================================================================
reLOC 0.09-vegas : Multirobot Solution solver
(C) Copyright 2011-2013 Pavel Surynek
----------------------------------------------------------------
Reading graph...
1,0
8,0
2,1
9,1
3,2
10,2
4,3
11,3
5,4
12,4
6,5
13,5
7,6
14,6
9,8
16,8
10,9
17,9
11,10
18,10
12,11
19,11
13,12
20,12
14,13
21,13
15,14
22,14
17,16
24,16
18,17
25,17
19,18
26,18
20,19
27,19
21,20
28,20
22,21
29,21
23,22
30,22
25,24
32,24
26,25
33,25
27,26
34,26
28,27
35,27
29,28
36,28
30,29
37,29
31,30
38,30
33,32
40,32
34,33
41,33
35,34
42,34
36,35
43,35
37,36
44,36
38,37
45,37
39,38
46,38
41,40
48,40
42,41
49,41
43,42
50,42
44,43
51,43
45,44
52,44
46,45
53,45
47,46
54,46
49,48
56,48
50,49
57,49
51,50
58,50
52,51
59,51
53,52
60,52
54,53
61,53
55,54
62,54
15,7
23,15
31,23
39,31
47,39
55,47
63,55
57,56
58,57
59,58
60,59
61,60
62,61
63,62
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=64 |E|=112) [
    Vertex: (id = 0) {1 8 }
    Vertex: (id = 1) {0 2 9 }
    Vertex: (id = 2) {1 3 10 }
    Vertex: (id = 3) {2 4 11 }
    Vertex: (id = 4) {3 5 12 }
    Vertex: (id = 5) {4 6 13 }
    Vertex: (id = 6) {5 7 14 }
    Vertex: (id = 7) {6 15 }
    Vertex: (id = 8) {0 9 16 }
    Vertex: (id = 9) {1 8 10 17 }
    Vertex: (id = 10) {2 9 11 18 }
    Vertex: (id = 11) {3 10 12 19 }
    Vertex: (id = 12) {4 11 13 20 }
    Vertex: (id = 13) {5 12 14 21 }
    Vertex: (id = 14) {6 13 15 22 }
    Vertex: (id = 15) {14 7 23 }
    Vertex: (id = 16) {8 17 24 }
    Vertex: (id = 17) {9 16 18 25 }
    Vertex: (id = 18) {10 17 19 26 }
    Vertex: (id = 19) {11 18 20 27 }
    Vertex: (id = 20) {12 19 21 28 }
    Vertex: (id = 21) {13 20 22 29 }
    Vertex: (id = 22) {14 21 23 30 }
    Vertex: (id = 23) {22 15 31 }
    Vertex: (id = 24) {16 25 32 }
    Vertex: (id = 25) {17 24 26 33 }
    Vertex: (id = 26) {18 25 27 34 }
    Vertex: (id = 27) {19 26 28 35 }
    Vertex: (id = 28) {20 27 29 36 }
    Vertex: (id = 29) {21 28 30 37 }
    Vertex: (id = 30) {22 29 31 38 }
    Vertex: (id = 31) {30 23 39 }
    Vertex: (id = 32) {24 33 40 }
    Vertex: (id = 33) {25 32 34 41 }
    Vertex: (id = 34) {26 33 35 42 }
    Vertex: (id = 35) {27 34 36 43 }
    Vertex: (id = 36) {28 35 37 44 }
    Vertex: (id = 37) {29 36 38 45 }
    Vertex: (id = 38) {30 37 39 46 }
    Vertex: (id = 39) {38 31 47 }
    Vertex: (id = 40) {32 41 48 }
    Vertex: (id = 41) {33 40 42 49 }
    Vertex: (id = 42) {34 41 43 50 }
    Vertex: (id = 43) {35 42 44 51 }
    Vertex: (id = 44) {36 43 45 52 }
    Vertex: (id = 45) {37 44 46 53 }
    Vertex: (id = 46) {38 45 47 54 }
    Vertex: (id = 47) {46 39 55 }
    Vertex: (id = 48) {40 49 56 }
    Vertex: (id = 49) {41 48 50 57 }
    Vertex: (id = 50) {42 49 51 58 }
    Vertex: (id = 51) {43 50 52 59 }
    Vertex: (id = 52) {44 51 53 60 }
    Vertex: (id = 53) {45 52 54 61 }
    Vertex: (id = 54) {46 53 55 62 }
    Vertex: (id = 55) {54 47 63 }
    Vertex: (id = 56) {48 57 }
    Vertex: (id = 57) {49 56 58 }
    Vertex: (id = 58) {50 57 59 }
    Vertex: (id = 59) {51 58 60 }
    Vertex: (id = 60) {52 59 61 }
    Vertex: (id = 61) {53 60 62 }
    Vertex: (id = 62) {54 61 63 }
    Vertex: (id = 63) {55 62 }
    Edge  0: 1 <-> 0
    Edge  1: 8 <-> 0
    Edge  2: 2 <-> 1
    Edge  3: 9 <-> 1
    Edge  4: 3 <-> 2
    Edge  5: 10 <-> 2
    Edge  6: 4 <-> 3
    Edge  7: 11 <-> 3
    Edge  8: 5 <-> 4
    Edge  9: 12 <-> 4
    Edge  10: 6 <-> 5
    Edge  11: 13 <-> 5
    Edge  12: 7 <-> 6
    Edge  13: 14 <-> 6
    Edge  14: 9 <-> 8
    Edge  15: 16 <-> 8
    Edge  16: 10 <-> 9
    Edge  17: 17 <-> 9
    Edge  18: 11 <-> 10
    Edge  19: 18 <-> 10
    Edge  20: 12 <-> 11
    Edge  21: 19 <-> 11
    Edge  22: 13 <-> 12
    Edge  23: 20 <-> 12
    Edge  24: 14 <-> 13
    Edge  25: 21 <-> 13
    Edge  26: 15 <-> 14
    Edge  27: 22 <-> 14
    Edge  28: 17 <-> 16
    Edge  29: 24 <-> 16
    Edge  30: 18 <-> 17
    Edge  31: 25 <-> 17
    Edge  32: 19 <-> 18
    Edge  33: 26 <-> 18
    Edge  34: 20 <-> 19
    Edge  35: 27 <-> 19
    Edge  36: 21 <-> 20
    Edge  37: 28 <-> 20
    Edge  38: 22 <-> 21
    Edge  39: 29 <-> 21
    Edge  40: 23 <-> 22
    Edge  41: 30 <-> 22
    Edge  42: 25 <-> 24
    Edge  43: 32 <-> 24
    Edge  44: 26 <-> 25
    Edge  45: 33 <-> 25
    Edge  46: 27 <-> 26
    Edge  47: 34 <-> 26
    Edge  48: 28 <-> 27
    Edge  49: 35 <-> 27
    Edge  50: 29 <-> 28
    Edge  51: 36 <-> 28
    Edge  52: 30 <-> 29
    Edge  53: 37 <-> 29
    Edge  54: 31 <-> 30
    Edge  55: 38 <-> 30
    Edge  56: 33 <-> 32
    Edge  57: 40 <-> 32
    Edge  58: 34 <-> 33
    Edge  59: 41 <-> 33
    Edge  60: 35 <-> 34
    Edge  61: 42 <-> 34
    Edge  62: 36 <-> 35
    Edge  63: 43 <-> 35
    Edge  64: 37 <-> 36
    Edge  65: 44 <-> 36
    Edge  66: 38 <-> 37
    Edge  67: 45 <-> 37
    Edge  68: 39 <-> 38
    Edge  69: 46 <-> 38
    Edge  70: 41 <-> 40
    Edge  71: 48 <-> 40
    Edge  72: 42 <-> 41
    Edge  73: 49 <-> 41
    Edge  74: 43 <-> 42
    Edge  75: 50 <-> 42
    Edge  76: 44 <-> 43
    Edge  77: 51 <-> 43
    Edge  78: 45 <-> 44
    Edge  79: 52 <-> 44
    Edge  80: 46 <-> 45
    Edge  81: 53 <-> 45
    Edge  82: 47 <-> 46
    Edge  83: 54 <-> 46
    Edge  84: 49 <-> 48
    Edge  85: 56 <-> 48
    Edge  86: 50 <-> 49
    Edge  87: 57 <-> 49
    Edge  88: 51 <-> 50
    Edge  89: 58 <-> 50
    Edge  90: 52 <-> 51
    Edge  91: 59 <-> 51
    Edge  92: 53 <-> 52
    Edge  93: 60 <-> 52
    Edge  94: 54 <-> 53
    Edge  95: 61 <-> 53
    Edge  96: 55 <-> 54
    Edge  97: 62 <-> 54
    Edge  98: 15 <-> 7
    Edge  99: 23 <-> 15
    Edge  100: 31 <-> 23
    Edge  101: 39 <-> 31
    Edge  102: 47 <-> 39
    Edge  103: 55 <-> 47
    Edge  104: 63 <-> 55
    Edge  105: 57 <-> 56
    Edge  106: 58 <-> 57
    Edge  107: 59 <-> 58
    Edge  108: 60 <-> 59
    Edge  109: 61 <-> 60
    Edge  110: 62 <-> 61
    Edge  111: 63 <-> 62
]
Robot arrangement: (|R| = 15, |V| = 64) [
     robot locations: {1#61 2#20 3#3 4#5 5#19 6#17 7#21 8#39 9#22 10#40 11#58 12#45 13#16 14#50 15#28 }
     vertex occupancy: {0#0 0#1 0#2 3#3 0#4 4#5 0#6 0#7 0#8 0#9 0#10 0#11 0#12 0#13 0#14 0#15 13#16 6#17 0#18 5#19 2#20 7#21 9#22 0#23 0#24 0#25 0#26 0#27 15#28 0#29 0#30 0#31 0#32 0#33 0#34 0#35 0#36 0#37 0#38 8#39 10#40 0#41 0#42 0#43 0#44 12#45 0#46 0#47 0#48 0#49 14#50 0#51 0#52 0#53 0#54 0#55 0#56 0#57 11#58 0#59 0#60 1#61 0#62 0#63 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 15, |V| = 64) [
    robot goals: {
        1#{35}
        2#{8}
        3#{20}
        4#{0}
        5#{45}
        6#{48}
        7#{47}
        8#{11}
        9#{7}
        10#{61}
        11#{22}
        12#{28}
        13#{31}
        14#{59}
        15#{56}
    }
    vertex compatibilities: {
        0@{4}
        1@{}
        2@{}
        3@{}
        4@{}
        5@{}
        6@{}
        7@{9}
        8@{2}
        9@{}
        10@{}
        11@{8}
        12@{}
        13@{}
        14@{}
        15@{}
        16@{}
        17@{}
        18@{}
        19@{}
        20@{3}
        21@{}
        22@{11}
        23@{}
        24@{}
        25@{}
        26@{}
        27@{}
        28@{12}
        29@{}
        30@{}
        31@{13}
        32@{}
        33@{}
        34@{}
        35@{1}
        36@{}
        37@{}
        38@{}
        39@{}
        40@{}
        41@{}
        42@{}
        43@{}
        44@{}
        45@{5}
        46@{}
        47@{7}
        48@{6}
        49@{}
        50@{}
        51@{}
        52@{}
        53@{}
        54@{}
        55@{}
        56@{15}
        57@{}
        58@{}
        59@{14}
        60@{}
        61@{10}
        62@{}
        63@{}
    }
]
Open/close/exp size (steps): 4/1/4 (2)
Open/close/exp size (steps): 15/4/15 (5)
Open/close/exp size (steps): 25/8/25 (9)
Open/close/exp size (steps): 1/0/1 (14)
Open/close/exp size (steps): 20/6/20 (20)
Open/close/exp size (steps): 1/0/1 (28)
Open/close/exp size (steps): 21/5/21 (38)
Open/close/exp size (steps): 15/4/15 (50)
Open/close/exp size (steps): 25/9/25 (65)
Open/close/exp size (steps): 38/14/38 (83)
Open/close/exp size (steps): 19/5/19 (105)
Open/close/exp size (steps): 29/9/29 (132)
Open/close/exp size (steps): 84/42/84 (165)
Open/close/exp size (steps): 34/12/34 (205)
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 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 0 and 4 collide.
Solution of group 0
Mulirobot solution: (|moves| = 5, paralellism = 1.000) [
    Step 0: 1#61->53 
    Step 1: 1#53->45 
    Step 2: 1#45->37 
    Step 3: 1#37->36 
    Step 4: 1#36->35 
]
Solution of group 4
Mulirobot solution: (|moves| = 5, paralellism = 1.000) [
    Step 0: 1#19->20 
    Step 1: 1#20->21 
    Step 2: 1#21->29 
    Step 3: 1#29->37 
    Step 4: 1#37->45 
]
Occupation table complementary for group 0
0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 1 1 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 
0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 1 1 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 1 0 0 0 0 1 1 0 0 0 0 0 1 0 0 1 0 1 1 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 0 0 1 0 0 1 1 0 1 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 1 0 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 1 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
1 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
1 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 

** Open/close/exp size (steps): 4/1/4 (2)
** Open/close/exp size (steps): 12/4/12 (5)
** Open/close/exp size (steps): 15/8/15 (9)
** Open/close/exp size (steps): 11/13/11 (14)
Alternative solution of group 0
Mulirobot solution: (|moves| = 5, paralellism = 0.833) [
    Step 0: 1#61->53 
    Step 1: 1#53->52 
    Step 2: 1#52->51 
    Step 3: 
    Step 4: 1#51->43 
    Step 5: 1#43->35 
]
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 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 0 and 4 resolved.
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

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Groups 1 and 2 collide.
Solution of group 1
Mulirobot solution: (|moves| = 5, paralellism = 1.000) [
    Step 0: 1#20->12 
    Step 1: 1#12->11 
    Step 2: 1#11->10 
    Step 3: 1#10->9 
    Step 4: 1#9->8 
]
Solution of group 2
Mulirobot solution: (|moves| = 3, paralellism = 1.000) [
    Step 0: 1#3->4 
    Step 1: 1#4->12 
    Step 2: 1#12->20 
]
Occupation table complementary for group 1
0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 1 0 0 
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1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 
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1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 
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Occupation table complementary for group 2
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 1 1 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 1 0 0 
0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 1 1 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 1 1 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 
0 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 1 1 0 1 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 
0 1 0 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 1 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 
1 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
1 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 1 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): 78/24/78 (253)
Open/close/exp size (steps): 207/82/207 (311)
Open/close/exp size (steps): 343/152/343 (381)
Open/close/exp size (steps): 490/236/490 (465)
Open/close/exp size (steps): 644/337/644 (566)
Open/close/exp size (steps): 848/459/848 (688)
Open/close/exp size (steps): 1007/606/1007 (835)
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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 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 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 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| = 8, paralellism = 1.600) [
    Step 0: 1#20->19 2#3->4 
    Step 1: 1#19->11 2#4->12 
    Step 2: 1#11->10 2#12->20 
    Step 3: 1#10->9 
    Step 4: 1#9->8 
]
Solution of group 3
Mulirobot solution: (|moves| = 5, 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 
]
Occupation table complementary for group 1
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 1 0 0 
0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 1 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 
0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 1 1 0 1 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 
0 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 
1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 
1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 
1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 
1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 

Occupation table complementary for group 3
0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 1 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 1 0 0 
0 0 0 0 2 0 0 0 0 0 0 0 0 0 1 0 1 1 0 1 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 1 0 0 0 0 1 2 0 0 0 0 0 1 0 0 1 0 1 1 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 
0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 2 0 1 0 0 1 0 0 1 1 0 1 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 0 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 1 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 2 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 1 2 0 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 
0 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 
0 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 2 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 
0 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 2 0 1 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 

** Open/close/exp size (steps): 2/1/2 (20)
Alternative solution of group 3
Mulirobot solution: (|moves| = 7, paralellism = 1.000) [
    Step 0: 1#5->13 
    Step 1: 1#13->5 
    Step 2: 1#5->4 
    Step 3: 1#4->3 
    Step 4: 1#3->2 
    Step 5: 1#2->1 
    Step 6: 1#1->0 
]
0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

Collision between groups 1 and 3 resolved.
0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 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 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| = 8, paralellism = 1.600) [
    Step 0: 1#20->19 2#3->4 
    Step 1: 1#19->11 2#4->12 
    Step 2: 1#11->10 2#12->20 
    Step 3: 1#10->9 
    Step 4: 1#9->8 
]
Solution of group 4
Mulirobot solution: (|moves| = 5, paralellism = 1.000) [
    Step 0: 1#19->20 
    Step 1: 1#20->21 
    Step 2: 1#21->29 
    Step 3: 1#29->37 
    Step 4: 1#37->45 
]
Occupation table complementary for group 1
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 1 0 0 
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1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 
1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 
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Occupation table complementary for group 4
0 0 0 2 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 1 0 0 
0 0 0 0 2 0 0 0 0 0 0 0 0 1 1 0 1 1 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 
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0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 2 0 1 0 0 1 0 0 1 0 0 1 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 0 1 0 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 1 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 1 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 2 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 1 2 0 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 2 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 2 0 1 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 

Unable to resolve collision between groups 1 and 4.
Merging groups 1 and 4.
Searching solution for merged group 1+4.
Open/close/exp size (steps): 363/157/363 (1012)
Open/close/exp size (steps): 727/370/727 (1225)
Open/close/exp size (steps): 961/626/961 (1481)
Open/close/exp size (steps): 1337/934/1337 (1789)
Open/close/exp size (steps): 1980/1304/1980 (2159)
Open/close/exp size (steps): 2708/1748/2708 (2603)
Open/close/exp size (steps): 3194/2281/3194 (3136)
Open/close/exp size (steps): 3787/2921/3787 (3776)
Open/close/exp size (steps): 4351/3689/4351 (4544)
Open/close/exp size (steps): 5117/4611/5117 (5466)
Open/close/exp size (steps): 7982/5718/7982 (6573)
Open/close/exp size (steps): 11973/7047/11973 (7902)
Open/close/exp size (steps): 15277/8642/15277 (9497)
Open/close/exp size (steps): 17543/10556/17543 (11411)
Open/close/exp size (steps): 18729/12853/18729 (13708)
Open/close/exp size (steps): 16824/15610/16824 (16465)
Open/close/exp size (steps): 14774/18919/14774 (19774)
Open/close/exp size (steps): 21012/22890/21012 (23745)
Open/close/exp size (steps): 32365/27656/32365 (28511)
Open/close/exp size (steps): 41511/33376/41511 (34231)
Open/close/exp size (steps): 46286/40240/46286 (41095)
Open/close/exp size (steps): 50351/48477/50351 (49332)
Open/close/exp size (steps): 60296/58362/60296 (59217)
Open/close/exp size (steps): 56504/70224/56504 (71079)
Open/close/exp size (steps): 51411/84459/51411 (85314)
Open/close/exp size (steps): 64506/101541/64506 (102396)
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0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 1 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 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 0 0 1 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 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 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 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 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 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 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 3 0 0 0 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| = 13, paralellism = 2.167) [
    Step 0: 2#3->4 3#19->27 
    Step 1: 1#20->19 2#4->12 3#27->28 
    Step 2: 1#19->11 2#12->20 3#28->29 
    Step 3: 1#11->10 3#29->37 
    Step 4: 1#10->9 3#37->45 
    Step 5: 1#9->8 
]
Solution of group 2
Mulirobot solution: (|moves| = 8, paralellism = 1.000) [
    Step 0: 1#28->27 
    Step 1: 1#27->26 
    Step 2: 1#26->25 
    Step 3: 1#25->24 
    Step 4: 1#24->32 
    Step 5: 1#32->40 
    Step 6: 1#40->48 
    Step 7: 1#48->56 
]
Occupation table complementary for group 1
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 1 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 
0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 0 1 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 
1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 
1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 
1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 

** Open/close/exp size (steps): 2/1/2 (28)
** Open/close/exp size (steps): 18/11/18 (38)
** Open/close/exp size (steps): 27/23/27 (50)
** Open/close/exp size (steps): 37/38/37 (65)
** Open/close/exp size (steps): 55/56/55 (83)
** Open/close/exp size (steps): 68/78/68 (105)
** Open/close/exp size (steps): 61/105/61 (132)
** Open/close/exp size (steps): 78/138/78 (165)
** Open/close/exp size (steps): 96/178/96 (205)
** Open/close/exp size (steps): 101/226/101 (253)
** Open/close/exp size (steps): 110/284/110 (311)
** Open/close/exp size (steps): 163/354/163 (381)
** Open/close/exp size (steps): 215/438/215 (465)
** Open/close/exp size (steps): 231/539/231 (566)
** Open/close/exp size (steps): 297/661/297 (688)
** Open/close/exp size (steps): 428/808/428 (835)
** Open/close/exp size (steps): 413/985/413 (1012)
** Open/close/exp size (steps): 492/1198/492 (1225)
** Open/close/exp size (steps): 647/1454/647 (1481)
** Open/close/exp size (steps): 866/1762/866 (1789)
** Open/close/exp size (steps): 1428/2132/1428 (2159)
** Open/close/exp size (steps): 1639/2576/1639 (2603)
** Open/close/exp size (steps): 2219/3109/2219 (3136)
** Open/close/exp size (steps): 2913/3749/2913 (3776)
** Open/close/exp size (steps): 2762/4517/2762 (4544)
** Open/close/exp size (steps): 2272/5439/2272 (5466)
** Open/close/exp size (steps): 3226/6546/3226 (6573)
** Open/close/exp size (steps): 3482/7875/3482 (7902)
** Open/close/exp size (steps): 3815/9470/3815 (9497)
** Open/close/exp size (steps): 5678/11384/5678 (11411)
** Open/close/exp size (steps): 9385/13681/9385 (13708)
** Open/close/exp size (steps): 15335/16438/15335 (16465)
** Open/close/exp size (steps): 15644/19747/15644 (19774)
** Open/close/exp size (steps): 14412/23718/14412 (23745)
** Open/close/exp size (steps): 17062/28484/17062 (28511)
** Open/close/exp size (steps): 32151/34204/32151 (34231)
** Open/close/exp size (steps): 28954/41068/28954 (41095)
** Open/close/exp size (steps): 29248/49305/29248 (49332)
Alternative solution of group 1
Mulirobot solution: (|moves| = 19, paralellism = 2.111) [
    Step 0: 1#20->12 2#3->2 
    Step 1: 1#12->11 2#2->1 3#19->20 
    Step 2: 1#11->10 2#1->0 3#20->21 
    Step 3: 1#10->9 2#0->8 3#21->29 
    Step 4: 2#8->16 
    Step 5: 1#9->8 2#16->17 
    Step 6: 2#17->18 3#29->37 
    Step 7: 2#18->19 3#37->45 
    Step 8: 2#19->20 
]
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Collision between groups 1 and 2 resolved.
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 

Groups 2 and 5 collide.
Solution of group 2
Mulirobot solution: (|moves| = 8, paralellism = 1.000) [
    Step 0: 1#28->27 
    Step 1: 1#27->26 
    Step 2: 1#26->25 
    Step 3: 1#25->24 
    Step 4: 1#24->32 
    Step 5: 1#32->40 
    Step 6: 1#40->48 
    Step 7: 1#48->56 
]
Solution of group 5
Mulirobot solution: (|moves| = 5, paralellism = 1.000) [
    Step 0: 1#17->16 
    Step 1: 1#16->24 
    Step 2: 1#24->32 
    Step 3: 1#32->40 
    Step 4: 1#40->48 
]
Occupation table complementary for group 2
0 0 0 2 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 3 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 1 0 0 
0 0 2 0 0 0 0 0 0 0 0 0 1 1 1 0 1 1 0 3 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 
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2 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 3 1 0 0 0 0 0 1 0 0 1 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 0 1 0 0 0 1 2 1 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 1 0 1 3 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 2 0 1 0 0 1 0 0 0 0 0 0 1 3 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 2 0 1 0 0 1 0 0 0 0 0 1 3 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 2 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 3 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 2 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 3 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 2 0 1 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 3 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 

Alternative solution of group 2
Mulirobot solution: (|moves| = 8, paralellism = 1.000) [
    Step 0: 1#28->27 
    Step 1: 1#27->26 
    Step 2: 1#26->25 
    Step 3: 1#25->33 
    Step 4: 1#33->41 
    Step 5: 1#41->49 
    Step 6: 1#49->57 
    Step 7: 1#57->56 
]
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
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Collision between groups 2 and 5 resolved.
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 

Groups 4 and 10 collide.
Solution of group 4
Mulirobot solution: (|moves| = 2, paralellism = 1.000) [
    Step 0: 1#50->51 
    Step 1: 1#51->59 
]
Solution of group 10
Mulirobot solution: (|moves| = 9, paralellism = 1.000) [
    Step 0: 1#58->50 
    Step 1: 1#50->42 
    Step 2: 1#42->34 
    Step 3: 1#34->26 
    Step 4: 1#26->18 
    Step 5: 1#18->19 
    Step 6: 1#19->20 
    Step 7: 1#20->21 
    Step 8: 1#21->22 
]
Occupation table complementary for group 4
0 0 0 2 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 3 1 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 
0 0 2 0 0 0 0 0 0 0 0 0 1 1 1 0 1 1 0 3 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 
0 2 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 0 1 0 3 0 0 1 1 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 
2 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 3 1 0 0 1 0 0 1 0 0 1 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 1 2 1 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 1 0 1 3 0 0 0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 2 0 1 0 0 1 0 0 0 0 0 0 1 3 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 2 0 1 0 0 1 0 0 0 0 0 1 3 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 2 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 3 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 2 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 3 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 2 0 1 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 3 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 

Occupation table complementary for group 10
0 0 0 2 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 3 1 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 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 1 1 1 0 1 1 0 3 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 
0 2 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 0 1 0 3 0 0 1 1 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 
2 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 3 1 0 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 0 1 0 0 0 1 2 1 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 3 0 0 0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 2 0 0 0 0 1 0 0 0 0 0 0 1 3 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 2 0 0 0 0 1 0 0 0 0 0 1 3 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 2 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 3 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 3 0 1 1 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 3 0 1 1 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 

Unable to resolve collision between groups 4 and 10.
Merging groups 4 and 10.
Searching solution for merged group 4+10.
Open/close/exp size (steps): 2675/7741/2675 (122895)
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 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 0 and 4 collide.
Solution of group 0
Mulirobot solution: (|moves| = 5, paralellism = 0.833) [
    Step 0: 1#61->53 
    Step 1: 1#53->52 
    Step 2: 1#52->51 
    Step 3: 
    Step 4: 1#51->43 
    Step 5: 1#43->35 
]
Solution of group 4
Mulirobot solution: (|moves| = 11, paralellism = 1.222) [
    Step 0: 1#58->59 2#50->51 
    Step 1: 1#59->60 
    Step 2: 1#60->52 2#51->59 
    Step 3: 1#52->44 
    Step 4: 1#44->36 
    Step 5: 1#36->28 
    Step 6: 1#28->20 
    Step 7: 1#20->21 
    Step 8: 1#21->22 
]
Occupation table complementary for group 0
0 0 0 2 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 3 1 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 2 0 0 0 0 0 0 0 1 0 0 0 0 0 
0 0 2 0 0 0 0 0 0 0 0 0 1 1 1 0 1 1 0 3 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 1 0 0 0 0 
0 2 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 0 1 0 3 0 0 1 1 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 1 0 0 0 
2 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 3 1 0 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 2 0 0 0 0 
0 0 0 1 0 0 0 1 2 1 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 3 0 0 0 1 0 0 0 0 0 1 1 0 0 0 1 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 1 0 1 0 0 0 1 0 0 2 0 0 0 0 1 0 0 0 0 0 0 1 3 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 
0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 2 0 0 0 0 1 0 0 0 0 0 1 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 1 0 0 0 0 0 2 0 0 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 2 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 2 0 1 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 2 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 1 1 0 0 0 0 0 0 0 1 0 0 2 0 1 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 2 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 1 1 0 0 0 0 0 0 0 1 0 0 2 0 1 0 0 

Occupation table complementary for group 4
0 0 0 2 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 3 1 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 
0 0 2 0 0 0 0 0 0 0 0 0 1 1 1 0 1 1 0 3 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 
0 2 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 0 1 0 3 0 0 1 1 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 
2 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 3 1 0 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 1 2 1 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 3 0 0 0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 2 0 0 0 0 1 0 0 0 0 0 0 1 3 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 2 0 0 0 0 1 0 0 0 0 0 1 3 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 2 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 3 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 3 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 3 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 

Alternative solution of group 4
Mulirobot solution: (|moves| = 11, paralellism = 1.222) [
    Step 0: 1#58->59 
    Step 1: 1#59->60 2#50->58 
    Step 2: 1#60->61 2#58->59 
    Step 3: 1#61->53 
    Step 4: 1#53->54 
    Step 5: 1#54->46 
    Step 6: 1#46->38 
    Step 7: 1#38->30 
    Step 8: 1#30->22 
]
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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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Groups 5 and 10 collide.
Solution of group 5
Mulirobot solution: (|moves| = 5, paralellism = 1.000) [
    Step 0: 1#17->16 
    Step 1: 1#16->24 
    Step 2: 1#24->32 
    Step 3: 1#32->40 
    Step 4: 1#40->48 
]
Solution of group 10
Mulirobot solution: (|moves| = 8, paralellism = 1.000) [
    Step 0: 1#16->17 
    Step 1: 1#17->18 
    Step 2: 1#18->19 
    Step 3: 1#19->20 
    Step 4: 1#20->21 
    Step 5: 1#21->22 
    Step 6: 1#22->23 
    Step 7: 1#23->31 
]
Occupation table complementary for group 5
0 0 0 2 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 3 1 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 2 0 0 0 0 0 0 0 1 0 0 1 0 0 
0 0 2 0 0 0 0 0 0 0 0 0 1 1 1 0 0 1 0 3 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 2 0 0 1 0 0 0 0 0 1 0 0 0 0 
0 2 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 0 1 0 3 0 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 2 0 1 0 0 0 
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0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 2 0 0 0 0 1 0 0 0 0 0 0 1 3 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 2 0 0 0 0 
0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 2 0 0 0 0 1 0 0 0 0 0 1 3 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 1 0 0 0 0 0 2 0 0 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 2 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 3 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 2 0 1 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 3 0 1 0 0 0 0 0 0 0 0 1 0 0 2 0 1 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 2 0 1 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 3 0 1 0 0 0 0 0 0 0 0 1 0 0 2 0 1 0 0 

Occupation table complementary for group 10
0 0 0 2 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 3 1 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 2 0 0 0 0 0 0 0 1 0 0 1 0 0 
0 0 2 0 0 0 0 0 0 0 0 0 1 1 1 0 1 0 0 3 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 2 0 0 1 0 0 0 0 0 1 0 0 0 0 
0 2 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 0 0 0 3 0 0 1 1 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 2 0 1 0 0 0 
2 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 3 1 0 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 1 0 0 
0 0 0 1 0 0 0 1 2 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 3 0 0 0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 0 2 0 0 0 0 
0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 2 0 0 0 0 0 0 0 0 0 0 0 1 3 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 1 1 0 0 0 0 0 1 0 0 0 0 2 0 0 0 0 
0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 1 3 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 1 0 0 0 0 0 2 0 0 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 3 1 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 2 0 1 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 3 0 1 1 0 0 0 0 0 0 0 1 0 0 2 0 1 0 0 
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Unable to resolve collision between groups 5 and 10.
Merging groups 5 and 10.
Searching solution for merged group 5+10.
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0 0 0 0 0 0 0 0 1 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 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 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 3 0 0 0 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| = 19, paralellism = 2.111) [
    Step 0: 1#20->12 2#3->2 
    Step 1: 1#12->11 2#2->1 3#19->20 
    Step 2: 1#11->10 2#1->0 3#20->21 
    Step 3: 1#10->9 2#0->8 3#21->29 
    Step 4: 2#8->16 
    Step 5: 1#9->8 2#16->17 
    Step 6: 2#17->18 3#29->37 
    Step 7: 2#18->19 3#37->45 
    Step 8: 2#19->20 
]
Solution of group 5
Mulirobot solution: (|moves| = 13, paralellism = 1.625) [
    Step 0: 2#16->24 
    Step 1: 1#17->16 2#24->25 
    Step 2: 1#16->24 2#25->26 
    Step 3: 1#24->32 2#26->27 
    Step 4: 1#32->40 2#27->28 
    Step 5: 1#40->48 2#28->29 
    Step 6: 2#29->30 
    Step 7: 2#30->31 
]
Occupation table complementary for group 1
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 2 1 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 2 0 0 0 0 0 0 0 1 0 0 1 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 1 0 2 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 2 0 0 1 0 0 0 0 0 1 0 0 0 0 
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0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 2 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 1 0 0 
0 0 0 1 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 2 1 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 0 2 0 0 0 0 
0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 2 0 0 0 0 
0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 2 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 1 0 0 0 0 0 2 0 0 0 0 
1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 2 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 2 0 1 0 0 
1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 2 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 0 2 0 1 0 0 
1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 2 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 0 2 0 1 0 0 

** Open/close/exp size (steps): 2001/3359/2001 (59217)
** Open/close/exp size (steps): 8502/15221/8502 (71079)
** Open/close/exp size (steps): 8524/29456/8524 (85314)
** Open/close/exp size (steps): 20891/46538/20891 (102396)
Alternative solution of group 1
Mulirobot solution: (|moves| = 15, paralellism = 2.143) [
    Step 0: 1#20->12 2#3->11 
    Step 1: 2#11->10 3#19->20 
    Step 2: 1#12->11 2#10->18 3#20->21 
    Step 3: 1#11->10 2#18->19 3#21->29 
    Step 4: 1#10->9 2#19->20 3#29->37 
    Step 5: 1#9->8 
    Step 6: 3#37->45 
]
0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 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 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 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 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 0 0 0 0 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 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 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 1 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 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 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 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 
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Collision between groups 1 and 5 resolved.
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 

Groups 2 and 5 collide.
Solution of group 2
Mulirobot solution: (|moves| = 8, paralellism = 1.000) [
    Step 0: 1#28->27 
    Step 1: 1#27->26 
    Step 2: 1#26->25 
    Step 3: 1#25->33 
    Step 4: 1#33->41 
    Step 5: 1#41->49 
    Step 6: 1#49->57 
    Step 7: 1#57->56 
]
Solution of group 5
Mulirobot solution: (|moves| = 13, paralellism = 1.625) [
    Step 0: 2#16->24 
    Step 1: 1#17->16 2#24->25 
    Step 2: 1#16->24 2#25->26 
    Step 3: 1#24->32 2#26->27 
    Step 4: 1#32->40 2#27->28 
    Step 5: 1#40->48 2#28->29 
    Step 6: 2#29->30 
    Step 7: 2#30->31 
]
Occupation table complementary for group 2
0 0 0 2 0 1 0 0 0 0 0 0 0 0 0 0 2 1 0 3 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 2 0 0 0 0 0 0 0 1 0 0 1 0 0 
0 0 0 0 0 0 0 0 0 0 0 2 1 1 1 0 0 1 0 3 0 0 1 0 2 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 2 0 0 1 0 0 0 0 0 1 0 0 0 0 
0 0 0 0 0 1 1 0 0 0 2 0 1 0 0 0 1 0 0 0 3 0 0 1 0 2 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 2 0 1 0 0 0 
0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 2 0 0 3 1 0 1 0 2 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 1 0 0 
0 0 0 1 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 2 0 0 0 0 0 0 0 2 1 3 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 0 2 0 0 0 0 
0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 2 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 3 0 0 1 0 0 1 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 2 0 0 0 0 
0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 1 2 0 0 0 0 0 1 0 3 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 1 0 0 0 0 0 2 0 0 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 1 0 2 0 0 0 0 1 0 0 1 0 0 0 0 0 0 3 0 1 1 0 0 0 0 0 0 0 0 0 0 2 0 1 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 1 0 1 2 0 0 0 1 0 0 0 0 0 0 0 0 0 3 0 1 1 0 0 0 0 0 0 0 0 0 0 2 0 1 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 2 0 1 0 0 0 0 0 1 0 0 2 0 0 0 1 0 0 0 0 0 0 0 0 0 3 0 1 1 0 0 0 0 0 0 0 0 0 0 2 0 1 0 0 

Alternative solution of group 2
Mulirobot solution: (|moves| = 8, paralellism = 1.000) [
    Step 0: 1#28->27 
    Step 1: 1#27->35 
    Step 2: 1#35->34 
    Step 3: 1#34->33 
    Step 4: 1#33->41 
    Step 5: 1#41->49 
    Step 6: 1#49->57 
    Step 7: 1#57->56 
]
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
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Collision between groups 2 and 5 resolved.
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 1 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 1 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 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 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 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 

Groups 4 and 5 collide.
Solution of group 4
Mulirobot solution: (|moves| = 11, paralellism = 1.222) [
    Step 0: 1#58->59 
    Step 1: 1#59->60 2#50->58 
    Step 2: 1#60->61 2#58->59 
    Step 3: 1#61->53 
    Step 4: 1#53->54 
    Step 5: 1#54->46 
    Step 6: 1#46->38 
    Step 7: 1#38->30 
    Step 8: 1#30->22 
]
Solution of group 5
Mulirobot solution: (|moves| = 13, paralellism = 1.625) [
    Step 0: 2#16->24 
    Step 1: 1#17->16 2#24->25 
    Step 2: 1#16->24 2#25->26 
    Step 3: 1#24->32 2#26->27 
    Step 4: 1#32->40 2#27->28 
    Step 5: 1#40->48 2#28->29 
    Step 6: 2#29->30 
    Step 7: 2#30->31 
]
Occupation table complementary for group 4
0 0 0 2 0 1 0 0 0 0 0 0 0 0 0 0 2 1 0 3 1 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 
0 0 0 0 0 0 0 0 0 0 0 2 1 1 1 0 0 1 0 3 0 0 1 0 2 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 1 1 0 0 0 2 0 1 0 0 0 1 0 0 0 3 0 0 1 0 2 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 2 0 0 3 1 0 1 0 2 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 2 0 0 0 0 0 0 0 2 1 3 0 0 1 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 2 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 3 0 0 1 1 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 1 2 0 0 0 0 0 1 0 3 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 1 0 2 0 0 0 0 1 0 0 0 0 0 0 0 0 0 3 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 1 0 0 2 0 0 0 1 0 0 0 0 0 0 0 0 0 3 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 1 0 0 2 0 0 0 1 0 0 0 0 0 0 0 0 0 3 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 

** Open/close/exp size (steps): 1653/11042/1653 (122895)
Occupation table complementary for group 5
0 0 0 2 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 3 1 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 2 0 0 0 0 0 0 0 1 0 0 1 0 0 
0 0 0 0 0 0 0 0 0 0 0 2 1 1 1 0 0 0 0 3 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 2 0 0 1 0 0 0 0 0 1 0 0 0 0 
0 0 0 0 0 1 1 0 0 0 2 0 1 0 0 0 0 0 0 0 3 0 0 1 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 2 0 1 0 0 0 
0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 2 0 0 3 1 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 1 0 0 
0 0 0 1 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 2 0 0 0 0 0 0 0 0 1 3 0 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 0 2 0 0 0 0 
0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 2 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 3 0 0 0 1 0 1 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 2 0 0 0 0 
0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 3 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 1 0 0 0 0 0 2 0 0 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 3 0 1 0 0 0 0 0 0 0 0 0 1 0 2 0 1 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 3 0 1 0 0 0 0 0 0 0 0 1 0 0 2 0 1 0 0 
1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 2 0 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 3 0 1 0 0 0 0 0 0 0 0 1 0 0 2 0 1 0 0 

Unable to resolve collision between groups 4 and 5.
Merging groups 4 and 5.
Searching solution for merged group 4+5.
Open/close/exp size (steps): 43878/18664/43878 (147494)
Open/close/exp size (steps): 114336/48183/114336 (177013)
Open/close/exp size (steps): 104050/83606/104050 (212436)
Open/close/exp size (steps): 79079/126114/79079 (254944)
Open/close/exp size (steps): 99524/177124/99524 (305954)
Open/close/exp size (steps): 246441/238336/246441 (367166)
Open/close/exp size (steps): 385979/311791/385979 (440621)
Open/close/exp size (steps): 629182/399937/629182 (528767)
Open/close/exp size (steps): 654656/505713/654656 (634543)
Open/close/exp size (steps): 625176/632645/625176 (761475)
Open/close/exp size (steps): 800172/784964/800172 (913794)
Open/close/exp size (steps): 704139/967747/704139 (1096577)
Open/close/exp size (steps): 518153/1187087/518153 (1315917)
Open/close/exp size (steps): 408969/1450295/408969 (1579125)
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)      = 6.790
            CPU/machine TIME (seconds)     = 6.790
        ]
        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                = 6602403
                Produced CNF variables         = 0
                Produced CNF clauses           = 0
                Search steps                   = 0
                Wall clock TIME (seconds)      = 64.006
                CPU/machine TIME (seconds)     = 64.010
            ]
        }
]
----------------------------------------------------------------