19@{11} 20@{2} 21@{} 22@{} 23@{} 24@{} 25@{12} 26@{1} 27@{8} 28@{} 29@{} 30@{} 31@{4} 32@{} 33@{5} 34@{} 35@{} } ] Open/close/exp size (steps): 5/1/5 (2) Open/close/exp size (steps): 6/2/6 (5) Open/close/exp size (steps): 15/6/15 (9) Open/close/exp size (steps): 28/11/28 (14) Open/close/exp size (steps): 36/17/36 (20) Open/close/exp size (steps): 5/1/5 (28) Open/close/exp size (steps): 30/11/30 (38) Open/close/exp size (steps): 1/0/1 (50) Open/close/exp size (steps): 6/2/6 (65) Open/close/exp size (steps): 1/0/1 (83) Open/close/exp size (steps): 38/15/38 (105) 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 and 7 collide. Solution of group 0 Mulirobot solution: (|moves| = 2, paralellism = 1.000) [ Step 0: 1#19->20 Step 1: 1#20->26 ] Solution of group 7 Mulirobot solution: (|moves| = 2, paralellism = 1.000) [ Step 0: 1#25->26 Step 1: 1#26->27 ] Occupation table complementary for group 0 1 1 0 1 1 1 0 0 0 1 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 0 1 0 0 0 0 1 1 0 0 0 1 0 1 0 0 1 0 0 1 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 1 1 1 0 1 0 1 0 0 0 1 0 1 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 1 0 1 0 0 0 0 1 1 1 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 1 0 1 0 0 0 0 1 0 1 0 1 0 0 0 0 0 1 0 1 0 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 1 0 1 0 0 1 1 1 0 1 0 1 0 0 0 0 0 1 0 1 0 0 0 1 0 1 0 0 0 0 0 1 0 1 0 0 1 0 1 1 0 1 0 1 0 1 0 1 1 0 0 0 0 1 0 1 0 0 0 1 0 1 0 0 0 0 1 0 0 1 0 0 1 0 1 1 0 1 0 1 0 1 0 1 1 0 0 0 0 1 0 1 0 0 0 1 0 1 0 0 Occupation table complementary for group 7 1 1 0 1 1 1 0 0 0 1 0 1 0 0 0 1 0 0 1 1 0 0 1 1 0 0 0 0 0 1 0 0 0 0 1 0 0 1 1 0 1 0 0 0 0 1 1 0 0 0 1 0 1 0 0 1 1 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 1 1 1 0 1 0 1 0 0 0 1 0 1 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 1 0 1 0 0 0 0 1 1 1 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 1 0 1 0 0 0 0 1 0 1 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 1 0 1 0 0 1 1 1 0 1 0 1 0 0 0 0 0 1 1 0 0 0 0 1 0 1 0 0 0 0 0 1 0 1 0 0 1 0 1 1 0 1 0 1 0 1 0 1 1 0 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 1 0 1 0 1 0 1 0 1 1 0 0 0 0 1 1 0 0 0 0 1 0 1 0 0 ** Open/close/exp size (steps): 3/1/3 (2) ** Open/close/exp size (steps): 8/4/8 (5) ** Open/close/exp size (steps): 6/8/6 (9) ** Open/close/exp size (steps): 7/13/7 (14) ** Open/close/exp size (steps): 1/19/1 (20) ** Open/close/exp size (steps): 6/27/6 (28) Unable to resolve collision between groups 0 and 7. Merging groups 0 and 7. Searching solution for merged group 0+7. Open/close/exp size (steps): 50/19/50 (132) 0 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 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 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 0 0 0 0 1 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 0 0 0 1 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 0 0 0 1 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 0 0 0 1 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 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 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 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 0 0 0 0 1 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 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 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 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 0 0 0 0 1 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 0 0 0 1 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 0 0 0 1 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 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 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 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 0 0 0 0 1 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 0 0 0 1 2 0 0 0 0 0 0 0 0 Groups 0 and 4 collide. Solution of group 0 Mulirobot solution: (|moves| = 4, paralellism = 1.333) [ Step 0: 1#19->20 2#25->26 Step 1: 2#26->27 Step 2: 1#20->26 ] Solution of group 4 Mulirobot solution: (|moves| = 4, paralellism = 1.000) [ Step 0: 1#23->22 Step 1: 1#22->21 Step 2: 1#21->27 Step 3: 1#27->33 ] Occupation table complementary for group 0 1 1 0 1 1 1 0 0 0 1 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 0 1 0 0 0 0 1 1 0 0 0 1 0 1 0 0 1 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 1 1 1 0 1 0 1 0 0 0 1 0 1 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 1 0 1 0 0 0 0 1 1 1 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 1 0 1 0 0 0 0 1 0 1 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 1 0 1 0 0 1 1 1 0 1 0 1 0 0 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 0 1 0 1 0 0 1 0 1 1 0 1 0 1 0 1 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 1 0 0 1 0 0 1 0 1 1 0 1 0 1 0 1 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 1 0 0 Occupation table complementary for group 4 1 1 0 1 1 1 0 0 0 1 0 1 0 0 0 1 0 0 1 1 0 0 1 0 0 2 0 0 0 1 0 0 0 0 1 0 0 1 1 0 1 0 0 0 0 1 1 0 0 0 1 0 1 0 0 1 1 0 0 0 0 0 2 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 1 1 1 0 1 0 1 0 0 0 1 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 1 0 1 0 0 0 0 1 1 1 0 1 0 0 0 0 0 0 1 2 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 1 0 1 0 0 0 0 1 0 1 0 1 0 0 0 0 0 1 1 2 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 1 0 0 1 1 1 0 1 0 1 0 0 0 0 0 1 1 2 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 1 0 1 1 0 1 0 1 0 1 0 1 1 0 0 0 0 1 1 2 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 1 0 1 0 1 0 1 0 1 1 0 0 0 0 1 1 2 0 0 0 1 0 0 0 0 ** Open/close/exp size (steps): 2/1/2 (38) Alternative solution of group 4 Mulirobot solution: (|moves| = 4, paralellism = 0.800) [ Step 0: Step 1: 1#23->29 Step 2: 1#29->28 Step 3: 1#28->34 Step 4: 1#34->33 ] 0 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 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 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 0 0 0 0 1 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 0 0 0 1 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 0 0 0 1 2 0 0 0 0 0 0 0 0 Collision between groups 0 and 4 resolved. 0 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 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 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 0 0 0 0 1 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 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 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 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 0 0 0 0 1 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 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 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 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 0 0 0 0 1 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 0 0 0 1 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 0 0 0 1 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 0 0 0 1 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 0 0 0 1 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 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 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 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 0 0 0 0 1 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 0 0 0 1 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 0 0 0 1 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 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 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 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 0 0 0 0 1 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 0 0 0 1 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 0 0 0 1 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 0 0 0 1 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 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 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 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 0 0 0 0 1 2 0 0 0 0 0 0 0 0 Groups 0 and 10 collide. Solution of group 0 Mulirobot solution: (|moves| = 4, paralellism = 1.333) [ Step 0: 1#19->20 2#25->26 Step 1: 2#26->27 Step 2: 1#20->26 ] Solution of group 10 Mulirobot solution: (|moves| = 1, paralellism = 1.000) [ Step 0: 1#18->19 ] Occupation table complementary for group 0 1 1 0 1 1 1 0 0 0 1 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 0 1 0 0 0 0 1 1 0 0 0 1 0 1 0 0 1 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 1 1 1 0 1 0 1 0 0 0 1 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 1 1 0 0 0 1 0 1 0 0 0 0 1 1 1 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 1 0 1 0 0 0 0 1 0 1 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 1 1 1 0 1 0 1 0 0 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 0 1 0 1 0 0 1 0 1 1 0 1 0 1 0 1 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 1 0 0 1 0 0 1 0 1 1 0 1 0 1 0 1 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 1 0 0 Occupation table complementary for group 10 1 1 0 1 1 1 0 0 0 1 0 1 0 0 0 1 0 0 0 1 0 0 1 1 0 2 0 0 0 1 0 0 0 0 1 0 0 1 1 0 1 0 0 0 0 1 1 0 0 0 1 0 1 0 0 0 1 0 0 1 0 0 2 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 1 1 1 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 1 1 0 0 0 1 0 1 0 0 0 0 1 1 1 0 1 0 0 0 0 0 0 1 2 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 1 1 2 0 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 1 1 1 0 1 0 0 0 0 0 0 0 1 1 2 0 0 0 1 0 1 0 0 0 0 0 1 0 1 0 0 1 0 1 1 0 1 0 1 0 1 0 0 1 0 0 0 0 1 1 2 0 0 0 1 0 1 0 0 0 0 1 0 0 1 0 0 1 0 1 1 0 1 0 1 0 1 0 0 1 0 0 0 0 1 1 2 0 0 0 1 0 1 0 0 ** Open/close/exp size (steps): 6/7/6 (50) ** Open/close/exp size (steps): 6/22/6 (65) Unable to resolve collision between groups 0 and 10. Merging groups 0 and 10. Searching solution for merged group 0+10. Open/close/exp size (steps): 46/21/46 (165) Open/close/exp size (steps): 168/61/168 (205) Open/close/exp size (steps): 285/109/285 (253) Open/close/exp size (steps): 302/167/302 (311) Open/close/exp size (steps): 456/237/456 (381) Open/close/exp size (steps): 646/321/646 (465) 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 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 3 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 3 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 3 0 0 0 0 0 0 1 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 3 0 0 0 0 0 0 1 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 3 0 0 0 0 0 0 1 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 3 0 0 0 0 0 0 1 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 3 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 3 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 3 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 3 0 0 0 0 0 0 1 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 3 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 3 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 3 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 3 0 0 0 0 0 0 1 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 3 0 0 0 0 0 0 1 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 3 0 0 0 0 0 0 1 2 0 0 0 0 0 0 0 0 Groups 0 and 3 collide. Solution of group 0 Mulirobot solution: (|moves| = 5, paralellism = 1.667) [ Step 0: 1#19->20 2#25->26 Step 1: 2#26->27 3#18->19 Step 2: 1#20->26 ] Solution of group 3 Mulirobot solution: (|moves| = 5, paralellism = 1.000) [ Step 0: 1#15->14 Step 1: 1#14->13 Step 2: 1#13->19 Step 3: 1#19->25 Step 4: 1#25->31 ] Occupation table complementary for group 0 1 1 0 1 1 1 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 1 0 0 1 1 0 1 0 0 0 0 1 1 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 1 1 1 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 1 1 0 0 0 1 0 1 0 0 0 0 1 1 1 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 1 1 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 0 1 0 1 0 0 1 0 1 1 0 1 0 1 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 1 0 0 1 0 0 1 0 1 1 0 1 0 1 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 0 0 ** Open/close/exp size (steps): 15/7/15 (83) ** Open/close/exp size (steps): 40/29/40 (105) ** Open/close/exp size (steps): 83/56/83 (132) ** Open/close/exp size (steps): 149/89/149 (165) ** Open/close/exp size (steps): 220/129/220 (205) ** Open/close/exp size (steps): 296/177/296 (253) ** Open/close/exp size (steps): 290/235/290 (311) ** Open/close/exp size (steps): 248/305/248 (381) ** Open/close/exp size (steps): 178/389/178 (465) ** Open/close/exp size (steps): 234/490/234 (566) ** Open/close/exp size (steps): 374/612/374 (688) ** Open/close/exp size (steps): 537/759/537 (835) ** Open/close/exp size (steps): 571/936/571 (1012) ** Open/close/exp size (steps): 500/1149/500 (1225) ** Open/close/exp size (steps): 464/1405/464 (1481) ** Open/close/exp size (steps): 619/1713/619 (1789) ** Open/close/exp size (steps): 822/2083/822 (2159) ** Open/close/exp size (steps): 1068/2527/1068 (2603) ** Open/close/exp size (steps): 1769/3060/1769 (3136) ** Open/close/exp size (steps): 1760/3700/1760 (3776) Alternative solution of group 0 Mulirobot solution: (|moves| = 7, paralellism = 1.400) [ Step 0: 2#25->26 Step 1: 1#19->20 2#26->32 Step 2: 2#32->33 Step 3: 2#33->27 Step 4: 1#20->26 3#18->19 ] 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 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 3 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 3 0 1 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 3 0 1 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 3 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 3 0 0 0 0 0 0 1 2 0 0 0 0 0 0 0 0 Collision between groups 0 and 3 resolved. 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 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 3 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 3 0 1 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 3 0 1 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 3 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 3 0 0 0 0 0 0 1 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 3 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 3 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 3 0 1 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 3 0 1 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 3 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 3 0 0 0 0 0 0 1 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 3 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 3 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 3 0 1 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 3 0 1 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 3 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 3 0 0 0 0 0 0 1 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 3 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 3 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 3 0 1 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 3 0 1 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 3 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 3 0 0 0 0 0 0 1 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 3 0 0 0 0 0 0 1 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 3 0 0 0 0 0 0 1 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 3 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 3 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 3 0 1 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 3 0 1 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 3 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 3 0 0 0 0 0 0 1 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 3 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 3 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 3 0 1 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 3 0 1 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 3 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 3 0 0 0 0 0 0 1 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 3 0 0 0 0 0 0 1 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 3 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 3 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 3 0 1 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 3 0 1 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 3 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 3 0 0 0 0 0 0 1 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 3 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 3 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 3 0 1 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 3 0 1 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 3 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 3 0 0 0 0 0 0 1 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 3 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 3 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 3 0 1 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 3 0 1 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 3 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 3 0 0 0 0 0 0 1 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Groups 1 and 5 collide. Solution of group 1 Mulirobot solution: (|moves| = 6, paralellism = 1.000) [ Step 0: 1#5->4 Step 1: 1#4->3 Step 2: 1#3->2 Step 3: 1#2->8 Step 4: 1#8->14 Step 5: 1#14->20 ] Solution of group 5 Mulirobot solution: (|moves| = 2, paralellism = 1.000) [ Step 0: 1#1->2 Step 1: 1#2->8 ] Occupation table complementary for group 1 1 1 0 1 1 0 0 0 0 1 0 1 0 0 0 1 0 0 3 1 0 0 1 1 0 2 0 0 0 1 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 1 1 0 0 0 1 0 1 0 3 1 0 0 0 1 0 0 2 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 1 1 1 0 1 0 1 0 0 3 0 1 0 1 0 0 0 0 1 0 1 0 0 2 0 0 0 0 0 0 1 1 0 0 0 1 0 1 0 0 0 0 1 1 1 3 1 1 0 0 0 0 0 1 0 1 0 0 0 0 2 0 0 0 0 0 0 1 1 0 1 1 0 1 0 0 0 0 1 0 1 3 0 1 0 0 0 0 1 0 2 0 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 1 0 1 0 1 0 3 0 0 0 0 0 1 1 2 0 0 0 1 0 1 0 0 0 0 0 1 0 1 0 0 1 0 1 1 0 1 0 1 0 1 0 3 0 0 0 0 0 1 1 2 0 0 0 1 0 1 0 0 0 0 1 0 0 1 0 0 1 0 1 1 0 1 0 1 0 1 0 3 0 0 0 0 0 1 1 2 0 0 0 1 0 1 0 0 Occupation table complementary for group 5 1 0 0 1 1 1 0 0 0 1 0 1 0 0 0 1 0 0 3 1 0 0 1 1 0 2 0 0 0 1 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 1 1 0 0 0 1 0 1 0 3 1 0 0 0 1 0 0 2 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 1 1 0 1 0 1 0 0 3 0 1 0 1 0 0 0 0 1 0 1 0 0 2 0 0 0 0 0 1 1 1 0 0 0 1 0 1 0 0 0 0 1 1 1 3 1 1 0 0 0 0 0 1 0 1 0 0 0 0 2 0 0 0 0 0 0 1 1 0 1 1 0 1 0 0 0 0 1 0 1 3 0 1 0 0 0 0 1 0 2 0 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 1 0 0 1 1 1 0 1 0 3 0 0 0 0 0 1 1 2 0 0 0 1 0 1 0 0 0 0 0 1 0 1 0 0 0 0 1 1 0 1 0 1 0 1 0 3 1 0 0 0 0 1 1 2 0 0 0 1 0 1 0 0 0 0 1 0 0 1 0 0 0 0 1 1 0 1 0 1 0 1 0 3 1 0 0 0 0 1 1 2 0 0 0 1 0 1 0 0 Unable to resolve collision between groups 1 and 5. Merging groups 1 and 5. Searching solution for merged group 1+5. Open/close/exp size (steps): 75/34/75 (566) Open/close/exp size (steps): 229/156/229 (688) Open/close/exp size (steps): 273/303/273 (835) Open/close/exp size (steps): 354/480/354 (1012) Open/close/exp size (steps): 505/693/505 (1225) Open/close/exp size (steps): 771/949/771 (1481) 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 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 3 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 3 0 1 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 3 0 1 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 3 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 3 0 0 0 0 0 0 1 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 3 0 0 0 0 0 0 1 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 3 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 3 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 3 0 1 0 0 0 0 0 0 0 0 0 0 0 2 0 0 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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 3 0 1 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 3 0 1 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 3 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 3 0 0 0 0 0 0 1 2 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 Groups 1 and 5 collide. Solution of group 1 Mulirobot solution: (|moves| = 8, paralellism = 1.333) [ Step 0: 1#5->4 2#1->2 Step 1: 1#4->3 2#2->8 Step 2: 1#3->9 Step 3: 1#9->15 Step 4: 1#15->14 Step 5: 1#14->20 ] Solution of group 5 Mulirobot solution: (|moves| = 2, paralellism = 1.000) [ Step 0: 1#3->9 Step 1: 1#9->15 ] Occupation table complementary for group 1 1 0 0 1 1 0 0 0 0 1 0 1 0 0 0 1 0 0 3 1 0 0 1 1 0 2 0 0 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 1 1 0 0 0 1 0 1 0 3 1 0 0 0 1 0 0 2 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 1 0 1 0 1 0 0 3 0 1 0 1 0 0 0 0 1 0 1 0 0 2 0 0 0 0 0 0 1 1 0 0 0 1 0 1 0 0 0 0 1 1 1 3 1 1 0 0 0 0 0 1 0 1 0 0 0 0 2 0 0 0 0 0 0 1 1 0 1 0 0 1 0 0 0 0 1 0 1 3 0 1 0 0 0 0 1 0 2 0 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 1 0 0 1 0 1 0 1 0 3 0 0 0 0 0 1 1 2 0 0 0 1 0 1 0 0 0 0 0 1 0 1 0 0 0 0 1 1 0 1 0 1 0 1 0 3 0 0 0 0 0 1 1 2 0 0 0 1 0 1 0 0 0 0 1 0 0 1 0 0 0 0 1 1 0 1 0 1 0 1 0 3 0 0 0 0 0 1 1 2 0 0 0 1 0 1 0 0 Occupation table complementary for group 5 1 2 0 0 1 1 0 0 0 1 0 1 0 0 0 1 0 0 3 1 0 0 1 1 0 2 0 0 0 1 0 0 0 0 1 0 0 1 2 0 1 0 0 0 0 0 1 0 0 0 1 0 1 0 3 1 0 0 0 1 0 0 2 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 2 1 1 1 0 1 0 0 0 0 3 0 1 0 1 0 0 0 0 1 0 1 0 0 2 0 0 0 0 0 0 1 1 0 0 0 1 1 1 0 0 0 0 0 1 1 3 1 1 0 0 0 0 0 1 0 1 0 0 0 0 2 0 0 0 0 0 0 1 1 0 1 2 0 1 0 0 0 0 1 0 1 3 0 1 0 0 0 0 1 0 2 0 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 2 0 1 0 0 1 1 0 0 1 0 3 0 0 0 0 0 1 1 2 0 0 0 1 0 1 0 0 0 0 0 1 0 1 0 0 2 0 1 1 0 1 0 0 0 1 0 3 1 0 0 0 0 1 1 2 0 0 0 1 0 1 0 0 0 0 1 0 0 1 0 0 2 0 1 1 0 1 0 0 0 1 0 3 1 0 0 0 0 1 1 2 0 0 0 1 0 1 0 0 Unable to resolve collision between groups 1 and 5. Merging groups 1 and 5. Searching solution for merged group 1+5. Open/close/exp size (steps): 90/38/90 (1789) Open/close/exp size (steps): 478/408/478 (2159) Open/close/exp size (steps): 1634/852/1634 (2603) Open/close/exp size (steps): 2656/1385/2656 (3136) Open/close/exp size (steps): 3220/2025/3220 (3776) Open/close/exp size (steps): 4462/2793/4462 (4544) Open/close/exp size (steps): 4574/3715/4574 (5466) Open/close/exp size (steps): 5653/4822/5653 (6573) Open/close/exp size (steps): 6365/6151/6365 (7902) Open/close/exp size (steps): 6806/7746/6806 (9497) Open/close/exp size (steps): 7043/9660/7043 (11411) Open/close/exp size (steps): 7974/11957/7974 (13708) Open/close/exp size (steps): 11527/14714/11527 (16465) Open/close/exp size (steps): 9996/18023/9996 (19774) Open/close/exp size (steps): 11478/21994/11478 (23745) Open/close/exp size (steps): 18057/26760/18057 (28511) Open/close/exp size (steps): 20112/32480/20112 (34231) Open/close/exp size (steps): 24246/39344/24246 (41095) Open/close/exp size (steps): 31364/47581/31364 (49332) Open/close/exp size (steps): 46087/57466/46087 (59217) Open/close/exp size (steps): 37740/69328/37740 (71079) 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 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 3 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 3 0 1 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 3 0 1 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 3 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 3 0 0 0 0 0 0 1 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 3 0 0 0 0 0 0 1 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 3 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 3 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 3 0 1 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 3 0 1 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 3 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 3 0 0 0 0 0 0 1 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 3 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 3 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 3 0 1 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 3 0 1 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 3 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 3 0 0 0 0 0 0 1 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 3 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 3 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 3 0 1 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 3 0 1 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 3 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 3 0 0 0 0 0 0 1 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 3 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 3 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 3 0 1 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 3 0 1 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 3 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 3 0 0 0 0 0 0 1 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 3 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 3 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 3 0 1 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 3 0 1 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 3 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 3 0 0 0 0 0 0 1 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 3 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 3 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 3 0 1 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 3 0 1 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 3 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 3 0 0 0 0 0 0 1 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 3 0 0 0 0 0 0 1 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 3 0 0 0 0 0 0 1 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 3 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 3 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 3 0 1 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 3 0 1 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 3 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 3 0 0 0 0 0 0 1 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 3 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 3 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 3 0 1 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 3 0 1 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 3 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 3 0 0 0 0 0 0 1 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 3 0 0 0 0 0 0 1 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 3 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 3 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 3 0 1 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 3 0 1 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 3 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 3 0 0 0 0 0 0 1 2 0 0 0 0 0 0 0 0 0 2 0 3 0 1 0 0 0 0 0 0 0 0 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 3 1 0 0 0 0 0 0 0 0 0 0 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 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 3 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 3 0 0 0 0 0 0 0 0 0 0 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 3 0 0 0 0 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 3 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Groups 1 and 2 collide. Solution of group 1 Mulirobot solution: (|moves| = 10, paralellism = 1.667) [ Step 0: 1#5->4 2#1->2 Step 1: 1#4->10 2#2->8 Step 2: 1#10->16 Step 3: 1#16->22 3#3->9 Step 4: 1#22->21 3#9->15 Step 5: 1#21->20 ] Solution of group 2 Mulirobot solution: (|moves| = 3, paralellism = 1.000) [ Step 0: 1#9->10 Step 1: 1#10->11 Step 2: 1#11->17 ] Occupation table complementary for group 1 1 0 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 3 1 0 0 1 1 0 2 0 0 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 1 0 1 0 3 1 0 0 0 1 0 0 2 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 1 0 1 0 0 0 0 3 0 1 0 1 0 0 0 0 1 0 1 0 0 2 0 0 0 0 0 0 1 1 0 0 0 1 0 1 0 0 0 0 0 1 1 3 1 1 0 0 0 0 0 1 0 1 0 0 0 0 2 0 0 0 0 0 0 1 1 0 1 0 0 1 0 0 0 0 0 0 1 3 0 1 0 0 0 0 1 0 2 0 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 1 0 0 1 0 0 0 1 0 3 0 0 0 0 0 1 1 2 0 0 0 1 0 1 0 0 0 0 0 1 0 1 0 0 0 0 1 1 0 1 0 0 0 1 0 3 0 0 0 0 0 1 1 2 0 0 0 1 0 1 0 0 0 0 1 0 0 1 0 0 0 0 1 1 0 1 0 0 0 1 0 3 0 0 0 0 0 1 1 2 0 0 0 1 0 1 0 0 Occupation table complementary for group 2 1 2 0 3 1 1 0 0 0 0 0 1 0 0 0 1 0 0 3 1 0 0 1 1 0 2 0 0 0 1 0 0 0 0 1 0 0 1 2 3 1 0 0 0 0 0 1 0 0 0 1 0 1 0 3 1 0 0 0 1 0 0 2 0 1 0 0 0 0 0 0 0 0 0 1 3 0 0 0 0 2 1 1 0 0 1 0 0 0 0 3 0 1 0 1 0 0 0 0 1 0 1 0 0 2 0 0 0 0 0 0 1 1 0 0 0 1 0 1 0 0 0 0 0 1 0 3 1 1 0 0 0 0 0 1 0 1 0 0 0 0 2 0 0 0 0 0 0 1 1 0 1 2 3 1 0 0 0 0 0 0 0 3 0 1 0 1 0 0 1 0 2 0 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 2 0 1 0 0 1 0 3 0 0 0 3 0 1 0 0 0 1 1 2 0 0 0 1 0 1 0 0 0 0 0 1 0 1 0 0 2 0 1 1 0 1 0 3 0 0 0 3 1 0 0 0 0 1 1 2 0 0 0 1 0 1 0 0 0 0 1 0 0 1 0 0 2 0 1 1 0 1 0 3 0 0 0 3 1 0 0 0 0 1 1 2 0 0 0 1 0 1 0 0 Unable to resolve collision between groups 1 and 2. Merging groups 1 and 2. Searching solution for merged group 1+2. Open/close/exp size (steps): 16112/9633/16112 (85314) Open/close/exp size (steps): 19773/26715/19773 (102396) Open/close/exp size (steps): 38906/47214/38906 (122895) Open/close/exp size (steps): 63105/71813/63105 (147494) Open/close/exp size (steps): 72692/101332/72692 (177013) Open/close/exp size (steps): 115601/136755/115601 (212436) Open/close/exp size (steps): 216485/179263/216485 (254944) Open/close/exp size (steps): 298170/230273/298170 (305954) Open/close/exp size (steps): 307580/291485/307580 (367166) Open/close/exp size (steps): 274168/364940/274168 (440621) Open/close/exp size (steps): 298140/453086/298140 (528767) Open/close/exp size (steps): 381724/558862/381724 (634543) Open/close/exp size (steps): 537654/685794/537654 (761475) Open/close/exp size (steps): 565549/838113/565549 (913794) Open/close/exp size (steps): 505359/1020896/505359 (1096577) Open/close/exp size (steps): 607090/1240236/607090 (1315917) Open/close/exp size (steps): 621749/1503444/621749 (1579125) Open/close/exp size (steps): 1016673/1819294/1016673 (1894975) 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 = [ 14 ] 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) = 7.202 CPU/machine TIME (seconds) = 7.200 ] 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 = 6282049 Produced CNF variables = 0 Produced CNF clauses = 0 Search steps = 0 Wall clock TIME (seconds) = 64.022 CPU/machine TIME (seconds) = 64.010 ] } ] ----------------------------------------------------------------