================================================================ 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#23 2#16 3#34 4#15 5#7 6#8 7#30 8#13 9#5 10#29 11#26 12#0 13#1 14#28 15#32 } vertex occupancy: {12#0 13#1 0#2 0#3 0#4 9#5 0#6 5#7 6#8 0#9 0#10 0#11 0#12 8#13 0#14 4#15 2#16 0#17 0#18 0#19 0#20 0#21 0#22 1#23 0#24 0#25 11#26 0#27 14#28 10#29 7#30 0#31 15#32 0#33 3#34 0#35 } ] Robot arrangement: (|R| = -1, |V| = 0) [ robot locations: {} vertex occupancy: {} ] Robot goal: (|R| = 15, |V| = 36) [ robot goals: { 1#{22} 2#{19} 3#{35} 4#{26} 5#{1} 6#{16} 7#{32} 8#{5} 9#{24} 10#{14} 11#{34} 12#{30} 13#{12} 14#{25} 15#{20} } vertex compatibilities: { 0@{} 1@{5} 2@{} 3@{} 4@{} 5@{8} 6@{} 7@{} 8@{} 9@{} 10@{} 11@{} 12@{13} 13@{} 14@{10} 15@{} 16@{6} 17@{} 18@{} 19@{2} 20@{15} 21@{} 22@{1} 23@{} 24@{9} 25@{14} 26@{4} 27@{} 28@{} 29@{} 30@{12} 31@{} 32@{7} 33@{} 34@{11} 35@{3} } ] Open/close/exp size (steps): 1/0/1 (2) Open/close/exp size (steps): 13/3/13 (5) Open/close/exp size (steps): 1/0/1 (9) Open/close/exp size (steps): 1/0/1 (14) Open/close/exp size (steps): 3/1/3 (20) Open/close/exp size (steps): 23/7/23 (28) Open/close/exp size (steps): 40/17/40 (38) Open/close/exp size (steps): 28/11/28 (50) Open/close/exp size (steps): 53/26/53 (65) Open/close/exp size (steps): 78/44/78 (83) Open/close/exp size (steps): 12/4/12 (105) 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 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0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 and 9 collide. Solution of group 0 Mulirobot solution: (|moves| = 1, paralellism = 1.000) [ Step 0: 1#23->22 ] Solution of group 9 Mulirobot solution: (|moves| = 5, paralellism = 1.000) [ Step 0: 1#29->28 Step 1: 1#28->22 Step 2: 1#22->16 Step 3: 1#16->15 Step 4: 1#15->14 ] Occupation table complementary for group 0 1 1 0 0 0 1 0 1 1 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 1 0 1 1 1 0 1 0 1 0 1 1 0 0 1 0 1 1 0 1 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 1 0 0 0 1 0 1 0 1 0 0 1 0 0 0 1 0 1 0 1 0 0 0 0 0 1 0 1 0 0 0 1 0 1 0 0 0 1 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 1 0 1 0 0 0 0 1 1 0 0 0 0 0 1 0 1 1 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 1 1 0 0 1 1 0 0 0 1 1 1 0 0 0 0 0 1 0 1 1 1 1 0 0 1 0 0 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 0 0 0 1 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 1 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 0 0 0 1 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 0 0 0 1 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0 1 1 1 0 0 0 0 1 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 0 0 1 1 1 0 0 0 1 0 1 0 1 1 ** Open/close/exp size (steps): 2/1/2 (2) ** Open/close/exp size (steps): 3/4/3 (5) Alternative solution of group 0 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 0 0 0 0 0 0 0 0 0 0 0 0 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 0 and 9 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 and 3 collide. Solution of group 1 Mulirobot solution: (|moves| = 4, paralellism = 1.000) [ Step 0: 1#16->15 Step 1: 1#15->14 Step 2: 1#14->13 Step 3: 1#13->19 ] Solution of group 3 Mulirobot solution: (|moves| = 3, paralellism = 1.000) [ Step 0: 1#15->14 Step 1: 1#14->20 Step 2: 1#20->26 ] Occupation table complementary for group 1 1 1 0 0 0 1 0 1 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 1 0 0 1 0 1 1 1 0 1 0 1 0 1 1 0 0 1 0 1 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 1 1 0 0 1 0 0 0 1 0 1 0 1 0 0 1 0 0 0 1 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 1 0 1 1 0 0 1 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 1 0 1 0 0 1 0 1 1 0 0 0 0 0 1 0 1 1 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 1 0 0 0 0 0 1 0 1 1 1 1 0 0 1 0 0 0 0 0 0 0 1 0 1 0 1 0 0 0 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 1 0 0 0 0 0 1 0 1 0 1 0 0 0 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0 1 0 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 1 0 1 0 1 1 1 0 0 0 1 0 1 0 1 1 ** Open/close/exp size (steps): 2/1/2 (9) Alternative solution of group 1 Mulirobot solution: (|moves| = 4, paralellism = 0.800) [ Step 0: Step 1: 1#16->15 Step 2: 1#15->14 Step 3: 1#14->13 Step 4: 1#13->19 ] 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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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Solution of group 3 Mulirobot solution: (|moves| = 3, paralellism = 1.000) [ Step 0: 1#15->14 Step 1: 1#14->20 Step 2: 1#20->26 ] Solution of group 13 Mulirobot solution: (|moves| = 3, paralellism = 1.000) [ Step 0: 1#28->27 Step 1: 1#27->26 Step 2: 1#26->25 ] Occupation table complementary for group 3 1 1 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 1 0 1 1 1 0 1 0 1 0 1 1 0 0 1 0 1 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 1 1 0 0 1 0 0 0 1 0 1 0 1 0 0 1 0 0 0 1 0 1 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 1 1 0 0 1 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 1 0 1 0 0 1 0 1 0 0 0 0 0 0 1 0 1 1 0 1 0 1 0 0 0 0 0 0 0 0 1 1 0 1 1 0 0 0 1 0 1 0 1 1 0 0 0 0 0 0 1 0 1 1 1 1 0 0 1 0 0 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 1 0 0 1 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 1 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 1 0 0 1 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 1 0 0 1 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0 1 1 1 0 1 0 0 1 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 1 0 1 1 0 0 0 0 1 0 1 0 1 1 ** Open/close/exp size (steps): 1/0/1 (14) Alternative solution of group 3 Mulirobot solution: (|moves| = 3, paralellism = 0.750) [ Step 0: 1#15->21 Step 1: Step 2: 1#21->27 Step 3: 1#27->26 ] 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 Collision between groups 3 and 13 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 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 4 and 7 collide. Solution of group 4 Mulirobot solution: (|moves| = 1, paralellism = 1.000) [ Step 0: 1#7->1 ] Solution of group 7 Mulirobot solution: (|moves| = 6, paralellism = 1.000) [ Step 0: 1#13->7 Step 1: 1#7->1 Step 2: 1#1->2 Step 3: 1#2->3 Step 4: 1#3->4 Step 5: 1#4->5 ] Occupation table complementary for group 4 1 1 0 0 0 1 0 0 1 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 0 0 1 0 1 1 1 0 1 0 1 0 1 0 0 0 1 0 1 1 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 1 1 1 0 0 1 0 0 0 1 0 1 0 1 0 0 1 0 0 0 1 0 1 0 0 1 0 0 0 0 1 1 1 0 0 0 1 0 1 1 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 1 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 1 1 0 1 0 1 0 0 0 0 0 0 0 0 1 1 0 1 1 0 0 0 1 0 1 0 1 1 1 0 0 0 0 0 1 0 1 1 1 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 0 0 0 0 1 1 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0 1 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 1 0 1 1 1 0 0 0 1 0 1 0 1 1 Occupation table complementary for group 7 1 1 0 0 0 1 0 1 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 1 0 1 1 1 0 1 0 1 0 1 1 0 0 1 0 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 1 1 1 0 0 1 0 0 0 1 0 1 0 1 0 0 1 0 0 0 1 0 1 0 0 1 0 0 0 0 1 1 1 0 0 0 1 0 1 1 0 0 1 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 1 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 1 1 0 0 0 1 0 1 0 1 1 1 0 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 1 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 1 0 1 1 1 0 0 0 1 0 1 0 1 1 ** Open/close/exp size (steps): 3/1/3 (20) Alternative solution of group 7 Mulirobot solution: (|moves| = 6, paralellism = 1.000) [ Step 0: 1#13->14 Step 1: 1#14->8 Step 2: 1#8->9 Step 3: 1#9->3 Step 4: 1#3->4 Step 5: 1#4->5 ] 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Collision between groups 4 and 7 resolved. 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 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 4 and 8 collide. Solution of group 4 Mulirobot solution: (|moves| = 1, paralellism = 1.000) [ Step 0: 1#7->1 ] Solution of group 8 Mulirobot solution: (|moves| = 9, paralellism = 1.000) [ Step 0: 1#5->4 Step 1: 1#4->3 Step 2: 1#3->2 Step 3: 1#2->1 Step 4: 1#1->0 Step 5: 1#0->6 Step 6: 1#6->12 Step 7: 1#12->18 Step 8: 1#18->24 ] Occupation table complementary for group 4 1 1 0 0 0 1 0 0 1 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 0 0 1 0 1 1 1 0 1 0 1 0 1 0 0 0 1 0 1 0 0 1 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 0 1 1 1 0 0 1 0 0 0 1 0 0 0 1 0 0 1 0 1 0 1 0 1 0 0 1 0 0 0 0 1 1 1 0 0 0 1 0 1 1 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 1 0 1 0 1 0 1 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 1 1 0 1 0 1 0 0 0 0 0 0 0 0 1 1 0 1 1 0 0 0 1 0 1 0 1 1 1 0 0 0 0 0 1 0 1 1 1 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 0 0 0 0 1 1 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0 1 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 1 0 1 1 1 0 0 0 1 0 1 0 1 1 Alternative solution of group 4 Mulirobot solution: (|moves| = 1, paralellism = 0.500) [ Step 0: Step 1: 1#7->1 ] 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Occupation table complementary for group 8 1 1 0 0 0 0 0 1 1 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 0 0 1 0 1 1 1 0 1 0 1 0 1 0 0 0 0 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 0 1 1 1 0 0 1 0 0 0 1 0 1 0 0 0 0 1 0 1 0 1 0 1 0 0 1 0 0 0 0 1 1 1 0 0 0 1 0 1 1 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 1 0 0 1 0 1 0 1 0 1 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 1 1 0 1 0 1 0 0 0 0 0 0 0 0 1 1 0 1 1 0 0 0 1 0 1 0 1 1 1 0 0 0 0 0 1 0 1 1 0 1 0 0 1 0 0 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 ** Open/close/exp size (steps): 1/0/1 (28) ** Open/close/exp size (steps): 19/10/19 (38) ** Open/close/exp size (steps): 8/22/8 (50) ** Open/close/exp size (steps): 15/37/15 (65) Unable to resolve collision between groups 4 and 8. Merging groups 4 and 8. Searching solution for merged group 4+8. Open/close/exp size (steps): 32/17/32 (132) Open/close/exp size (steps): 78/50/78 (165) Open/close/exp size (steps): 131/90/131 (205) Open/close/exp size (steps): 197/138/197 (253) Open/close/exp size (steps): 160/196/160 (311) Open/close/exp size (steps): 121/266/121 (381) Open/close/exp size (steps): 246/350/246 (465) Open/close/exp size (steps): 162/451/162 (566) Open/close/exp size (steps): 168/573/168 (688) Open/close/exp size (steps): 425/720/425 (835) Open/close/exp size (steps): 401/897/401 (1012) Open/close/exp size (steps): 552/1110/552 (1225) Open/close/exp size (steps): 296/1366/296 (1481) Open/close/exp size (steps): 595/1674/595 (1789) Open/close/exp size (steps): 444/2044/444 (2159) Open/close/exp size (steps): 646/2488/646 (2603) Open/close/exp size (steps): 880/3021/880 (3136) Open/close/exp size (steps): 1028/3661/1028 (3776) Open/close/exp size (steps): 1164/4429/1164 (4544) Open/close/exp size (steps): 731/5351/731 (5466) Open/close/exp size (steps): 1542/6458/1542 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and 12 collide. Solution of group 4 Mulirobot solution: (|moves| = 10, paralellism = 1.111) [ Step 0: 1#7->1 2#5->4 Step 1: 2#4->3 Step 2: 2#3->2 Step 3: 2#2->8 Step 4: 2#8->7 Step 5: 2#7->6 Step 6: 2#6->12 Step 7: 2#12->18 Step 8: 2#18->24 ] Solution of group 12 Mulirobot solution: (|moves| = 3, paralellism = 1.000) [ Step 0: 1#1->0 Step 1: 1#0->6 Step 2: 1#6->12 ] Occupation table complementary for group 4 1 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 0 0 1 0 1 1 1 0 1 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 0 1 1 1 0 0 1 0 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0 1 0 0 1 0 0 0 0 1 1 1 0 0 0 1 0 1 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 1 0 1 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 1 0 0 0 1 0 1 0 1 1 1 0 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 ** Open/close/exp size (steps): 1/0/1 (83) ** Open/close/exp size (steps): 34/22/34 (105) ** Open/close/exp size (steps): 25/49/25 (132) ** Open/close/exp size (steps): 61/82/61 (165) ** Open/close/exp size (steps): 60/122/60 (205) ** Open/close/exp size (steps): 44/170/44 (253) ** Open/close/exp size (steps): 60/228/60 (311) ** Open/close/exp size (steps): 114/298/114 (381) ** Open/close/exp size (steps): 105/382/105 (465) ** Open/close/exp size (steps): 115/483/115 (566) ** Open/close/exp size (steps): 203/605/203 (688) ** Open/close/exp size (steps): 172/752/172 (835) ** Open/close/exp size (steps): 305/929/305 (1012) ** Open/close/exp size (steps): 260/1142/260 (1225) ** Open/close/exp size (steps): 203/1398/203 (1481) ** Open/close/exp size (steps): 153/1706/153 (1789) ** Open/close/exp size (steps): 326/2076/326 (2159) ** Open/close/exp size (steps): 225/2520/225 (2603) ** Open/close/exp size (steps): 279/3053/279 (3136) ** Open/close/exp size (steps): 137/3693/137 (3776) Occupation table complementary for group 12 1 0 0 0 0 2 0 1 1 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 0 0 1 0 1 1 1 0 1 0 1 0 0 1 0 0 2 0 1 0 0 1 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 0 1 1 1 0 0 1 0 0 0 1 0 1 0 2 0 0 0 0 1 0 1 0 1 0 0 1 0 0 0 0 1 1 1 0 0 0 1 0 1 1 0 0 1 0 0 1 0 1 2 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 1 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 1 1 0 1 0 1 0 0 0 0 2 0 0 0 0 1 0 1 1 0 0 0 1 0 1 0 1 1 1 0 0 0 0 0 1 0 1 1 0 1 0 0 1 0 0 2 0 0 0 0 0 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 2 0 0 0 0 0 0 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 0 0 0 0 0 0 2 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 0 2 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 0 0 1 1 0 1 0 2 1 1 0 0 0 1 0 1 0 1 1 Unable to resolve collision between groups 4 and 12. Merging groups 4 and 12. Searching solution for merged group 4+12. Open/close/exp size (steps): 1155/1323/1155 (7902) Open/close/exp size (steps): 1657/2918/1657 (9497) Open/close/exp size (steps): 5308/4832/5308 (11411) Open/close/exp size (steps): 5224/7129/5224 (13708) Open/close/exp size (steps): 6294/9886/6294 (16465) Open/close/exp size (steps): 10189/13195/10189 (19774) Open/close/exp size (steps): 10890/17166/10890 (23745) Open/close/exp size (steps): 11529/21932/11529 (28511) Open/close/exp size (steps): 13252/27652/13252 (34231) Open/close/exp size (steps): 19324/34516/19324 (41095) Open/close/exp size (steps): 34264/42753/34264 (49332) Open/close/exp size (steps): 28948/52638/28948 (59217) Open/close/exp size (steps): 29866/64500/29866 (71079) Open/close/exp size (steps): 35934/78735/35934 (85314) Open/close/exp size (steps): 38755/95817/38755 (102396) Open/close/exp size (steps): 57988/116316/57988 (122895) Open/close/exp size (steps): 96288/140915/96288 (147494) Open/close/exp size (steps): 73743/170434/73743 (177013) Open/close/exp size (steps): 66186/205857/66186 (212436) Open/close/exp size (steps): 57945/248365/57945 (254944) Open/close/exp size (steps): 81433/299375/81433 (305954) Open/close/exp size (steps): 119137/360587/119137 (367166) Open/close/exp size (steps): 95843/434042/95843 (440621) Open/close/exp size (steps): 74483/522188/74483 (528767) Open/close/exp size (steps): 178173/627964/178173 (634543) Open/close/exp size (steps): 148908/754896/148908 (761475) Open/close/exp size (steps): 120467/907215/120467 (913794) 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 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0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 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| = 4, paralellism = 0.800) [ Step 0: Step 1: 1#16->15 Step 2: 1#15->14 Step 3: 1#14->13 Step 4: 1#13->19 ] Solution of group 4 Mulirobot solution: (|moves| = 13, paralellism = 1.444) [ Step 0: 2#5->4 3#1->0 Step 1: 1#7->1 2#4->3 Step 2: 2#3->2 Step 3: 2#2->8 Step 4: 2#8->7 Step 5: 2#7->13 Step 6: 2#13->19 3#0->6 Step 7: 2#19->18 3#6->12 Step 8: 2#18->24 ] Occupation table complementary for group 1 1 3 0 0 0 2 0 1 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 1 0 0 1 0 1 1 1 0 1 0 1 0 3 0 0 0 2 0 1 1 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 1 1 0 0 1 0 0 0 1 3 1 0 2 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 1 1 1 0 0 0 1 0 1 1 0 0 1 0 0 1 3 1 2 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 1 1 3 1 0 1 0 0 0 0 2 0 0 0 0 0 0 1 1 0 0 0 1 0 1 0 1 1 1 0 0 0 0 0 1 0 1 1 3 1 0 0 1 0 0 2 0 0 0 0 0 0 1 0 1 0 0 0 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 3 1 0 0 0 1 0 0 0 0 0 0 0 2 1 0 1 0 0 0 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 3 0 0 0 0 0 0 0 1 0 1 0 0 2 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 0 0 0 0 0 0 3 0 1 0 1 0 2 0 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 0 0 0 0 0 0 3 0 1 0 1 0 0 0 1 0 1 0 2 1 1 0 0 0 1 0 1 0 1 1 Alternative solution of group 1 Mulirobot solution: (|moves| = 4, paralellism = 0.800) [ Step 0: Step 1: 1#16->15 Step 2: 1#15->14 Step 3: 1#14->13 Step 4: 1#13->19 ] 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Occupation table complementary for group 4 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 0 0 1 0 1 1 1 0 1 0 1 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 0 1 1 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 1 0 0 0 0 1 1 1 0 0 0 1 0 1 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 1 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 1 0 1 0 1 1 1 0 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 ** Open/close/exp size (steps): 216/361/216 (4544) ** Open/close/exp size (steps): 579/1283/579 (5466) ** Open/close/exp size (steps): 1120/2390/1120 (6573) ** Open/close/exp size (steps): 1242/3719/1242 (7902) ** Open/close/exp size (steps): 3229/5314/3229 (9497) ** Open/close/exp size (steps): 3382/7228/3382 (11411) ** Open/close/exp size (steps): 2959/9525/2959 (13708) ** Open/close/exp size (steps): 5119/12282/5119 (16465) ** Open/close/exp size (steps): 9602/15591/9602 (19774) ** Open/close/exp size (steps): 8045/19562/8045 (23745) ** Open/close/exp size (steps): 7663/24328/7663 (28511) ** Open/close/exp size (steps): 8541/30048/8541 (34231) ** Open/close/exp size (steps): 13333/36912/13333 (41095) ** Open/close/exp size (steps): 19827/45149/19827 (49332) ** Open/close/exp size (steps): 12611/55034/12611 (59217) ** Open/close/exp size (steps): 13464/66896/13464 (71079) ** Open/close/exp size (steps): 18007/81131/18007 (85314) Alternative solution of group 4 Mulirobot solution: (|moves| = 13, paralellism = 1.444) [ Step 0: 2#5->4 Step 1: 2#4->3 3#1->0 Step 2: 1#7->1 2#3->2 Step 3: 2#2->8 Step 4: 2#8->7 Step 5: 2#7->6 Step 6: 2#6->12 Step 7: 2#12->18 3#0->6 Step 8: 2#18->24 3#6->12 ] 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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Solution of group 5 Mulirobot solution: (|moves| = 3, paralellism = 1.000) [ Step 0: 1#8->9 Step 1: 1#9->10 Step 2: 1#10->16 ] Solution of group 9 Mulirobot solution: (|moves| = 5, paralellism = 1.000) [ Step 0: 1#29->28 Step 1: 1#28->22 Step 2: 1#22->16 Step 3: 1#16->15 Step 4: 1#15->14 ] Occupation table complementary for group 5 1 3 0 0 0 2 0 1 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 0 0 1 0 1 1 1 0 1 0 1 0 0 3 0 0 2 0 1 1 0 0 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 0 1 1 1 0 0 1 0 0 0 1 3 0 0 2 0 0 0 1 1 0 0 0 1 0 0 1 0 0 0 0 1 1 1 0 0 0 1 0 1 1 0 0 1 0 0 1 3 1 2 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 1 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 1 1 3 1 0 1 0 0 0 0 2 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 1 1 1 0 0 0 0 0 1 0 1 1 3 1 0 0 1 0 0 2 0 0 0 0 0 0 1 0 0 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 3 1 0 0 0 1 2 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 3 1 0 0 0 1 0 0 0 0 0 0 2 0 1 0 0 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 3 0 0 0 0 0 0 0 1 0 0 0 2 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 0 0 0 0 0 0 3 0 1 0 0 0 0 1 1 0 1 0 2 1 1 0 0 0 1 0 1 0 1 1 Alternative solution of group 5 Mulirobot solution: (|moves| = 5, paralellism = 1.000) [ Step 0: 1#8->9 Step 1: 1#9->10 Step 2: 1#10->4 Step 3: 1#4->10 Step 4: 1#10->16 ] 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Collision between groups 5 and 9 resolved. 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 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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Solution of group 8 Mulirobot solution: (|moves| = 2, paralellism = 1.000) [ Step 0: 1#32->26 Step 1: 1#26->20 ] Solution of group 10 Mulirobot solution: (|moves| = 3, paralellism = 1.000) [ Step 0: 1#26->27 Step 1: 1#27->28 Step 2: 1#28->34 ] Occupation table complementary for group 8 1 3 0 0 0 2 0 1 1 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 0 0 1 0 1 1 1 0 0 0 1 0 0 3 0 0 2 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 0 1 0 0 0 1 3 0 0 2 0 0 0 1 1 0 1 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 1 0 1 1 0 0 1 0 0 1 3 1 2 0 1 0 0 0 0 1 0 0 0 0 1 0 1 0 1 0 0 0 0 1 0 1 0 1 0 0 0 0 1 0 1 1 3 1 0 1 0 0 0 0 2 0 1 0 0 1 0 1 0 0 0 0 0 0 1 0 1 1 1 0 0 0 0 0 1 0 1 1 3 1 0 0 1 0 0 2 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 3 1 0 0 0 1 2 0 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 3 1 0 0 0 1 0 0 0 0 0 0 2 0 1 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 3 0 0 0 0 0 0 0 1 0 1 0 2 1 0 0 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 0 0 0 0 0 0 3 0 1 0 1 0 0 1 0 0 1 0 2 1 1 0 0 0 1 0 1 0 1 1 Occupation table complementary for group 10 1 3 0 0 0 2 0 1 1 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 0 0 0 0 1 1 1 0 1 0 1 0 0 3 0 0 2 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 0 1 1 1 0 0 1 0 0 0 1 3 0 0 2 0 0 0 1 1 0 1 0 1 0 0 1 0 0 0 0 1 1 1 0 0 0 1 0 0 1 0 0 1 0 0 1 3 1 2 0 1 0 0 0 0 1 0 0 0 0 1 0 1 0 1 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 0 1 3 1 0 1 0 0 0 0 2 0 1 0 0 1 0 1 0 0 0 0 1 0 1 0 1 1 1 0 0 0 0 0 1 0 0 1 3 1 0 0 1 0 0 2 0 0 0 0 0 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 0 1 3 1 0 0 0 1 2 0 0 0 0 0 0 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 0 1 3 1 0 0 0 1 0 0 0 0 0 0 2 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 0 1 0 1 0 0 0 1 3 0 0 0 0 0 0 0 1 0 1 0 2 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 3 0 1 0 1 0 0 1 1 0 1 0 2 1 1 0 0 0 1 0 1 0 0 1 Unable to resolve collision between groups 8 and 10. Merging groups 8 and 10. 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0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 Groups 6 and 8 collide. Solution of group 6 Mulirobot solution: (|moves| = 2, paralellism = 1.000) [ Step 0: 1#30->31 Step 1: 1#31->32 ] Solution of group 8 Mulirobot solution: (|moves| = 5, paralellism = 1.667) [ Step 0: 1#26->27 Step 1: 1#27->28 2#32->26 Step 2: 1#28->34 2#26->20 ] Occupation table complementary for group 6 1 3 0 0 0 2 0 1 1 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 0 0 1 0 1 1 0 0 2 0 1 0 0 3 0 0 2 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 2 0 0 1 3 0 0 2 0 0 0 1 1 0 1 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 1 0 1 1 0 0 0 0 0 1 3 1 2 0 1 0 0 0 0 1 0 0 0 0 1 0 1 0 1 0 2 0 0 1 0 1 0 1 0 0 0 0 0 0 1 1 3 1 0 1 0 0 0 0 2 0 1 0 0 1 0 1 0 0 0 0 2 0 1 0 1 1 1 0 0 0 0 0 0 0 1 1 3 1 0 0 1 0 0 2 0 0 0 0 0 0 1 0 1 0 0 1 2 0 1 0 0 1 1 0 0 0 1 0 0 0 1 1 3 1 0 0 0 1 2 0 0 0 0 0 0 0 1 0 1 0 0 1 2 0 1 0 0 1 1 0 0 0 1 0 0 0 1 1 3 1 0 0 0 1 0 0 0 0 0 0 2 0 1 0 1 0 0 1 2 0 1 0 0 1 1 0 0 0 1 0 0 0 1 1 0 1 0 0 0 1 3 0 0 0 0 0 0 0 1 0 1 0 2 1 2 0 1 0 0 1 1 0 0 0 1 0 0 0 1 1 0 1 0 0 0 1 0 0 0 0 0 0 3 0 1 0 1 0 0 1 2 0 1 0 2 1 1 0 0 0 1 0 0 0 1 1 Alternative solution of group 6 Mulirobot solution: (|moves| = 2, paralellism = 0.667) [ Step 0: 1#30->31 Step 1: Step 2: 1#31->32 ] 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 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0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 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 1 0 0 0 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 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 Groups 8 and 9 collide. Solution of group 8 Mulirobot solution: (|moves| = 5, paralellism = 1.667) [ Step 0: 1#26->27 Step 1: 1#27->28 2#32->26 Step 2: 1#28->34 2#26->20 ] Solution of group 9 Mulirobot solution: (|moves| = 5, paralellism = 1.000) [ Step 0: 1#29->28 Step 1: 1#28->22 Step 2: 1#22->16 Step 3: 1#16->15 Step 4: 1#15->14 ] Occupation table complementary for group 8 1 3 0 0 0 2 0 1 1 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 0 0 0 0 1 1 1 0 0 0 1 0 0 3 0 0 2 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 0 1 0 0 0 1 3 0 0 2 0 0 0 1 1 0 1 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 1 0 1 0 0 0 1 3 1 2 0 1 0 0 0 0 1 0 0 0 0 1 0 1 0 1 0 0 0 0 1 0 1 0 1 0 0 0 0 1 0 0 1 3 1 0 1 0 0 0 0 2 0 1 0 0 1 0 1 0 0 0 0 0 0 1 0 1 1 1 0 0 0 0 0 1 0 0 1 3 1 0 0 1 0 0 2 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 1 0 1 0 0 1 3 1 0 0 0 1 2 0 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 1 0 1 0 0 1 3 1 0 0 0 1 0 0 0 0 0 0 2 0 1 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 1 0 1 0 0 1 0 1 0 0 0 1 3 0 0 0 0 0 0 0 1 0 1 0 2 1 0 0 1 0 0 1 1 0 0 0 1 0 1 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 3 0 1 0 1 0 0 1 0 0 1 0 2 1 1 0 0 0 1 0 1 0 0 1 Alternative solution of group 8 Mulirobot solution: (|moves| = 11, paralellism = 1.222) [ Step 0: 1#26->20 Step 1: 1#20->19 2#32->33 Step 2: 1#19->20 Step 3: 1#20->21 Step 4: 1#21->27 Step 5: 1#27->28 Step 6: 1#28->34 2#33->27 Step 7: 2#27->21 Step 8: 2#21->20 ] 0 0 0 0 0 0 0 0 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 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 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 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 0 0 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 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 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 0 0 0 0 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 Collision between groups 8 and 9 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 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 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 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 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 0 0 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 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 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 0 0 0 0 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 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 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 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 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 0 0 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 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 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 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Groups 9 and 10 collide. Solution of group 9 Mulirobot solution: (|moves| = 5, paralellism = 1.000) [ Step 0: 1#29->28 Step 1: 1#28->22 Step 2: 1#22->16 Step 3: 1#16->15 Step 4: 1#15->14 ] Solution of group 10 Mulirobot solution: (|moves| = 3, paralellism = 1.000) [ Step 0: 1#28->27 Step 1: 1#27->26 Step 2: 1#26->25 ] Occupation table complementary for group 9 1 3 0 0 0 2 0 1 1 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 0 0 1 0 1 0 1 0 2 0 1 0 0 3 0 0 2 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 1 0 0 0 1 0 0 0 1 2 0 0 1 3 0 0 2 0 0 0 1 1 0 1 0 1 0 0 1 0 0 0 1 0 1 0 0 0 0 1 0 0 1 0 1 0 2 0 1 3 1 2 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 1 0 0 1 0 1 0 1 0 0 0 0 1 2 0 1 3 1 0 1 0 0 0 0 2 0 1 0 0 1 0 0 0 0 0 0 0 1 1 0 1 1 1 0 0 0 0 0 1 2 0 1 3 1 0 0 1 0 0 2 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 1 1 1 0 0 1 0 1 2 0 1 3 1 0 0 0 1 2 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 1 1 0 1 0 1 0 1 2 0 1 3 1 0 0 0 1 0 0 0 0 0 0 2 0 0 0 1 0 0 1 0 0 1 0 0 1 1 2 0 0 1 0 1 0 1 1 0 1 0 0 0 1 3 0 0 0 0 0 0 0 0 0 1 0 2 1 0 2 1 0 0 1 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 0 0 0 0 0 0 3 0 0 0 1 0 0 1 2 0 1 0 2 1 1 0 0 0 1 0 1 0 1 1 Occupation table complementary for group 10 1 3 0 0 0 2 0 1 1 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 0 0 1 0 0 1 1 0 2 0 1 0 0 3 0 0 2 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 1 0 0 0 0 1 0 0 1 2 0 0 1 3 0 0 2 0 0 0 1 1 0 1 0 1 0 0 1 0 0 0 1 0 1 1 0 0 0 0 0 0 1 0 1 0 2 0 1 3 1 2 0 1 0 0 0 0 1 0 0 0 0 1 0 1 0 1 0 1 0 0 1 0 0 0 1 0 0 0 0 1 2 0 1 3 1 0 1 0 0 0 0 2 0 1 0 0 1 0 1 0 0 0 0 0 1 1 0 1 0 1 0 0 0 0 0 1 2 0 1 3 1 0 0 1 0 0 2 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 0 0 1 1 0 0 1 0 1 2 0 1 3 1 0 0 0 1 2 0 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 0 0 1 0 1 0 1 0 1 2 0 1 3 1 0 0 0 1 0 0 0 0 0 0 2 0 1 0 1 0 0 1 0 0 1 0 0 0 1 2 0 0 1 0 1 0 1 1 0 1 0 0 0 1 3 0 0 0 0 0 0 0 1 0 1 0 2 1 0 2 1 0 0 0 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 0 0 0 0 0 0 3 0 1 0 1 0 0 1 2 0 1 0 2 0 1 0 0 0 1 0 1 0 1 1 Unable to resolve collision between groups 9 and 10. Merging groups 9 and 10. Searching solution for merged group 9+10. 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 and 9 collide. Solution of group 0 Mulirobot solution: (|moves| = 3, paralellism = 0.750) [ Step 0: Step 1: 1#23->29 Step 2: 1#29->23 Step 3: 1#23->22 ] Solution of group 9 Mulirobot solution: (|moves| = 8, paralellism = 1.600) [ Step 0: 1#29->23 2#28->27 Step 1: 1#23->22 2#27->26 Step 2: 1#22->16 2#26->25 Step 3: 1#16->15 Step 4: 1#15->14 ] Occupation table complementary for group 0 1 3 0 0 0 2 0 1 1 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 1 0 2 1 1 0 2 0 1 0 0 3 0 0 2 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 1 0 0 0 2 0 0 0 1 2 0 0 1 3 0 0 2 0 0 0 1 1 0 1 0 1 0 0 1 0 0 0 1 0 1 1 0 0 0 2 0 0 0 0 1 0 2 0 1 3 1 2 0 1 0 0 0 0 1 0 0 0 0 1 0 1 0 1 0 1 0 0 0 0 2 0 1 0 0 0 0 1 2 0 1 3 1 0 1 0 0 0 0 2 0 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 2 1 0 0 0 0 0 1 2 0 1 3 1 0 0 1 0 0 2 0 0 0 0 0 0 1 0 1 0 0 1 0 0 0 0 0 2 1 1 0 0 1 0 1 2 0 1 3 1 0 0 0 1 2 0 0 0 0 0 0 0 1 0 1 0 0 1 0 0 0 0 0 2 1 0 1 0 1 0 1 2 0 1 3 1 0 0 0 1 0 0 0 0 0 0 2 0 1 0 1 0 0 1 0 0 0 0 0 2 1 2 0 0 1 0 1 0 1 1 0 1 0 0 0 1 3 0 0 0 0 0 0 0 1 0 1 0 2 1 0 2 0 0 0 2 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 0 0 0 0 0 0 3 0 1 0 1 0 0 1 2 0 0 0 2 2 1 0 0 0 1 0 1 0 1 1 Occupation table complementary for group 9 1 3 0 0 0 2 0 1 1 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 0 2 0 1 0 0 3 0 0 2 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 1 0 0 0 0 0 0 0 1 2 0 0 1 3 0 0 2 0 0 0 1 1 0 1 0 1 0 0 1 0 0 0 1 0 1 0 0 0 0 0 0 0 1 0 1 0 2 0 1 3 1 2 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 1 0 0 1 0 0 0 1 0 0 0 0 1 2 0 1 3 1 0 1 0 0 0 0 2 0 1 0 0 1 0 0 0 0 0 0 0 1 1 0 1 0 1 0 0 0 0 0 1 2 0 1 3 1 0 0 1 0 0 2 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 1 1 0 0 1 0 1 2 0 1 3 1 0 0 0 1 2 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 1 0 1 0 1 0 1 2 0 1 3 1 0 0 0 1 0 0 0 0 0 0 2 0 0 0 1 0 0 1 0 0 1 0 0 0 1 2 0 0 1 0 1 0 1 1 0 1 0 0 0 1 3 0 0 0 0 0 0 0 0 0 1 0 2 1 0 2 1 0 0 0 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 0 0 0 0 0 0 3 0 0 0 1 0 0 1 2 0 1 0 2 0 1 0 0 0 1 0 1 0 1 1 Unable to resolve collision between groups 0 and 9. Merging groups 0 and 9. Searching solution for merged group 0+9. 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 3 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 3 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 2 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 0 2 0 0 0 0 1 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 0 2 0 0 0 0 0 1 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 2 0 0 0 0 0 0 1 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 2 0 0 0 0 0 0 0 1 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 0 0 0 0 1 0 0 0 0 3 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 3 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 2 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 0 2 0 0 0 0 1 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 0 2 0 0 0 0 0 1 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 2 0 0 0 0 0 0 1 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 2 0 0 0 0 0 0 0 1 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 0 0 0 0 1 0 0 0 0 3 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 3 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 2 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 0 2 0 0 0 0 1 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 0 2 0 0 0 0 0 1 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 2 0 0 0 0 0 0 1 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 2 0 0 0 0 0 0 0 1 0 0 3 0 0 0 0 0 0 0 0 0 0 Groups 0 and 3 collide. Solution of group 0 Mulirobot solution: (|moves| = 9, paralellism = 1.500) [ Step 0: 1#23->22 Step 1: 2#29->23 Step 2: 2#23->17 3#28->27 Step 3: 2#17->16 3#27->26 Step 4: 2#16->15 3#26->25 Step 5: 2#15->14 ] Solution of group 3 Mulirobot solution: (|moves| = 3, paralellism = 0.750) [ Step 0: 1#15->21 Step 1: Step 2: 1#21->27 Step 3: 1#27->26 ] Occupation table complementary for group 0 1 3 0 0 0 2 0 1 1 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 2 0 1 0 0 3 0 0 2 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 2 0 0 1 3 0 0 2 0 0 0 1 1 0 1 0 1 0 0 1 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 2 0 1 3 1 2 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 1 2 0 1 3 1 0 1 0 0 0 0 2 0 1 0 0 1 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 0 1 2 0 1 3 1 0 0 1 0 0 2 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 1 0 0 1 0 1 2 0 1 3 1 0 0 0 1 2 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0 1 2 0 1 3 1 0 0 0 1 0 0 0 0 0 0 2 0 0 0 1 0 0 1 0 0 0 0 0 0 1 2 0 0 1 0 1 0 1 1 0 1 0 0 0 1 3 0 0 0 0 0 0 0 0 0 1 0 2 1 0 2 0 0 0 0 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 0 0 0 0 0 0 3 0 0 0 1 0 0 1 2 0 0 0 2 0 1 0 0 0 1 0 1 0 1 1 ** Open/close/exp size (steps): 3124/7473/3124 (102396) Alternative solution of group 0 Mulirobot solution: (|moves| = 15, paralellism = 1.667) [ Step 0: 1#23->22 3#28->27 Step 1: 3#27->26 Step 2: 2#29->23 3#26->25 Step 3: 2#23->17 3#25->31 Step 4: 2#17->11 3#31->25 Step 5: 1#22->21 2#11->10 Step 6: 1#21->22 2#10->9 Step 7: 2#9->8 Step 8: 2#8->14 ] 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 3 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 3 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 3 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 2 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 2 0 0 0 0 1 0 0 0 0 0 0 0 0 3 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 1 0 0 3 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 1 0 0 0 3 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 3 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 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 2 0 0 0 0 0 0 0 1 0 0 3 0 0 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 0 0 0 0 0 1 0 0 0 0 3 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 3 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 3 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 2 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 2 0 0 0 0 1 0 0 0 0 0 0 0 0 3 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 1 0 0 3 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 1 0 0 0 3 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 3 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 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 2 0 0 0 0 0 0 0 1 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 0 0 0 0 1 0 0 0 0 3 2 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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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 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 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 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 0 0 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 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 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 0 0 0 0 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 Computed optimal makespan:9 Makespan optimal solution: Mulirobot solution: (|moves| = 65, paralellism = 7.222) [ Step 0: 1#23->22 14#28->27 3#34->35 4#15->21 9#5->4 6#8->9 7#30->31 8#13->14 11#26->20 12#0->6 Step 1: 14#27->26 2#16->15 9#4->3 13#1->0 6#9->10 8#14->8 11#20->19 15#32->33 12#6->12 Step 2: 10#29->23 14#26->25 2#15->14 4#21->27 5#7->1 9#3->2 6#10->4 7#31->32 8#8->9 11#19->20 12#12->18 Step 3: 10#23->17 14#25->31 2#14->13 4#27->26 9#2->8 6#4->10 8#9->3 11#20->21 12#18->24 Step 4: 10#17->11 14#31->25 2#13->19 9#8->7 6#10->16 8#3->4 11#21->27 12#24->30 Step 5: 1#22->21 10#11->10 9#7->6 8#4->5 11#27->28 Step 6: 1#21->22 10#10->9 9#6->12 11#28->34 15#33->27 Step 7: 10#9->8 9#12->18 13#0->6 15#27->21 Step 8: 10#8->14 9#18->24 13#6->12 15#21->20 ] Multirobot solution analysis: ( total makespan = 9 total distance = 49 total trajectory = 65 average parallelism = 7.222 average distance = 3.267 average trajectory = 4.333 parallelism distribution = [ 0 0 0 2 2 0 0 1 2 1 1 ] distance distribution = [ 3 1 5 1 2 1 0 0 1 ] trajectory distribution = [ 2 1 3 2 3 1 2 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 = 65 Produced CNF variables = 0 Produced CNF clauses = 0 Search steps = 0 Wall clock TIME (seconds) = 0.194 CPU/machine TIME (seconds) = 0.190 ] 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 = 3736098 Produced CNF variables = 0 Produced CNF clauses = 0 Search steps = 0 Wall clock TIME (seconds) = 27.434 CPU/machine TIME (seconds) = 27.430 ] } ] ----------------------------------------------------------------