================================================================
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| = 16, |V| = 64) [
     robot locations: {1#33 2#40 3#49 4#54 5#53 6#12 7#4 8#57 9#18 10#24 11#28 12#0 13#48 14#50 15#19 16#9 }
     vertex occupancy: {12#0 0#1 0#2 0#3 7#4 0#5 0#6 0#7 0#8 16#9 0#10 0#11 6#12 0#13 0#14 0#15 0#16 0#17 9#18 15#19 0#20 0#21 0#22 0#23 10#24 0#25 0#26 0#27 11#28 0#29 0#30 0#31 0#32 1#33 0#34 0#35 0#36 0#37 0#38 0#39 2#40 0#41 0#42 0#43 0#44 0#45 0#46 0#47 13#48 3#49 14#50 0#51 0#52 5#53 4#54 0#55 0#56 8#57 0#58 0#59 0#60 0#61 0#62 0#63 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 16, |V| = 64) [
    robot goals: {
        1#{25}
        2#{1}
        3#{26}
        4#{34}
        5#{39}
        6#{24}
        7#{8}
        8#{29}
        9#{41}
        10#{4}
        11#{57}
        12#{62}
        13#{42}
        14#{18}
        15#{43}
        16#{44}
    }
    vertex compatibilities: {
        0@{}
        1@{2}
        2@{}
        3@{}
        4@{10}
        5@{}
        6@{}
        7@{}
        8@{7}
        9@{}
        10@{}
        11@{}
        12@{}
        13@{}
        14@{}
        15@{}
        16@{}
        17@{}
        18@{14}
        19@{}
        20@{}
        21@{}
        22@{}
        23@{}
        24@{6}
        25@{1}
        26@{3}
        27@{}
        28@{}
        29@{8}
        30@{}
        31@{}
        32@{}
        33@{}
        34@{4}
        35@{}
        36@{}
        37@{}
        38@{}
        39@{5}
        40@{}
        41@{9}
        42@{13}
        43@{15}
        44@{16}
        45@{}
        46@{}
        47@{}
        48@{}
        49@{}
        50@{}
        51@{}
        52@{}
        53@{}
        54@{}
        55@{}
        56@{}
        57@{11}
        58@{}
        59@{}
        60@{}
        61@{}
        62@{12}
        63@{}
    }
]
Open/close/exp size (steps): 1/0/1 (2)
Open/close/exp size (steps): 11/3/11 (5)
Open/close/exp size (steps): 20/7/20 (9)
Open/close/exp size (steps): 29/12/29 (14)
Open/close/exp size (steps): 21/5/21 (20)
Open/close/exp size (steps): 20/6/20 (28)
Open/close/exp size (steps): 40/16/40 (38)
Open/close/exp size (steps): 9/2/9 (50)
Open/close/exp size (steps): 43/17/43 (65)
Open/close/exp size (steps): 21/7/21 (83)
Open/close/exp size (steps): 62/29/62 (105)
Open/close/exp size (steps): 33/13/33 (132)
Open/close/exp size (steps): 47/19/47 (165)
Open/close/exp size (steps): 66/32/66 (205)
Open/close/exp size (steps): 138/80/138 (253)
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 2 collide.
Solution of group 0
Mulirobot solution: (|moves| = 1, paralellism = 1.000) [
    Step 0: 1#33->25 
]
Solution of group 2
Mulirobot solution: (|moves| = 4, paralellism = 1.000) [
    Step 0: 1#49->41 
    Step 1: 1#41->33 
    Step 2: 1#33->25 
    Step 3: 1#25->26 
]
Occupation table complementary for group 0
1 0 0 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 1 1 0 0 1 1 0 0 1 0 0 0 0 0 0 
0 1 0 1 0 0 0 0 0 0 1 1 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 1 1 0 0 1 1 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 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 1 1 1 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
1 1 0 1 0 0 0 0 0 1 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 0 1 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
1 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
1 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 1 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 1 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 0 1 0 0 1 0 1 1 1 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 1 0 0 0 1 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 1 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 1 0 1 0 1 0 0 1 0 0 0 0 1 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 1 0 1 0 0 1 1 0 0 0 1 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 1 0 1 0 0 1 0 0 0 0 1 0 0 0 1 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 1 0 1 0 0 1 0 0 0 0 1 0 0 0 0 1 0 1 1 1 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 1 0 1 0 0 1 0 0 0 0 1 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 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 0 0 0 0 1 0 1 0 0 1 0 0 0 0 1 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 

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

Unable to resolve collision between groups 0 and 2.
Merging groups 0 and 2.
Searching solution for merged group 0+2.
Open/close/exp size (steps): 29/7/29 (311)
Open/close/exp size (steps): 121/77/121 (381)
Open/close/exp size (steps): 314/161/314 (465)
Open/close/exp size (steps): 374/262/374 (566)
Open/close/exp size (steps): 430/384/430 (688)
Open/close/exp size (steps): 283/531/283 (835)
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 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 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 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 0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 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 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 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 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 0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 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 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 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 0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 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 0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 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 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 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 0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 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 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 0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 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 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 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 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 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 

Groups 0 and 7 collide.
Solution of group 0
Mulirobot solution: (|moves| = 5, paralellism = 1.250) [
    Step 0: 1#33->25 2#49->41 
    Step 1: 2#41->33 
    Step 2: 2#33->34 
    Step 3: 2#34->26 
]
Solution of group 7
Mulirobot solution: (|moves| = 8, paralellism = 1.000) [
    Step 0: 1#57->49 
    Step 1: 1#49->41 
    Step 2: 1#41->33 
    Step 3: 1#33->25 
    Step 4: 1#25->26 
    Step 5: 1#26->27 
    Step 6: 1#27->28 
    Step 7: 1#28->29 
]
Occupation table complementary for group 0
1 0 0 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 1 1 0 0 1 0 0 0 0 0 0 
0 1 0 1 0 0 0 0 0 0 1 1 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 1 1 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 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 1 1 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
1 1 0 1 0 0 0 0 0 1 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 0 1 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
1 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
1 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 1 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 1 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 0 1 1 1 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 1 0 0 0 1 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 1 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 1 0 0 0 0 1 1 0 0 0 1 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 1 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 1 1 1 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 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 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 

Occupation table complementary for group 7
1 0 0 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 2 1 0 0 1 1 0 0 0 0 0 0 0 0 0 
0 1 0 1 0 0 0 0 0 0 1 1 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 2 1 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 2 1 1 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
1 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 1 2 0 0 1 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
1 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 1 2 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
1 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 2 0 1 0 0 0 0 0 0 1 0 0 0 1 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 1 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 1 2 0 0 0 0 0 0 0 1 0 1 0 0 1 0 1 1 1 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 1 0 0 0 1 0 0 0 0 0 1 1 2 0 0 0 0 0 0 0 1 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 1 0 1 1 2 0 0 0 0 0 0 0 1 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 1 1 2 0 0 0 1 0 0 0 1 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 1 1 2 0 0 0 0 0 0 0 1 0 0 0 1 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 1 1 2 0 0 0 0 0 0 0 1 0 0 0 0 1 0 1 1 1 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 1 1 2 0 0 0 0 0 0 0 1 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 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 0 0 0 0 1 1 2 0 0 0 0 0 0 0 1 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 

** Open/close/exp size (steps): 1/0/1 (2)
** Open/close/exp size (steps): 9/3/9 (5)
** Open/close/exp size (steps): 17/7/17 (9)
** Open/close/exp size (steps): 28/12/28 (14)
Alternative solution of group 7
Mulirobot solution: (|moves| = 8, paralellism = 1.000) [
    Step 0: 1#57->58 
    Step 1: 1#58->50 
    Step 2: 1#50->51 
    Step 3: 1#51->52 
    Step 4: 1#52->44 
    Step 5: 1#44->45 
    Step 6: 1#45->37 
    Step 7: 1#37->29 
]
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 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 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 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 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 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 

Collision between groups 0 and 7 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 1 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 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 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 

Groups 0 and 8 collide.
Solution of group 0
Mulirobot solution: (|moves| = 5, paralellism = 1.250) [
    Step 0: 1#33->25 2#49->41 
    Step 1: 2#41->33 
    Step 2: 2#33->34 
    Step 3: 2#34->26 
]
Solution of group 8
Mulirobot solution: (|moves| = 4, paralellism = 1.000) [
    Step 0: 1#18->17 
    Step 1: 1#17->25 
    Step 2: 1#25->33 
    Step 3: 1#33->41 
]
Occupation table complementary for group 0
1 0 0 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 1 1 0 0 1 0 0 0 0 0 0 
0 1 0 1 0 0 0 0 0 0 1 1 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 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 1 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 1 1 0 1 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 
1 1 0 1 0 0 0 0 0 1 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 0 1 1 0 0 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
1 1 0 0 1 0 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 0 1 0 0 1 0 0 1 0 1 1 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 
1 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 1 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 1 0 1 1 1 0 1 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 1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 1 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 1 0 0 0 0 1 1 0 0 0 1 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 1 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 1 1 1 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 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 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 

** Open/close/exp size (steps): 1/2/1 (20)
Occupation table complementary for group 8
1 0 0 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 2 1 0 0 1 1 0 0 1 0 0 0 0 0 0 
0 1 0 1 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 2 1 0 0 1 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 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 2 1 1 0 1 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 
1 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 2 0 0 1 1 0 0 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
1 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 1 2 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 
1 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 2 0 1 0 0 0 0 0 0 1 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 1 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 1 2 0 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 1 0 1 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 1 0 0 0 1 0 0 0 0 0 1 1 2 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 1 0 1 1 2 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 1 1 2 0 0 1 1 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 1 1 2 0 0 1 0 0 0 0 1 0 0 0 1 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 1 1 2 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 1 1 2 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 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 0 0 0 0 1 1 2 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 

** Open/close/exp size (steps): 3/7/3 (28)
** Open/close/exp size (steps): 8/17/8 (38)
** Open/close/exp size (steps): 11/29/11 (50)
** Open/close/exp size (steps): 15/44/15 (65)
** Open/close/exp size (steps): 6/62/6 (83)
** Open/close/exp size (steps): 15/84/15 (105)
** Open/close/exp size (steps): 12/111/12 (132)
Unable to resolve collision between groups 0 and 8.
Merging groups 0 and 8.
Searching solution for merged group 0+8.
Open/close/exp size (steps): 172/46/172 (1012)
Open/close/exp size (steps): 761/259/761 (1225)
Open/close/exp size (steps): 815/515/815 (1481)
Open/close/exp size (steps): 1042/823/1042 (1789)
Open/close/exp size (steps): 844/1193/844 (2159)
Open/close/exp size (steps): 1712/1637/1712 (2603)
Open/close/exp size (steps): 3657/2170/3657 (3136)
Open/close/exp size (steps): 5663/2810/5663 (3776)
Open/close/exp size (steps): 5892/3578/5892 (4544)
Open/close/exp size (steps): 5437/4500/5437 (5466)
Open/close/exp size (steps): 4785/5607/4785 (6573)
Open/close/exp size (steps): 4005/6936/4005 (7902)
Open/close/exp size (steps): 8858/8531/8858 (9497)
Open/close/exp size (steps): 14039/10445/14039 (11411)
Open/close/exp size (steps): 11804/12742/11804 (13708)
Open/close/exp size (steps): 9047/15499/9047 (16465)
Open/close/exp size (steps): 5738/18808/5738 (19774)
Open/close/exp size (steps): 9070/22779/9070 (23745)
Open/close/exp size (steps): 25874/27545/25874 (28511)
Open/close/exp size (steps): 24990/33265/24990 (34231)
Open/close/exp size (steps): 19422/40129/19422 (41095)
Open/close/exp size (steps): 11657/48366/11657 (49332)
Open/close/exp size (steps): 29608/58251/29608 (59217)
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 1 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 3 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 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 1 0 0 0 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 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 1 2 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 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 3 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 1 collide.
Solution of group 0
Mulirobot solution: (|moves| = 11, paralellism = 2.750) [
    Step 0: 1#33->32 2#49->41 3#18->17 
    Step 1: 1#32->24 2#41->42 3#17->25 
    Step 2: 2#42->34 3#25->33 
    Step 3: 1#24->25 2#34->26 3#33->41 
]
Solution of group 1
Mulirobot solution: (|moves| = 6, paralellism = 1.000) [
    Step 0: 1#40->32 
    Step 1: 1#32->24 
    Step 2: 1#24->16 
    Step 3: 1#16->8 
    Step 4: 1#8->0 
    Step 5: 1#0->1 
]
Occupation table complementary for group 0
1 0 0 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 1 1 0 0 1 0 0 0 0 0 0 
0 1 0 1 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 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 1 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 1 1 0 1 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 
1 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
1 1 0 0 1 0 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 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 
1 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 1 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 1 0 1 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 1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 1 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 1 0 0 0 0 1 1 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 1 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 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 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 

** Open/close/exp size (steps): 23/21/23 (165)
** Open/close/exp size (steps): 31/61/31 (205)
** Open/close/exp size (steps): 21/109/21 (253)
** Open/close/exp size (steps): 90/167/90 (311)
** Open/close/exp size (steps): 130/237/130 (381)
** Open/close/exp size (steps): 121/321/121 (465)
** Open/close/exp size (steps): 268/422/268 (566)
** Open/close/exp size (steps): 482/544/482 (688)
** Open/close/exp size (steps): 454/691/454 (835)
** Open/close/exp size (steps): 383/868/383 (1012)
** Open/close/exp size (steps): 658/1081/658 (1225)
** Open/close/exp size (steps): 423/1337/423 (1481)
** Open/close/exp size (steps): 979/1645/979 (1789)
** Open/close/exp size (steps): 1229/2015/1229 (2159)
** Open/close/exp size (steps): 919/2459/919 (2603)
** Open/close/exp size (steps): 858/2992/858 (3136)
** Open/close/exp size (steps): 1104/3632/1104 (3776)
** Open/close/exp size (steps): 2821/4400/2821 (4544)
** Open/close/exp size (steps): 4118/5322/4118 (5466)
** Open/close/exp size (steps): 3743/6429/3743 (6573)
** Open/close/exp size (steps): 2883/7758/2883 (7902)
** Open/close/exp size (steps): 2708/9353/2708 (9497)
** Open/close/exp size (steps): 6387/11267/6387 (11411)
** Open/close/exp size (steps): 4164/13564/4164 (13708)
** Open/close/exp size (steps): 2325/16321/2325 (16465)
** Open/close/exp size (steps): 10281/19630/10281 (19774)
** Open/close/exp size (steps): 7930/23601/7930 (23745)
** Open/close/exp size (steps): 3906/28367/3906 (28511)
** Open/close/exp size (steps): 7994/34087/7994 (34231)
** Open/close/exp size (steps): 8866/40951/8866 (41095)
** Open/close/exp size (steps): 21329/49188/21329 (49332)
** Open/close/exp size (steps): 27148/59073/27148 (59217)
** Open/close/exp size (steps): 18905/70935/18905 (71079)
** Open/close/exp size (steps): 26136/85170/26136 (85314)
** Open/close/exp size (steps): 26759/102252/26759 (102396)
** Open/close/exp size (steps): 27067/122751/27067 (122895)
** Open/close/exp size (steps): 45061/147350/45061 (147494)
** Open/close/exp size (steps): 63781/176869/63781 (177013)
** Open/close/exp size (steps): 35142/212292/35142 (212436)
** Open/close/exp size (steps): 52947/254800/52947 (254944)
** Open/close/exp size (steps): 88087/305810/88087 (305954)
Alternative solution of group 0
Mulirobot solution: (|moves| = 23, paralellism = 2.091) [
    Step 0: 1#33->25 
    Step 1: 1#25->17 3#18->19 
    Step 2: 2#49->48 3#19->27 
    Step 3: 2#48->40 3#27->19 
    Step 4: 1#17->25 2#40->32 3#19->11 
    Step 5: 1#25->17 2#32->33 3#11->10 
    Step 6: 1#17->16 2#33->25 3#10->9 
    Step 7: 2#25->26 3#9->17 
    Step 8: 3#17->25 
    Step 9: 1#16->17 3#25->33 
    Step 10: 1#17->25 3#33->41 
]
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Collision between groups 0 and 1 resolved.
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Groups 1 and 5 collide.
Solution of group 1
Mulirobot solution: (|moves| = 6, paralellism = 1.000) [
    Step 0: 1#40->32 
    Step 1: 1#32->24 
    Step 2: 1#24->16 
    Step 3: 1#16->8 
    Step 4: 1#8->0 
    Step 5: 1#0->1 
]
Solution of group 5
Mulirobot solution: (|moves| = 6, paralellism = 1.000) [
    Step 0: 1#12->11 
    Step 1: 1#11->10 
    Step 2: 1#10->9 
    Step 3: 1#9->8 
    Step 4: 1#8->16 
    Step 5: 1#16->24 
]
Occupation table complementary for group 1
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0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 1 2 0 0 1 0 0 0 0 1 0 0 0 0 1 0 3 1 1 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 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 1 1 2 0 0 1 0 0 0 0 1 0 0 0 0 1 0 3 1 1 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 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 1 1 2 0 0 1 0 0 0 0 1 0 0 0 0 1 0 3 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 

Occupation table complementary for group 5
1 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 3 1 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 2 1 0 0 1 1 0 0 1 0 0 0 0 0 0 
0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 3 0 0 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 1 1 0 0 2 0 0 0 0 0 0 0 0 1 0 0 0 0 0 
0 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 0 3 0 0 0 0 1 0 1 0 0 0 0 0 0 0 1 1 0 1 1 0 0 1 0 0 0 0 0 0 0 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 
1 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 1 1 3 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 1 0 0 0 0 2 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
1 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 1 3 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 2 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 
1 0 1 0 0 1 0 0 1 0 0 3 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 2 0 0 1 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 1 0 1 0 0 1 0 1 0 3 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 1 0 1 0 0 1 0 0 1 1 0 1 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 3 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 
0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 1 3 1 0 0 0 1 0 0 0 2 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 
0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 3 2 0 0 1 1 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 
0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 2 0 0 1 0 0 0 3 1 0 0 0 1 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 0 1 2 0 0 1 0 0 0 0 1 0 0 0 0 1 0 3 1 1 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 0 1 2 0 0 1 0 0 0 0 1 0 0 0 0 1 0 3 1 1 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 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 0 0 0 0 0 1 2 0 0 1 0 0 0 0 1 0 0 0 0 1 0 3 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 

Unable to resolve collision between groups 1 and 5.
Merging groups 1 and 5.
Searching solution for merged group 1+5.
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 1 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 3 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 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 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 1 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 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 1 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 1 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 0 0 0 0 0 3 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 3 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 0 1 0 0 0 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 0 0 0 0 0 0 0 0 0 
0 0 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 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 0 1 2 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 

Groups 0 and 1 collide.
Solution of group 0
Mulirobot solution: (|moves| = 23, paralellism = 2.091) [
    Step 0: 1#33->25 
    Step 1: 1#25->17 3#18->19 
    Step 2: 2#49->48 3#19->27 
    Step 3: 2#48->40 3#27->19 
    Step 4: 1#17->25 2#40->32 3#19->11 
    Step 5: 1#25->17 2#32->33 3#11->10 
    Step 6: 1#17->16 2#33->25 3#10->9 
    Step 7: 2#25->26 3#9->17 
    Step 8: 3#17->25 
    Step 9: 1#16->17 3#25->33 
    Step 10: 1#17->25 3#33->41 
]
Solution of group 1
Mulirobot solution: (|moves| = 12, paralellism = 2.000) [
    Step 0: 1#40->32 2#12->11 
    Step 1: 1#32->24 2#11->10 
    Step 2: 1#24->16 2#10->9 
    Step 3: 1#16->8 2#9->17 
    Step 4: 1#8->0 2#17->16 
    Step 5: 1#0->1 2#16->24 
]
Occupation table complementary for group 0
1 0 0 0 1 0 0 0 0 1 0 0 2 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 1 1 0 0 1 0 0 0 0 0 0 
0 1 0 1 0 0 0 0 0 0 1 2 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 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 1 0 0 0 0 0 1 0 2 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 1 1 0 1 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 
1 1 0 1 0 0 0 0 0 2 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
1 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 2 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 
1 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 2 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 1 0 1 0 0 1 0 1 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 1 0 1 0 0 1 0 0 1 1 0 1 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 1 0 0 0 1 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 1 0 2 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 2 0 0 0 0 1 1 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 2 0 0 0 0 1 0 0 0 0 1 0 0 0 1 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 2 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 2 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 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 0 0 0 0 2 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 

** Open/close/exp size (steps): 4089/21787/4089 (367166)
** Open/close/exp size (steps): 16578/95242/16578 (440621)
** Open/close/exp size (steps): 25049/183388/25049 (528767)
Alternative solution of group 0
Mulirobot solution: (|moves| = 23, paralellism = 2.091) [
    Step 0: 1#33->25 
    Step 1: 1#25->33 
    Step 2: 1#33->32 2#49->48 3#18->19 
    Step 3: 1#32->24 2#48->40 
    Step 4: 1#24->25 2#40->32 3#19->11 
    Step 5: 1#25->17 2#32->33 3#11->10 
    Step 6: 1#17->16 2#33->25 3#10->9 
    Step 7: 2#25->26 3#9->17 
    Step 8: 3#17->25 
    Step 9: 1#16->17 3#25->33 
    Step 10: 1#17->25 3#33->41 
]
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 1 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 3 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 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 1 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 3 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 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 3 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 1 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 0 0 0 0 0 3 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 3 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 0 1 0 0 0 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 0 0 0 0 0 0 0 0 0 
0 0 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 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 
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Collision between groups 0 and 1 resolved.
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 1 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 
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0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
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1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 2 collide.
Solution of group 1
Mulirobot solution: (|moves| = 12, paralellism = 2.000) [
    Step 0: 1#40->32 2#12->11 
    Step 1: 1#32->24 2#11->10 
    Step 2: 1#24->16 2#10->9 
    Step 3: 1#16->8 2#9->17 
    Step 4: 1#8->0 2#17->16 
    Step 5: 1#0->1 2#16->24 
]
Solution of group 2
Mulirobot solution: (|moves| = 7, paralellism = 1.000) [
    Step 0: 1#9->10 
    Step 1: 1#10->11 
    Step 2: 1#11->12 
    Step 3: 1#12->20 
    Step 4: 1#20->28 
    Step 5: 1#28->36 
    Step 6: 1#36->44 
]
Occupation table complementary for group 1
1 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 3 1 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 2 1 0 0 1 1 0 0 1 0 0 0 0 0 0 
0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 3 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 1 1 0 0 2 0 0 0 0 0 0 0 0 1 0 0 0 0 0 
0 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 3 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 1 0 1 1 0 0 1 0 0 0 0 0 0 0 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 
1 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 3 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 1 1 0 0 0 1 1 0 0 0 0 2 0 0 1 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 0 0 0 0 0 1 3 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 2 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 
0 0 1 0 0 1 0 0 1 0 0 3 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 2 0 0 1 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 1 0 1 0 3 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 1 0 1 0 0 1 0 0 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 1 0 0 0 1 3 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 
0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 1 3 1 0 0 0 1 0 0 0 2 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 
0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 3 2 0 0 1 1 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 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 0 2 0 0 1 0 0 0 3 1 0 0 0 1 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 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 2 0 0 1 0 0 0 0 1 0 0 0 0 1 0 3 1 1 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 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 2 0 0 1 0 0 0 0 1 0 0 0 0 1 0 3 1 1 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 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 2 0 0 1 0 0 0 0 1 0 0 0 0 1 0 3 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 

Occupation table complementary for group 2
1 0 0 0 1 0 0 0 0 0 0 0 2 0 0 0 0 0 3 1 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 2 1 0 0 1 1 0 0 1 0 0 0 0 0 0 
0 1 0 1 0 0 0 0 0 0 0 2 0 0 0 0 1 0 3 0 0 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 1 1 0 0 2 0 0 0 0 0 0 0 0 1 0 0 0 0 0 
0 0 1 0 0 0 0 0 1 0 2 0 0 0 0 0 0 0 3 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 1 1 0 1 1 0 0 1 0 0 0 0 0 0 0 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 
1 1 0 1 0 0 0 0 0 2 0 0 0 0 0 0 1 0 0 3 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 1 1 0 0 0 1 1 0 0 0 0 2 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
1 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 2 1 3 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 2 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 
1 0 1 0 0 1 0 0 1 0 0 3 0 0 0 0 2 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 2 0 0 1 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 1 0 1 0 0 1 0 1 0 3 0 0 0 0 0 0 1 1 0 0 0 0 0 2 0 0 0 0 0 0 0 0 2 1 0 0 0 0 1 0 0 1 1 0 1 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 3 0 0 0 0 1 0 1 0 1 0 0 0 0 0 2 2 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 
0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 1 3 1 0 0 0 1 0 2 0 2 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 
0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 2 3 2 0 0 1 1 0 0 0 1 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 
0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 2 0 2 0 0 1 0 0 0 3 1 0 0 0 1 1 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 2 1 2 0 0 1 0 0 0 0 1 0 0 0 0 1 0 3 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 2 1 2 0 0 1 0 0 0 0 1 0 0 0 0 1 0 3 1 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 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 0 0 0 0 2 1 2 0 0 1 0 0 0 0 1 0 0 0 0 1 0 3 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 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): 4282/9775/4282 (71079)
Open/close/exp size (steps): 13237/24010/13237 (85314)
Open/close/exp size (steps): 41345/41092/41345 (102396)
Open/close/exp size (steps): 26559/61591/26559 (122895)
Open/close/exp size (steps): 52087/86190/52087 (147494)
Open/close/exp size (steps): 32651/115709/32651 (177013)
Open/close/exp size (steps): 53926/151132/53926 (212436)
Open/close/exp size (steps): 139489/193640/139489 (254944)
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 1 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 3 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 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 1 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 3 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 3 0 0 0 0 1 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 3 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 1 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 0 0 0 0 0 3 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 3 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 0 1 0 0 0 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 0 0 0 0 0 0 0 0 0 
0 0 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 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 0 1 2 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 

Groups 0 and 1 collide.
Solution of group 0
Mulirobot solution: (|moves| = 23, paralellism = 2.091) [
    Step 0: 1#33->25 
    Step 1: 1#25->33 
    Step 2: 1#33->32 2#49->48 3#18->19 
    Step 3: 1#32->24 2#48->40 
    Step 4: 1#24->25 2#40->32 3#19->11 
    Step 5: 1#25->17 2#32->33 3#11->10 
    Step 6: 1#17->16 2#33->25 3#10->9 
    Step 7: 2#25->26 3#9->17 
    Step 8: 3#17->25 
    Step 9: 1#16->17 3#25->33 
    Step 10: 1#17->25 3#33->41 
]
Solution of group 1
Mulirobot solution: (|moves| = 19, paralellism = 2.714) [
    Step 0: 1#40->32 3#9->10 
    Step 1: 1#32->24 2#12->11 3#10->18 
    Step 2: 1#24->16 2#11->10 3#18->19 
    Step 3: 1#16->8 2#10->9 3#19->20 
    Step 4: 1#8->0 2#9->17 3#20->28 
    Step 5: 1#0->1 2#17->16 3#28->36 
    Step 6: 2#16->24 3#36->44 
]
Occupation table complementary for group 0
1 0 0 0 1 0 0 0 0 3 0 0 2 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 1 1 0 0 1 0 0 0 0 0 0 
0 1 0 1 0 0 0 0 0 0 3 0 2 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 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 1 0 0 0 0 0 1 0 0 2 0 0 0 0 0 0 3 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 1 1 0 1 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 
1 1 0 1 0 0 0 0 0 0 2 0 0 0 0 0 1 0 0 3 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
1 1 0 0 1 0 0 0 1 2 0 0 0 0 0 0 0 0 1 0 3 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 
1 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 2 1 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 1 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 1 0 1 0 0 1 0 1 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 1 0 3 0 0 1 0 0 1 1 0 1 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 1 0 0 0 1 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 1 1 3 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 1 0 2 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 1 1 3 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 2 0 0 0 0 1 1 0 0 0 1 0 0 0 0 1 0 0 1 1 3 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 2 0 0 0 0 1 0 0 0 0 1 0 0 0 1 1 0 0 1 1 3 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 2 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 1 1 3 0 1 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 0 0 2 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 1 1 3 0 0 0 0 0 0 0 0 0 1 0 0 1 0 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 0 0 0 0 2 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 1 1 3 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 

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

Unable to resolve collision between groups 0 and 1.
Merging groups 0 and 1.
Searching solution for merged group 0+1.
Open/close/exp size (steps): 164088/46675/164088 (305954)
Open/close/exp size (steps): 364666/107887/364666 (367166)
Open/close/exp size (steps): 604799/181342/604799 (440621)
Open/close/exp size (steps): 874114/269488/874114 (528767)
Open/close/exp size (steps): 1187582/375264/1187582 (634543)
Open/close/exp size (steps): 1565072/502196/1565072 (761475)
Open/close/exp size (steps): 2017087/654515/2017087 (913794)
Open/close/exp size (steps): 2559830/837298/2559830 (1096577)
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     = [ 15 ]
    trajectory distribution   = [ ]
)
Phase statistics (current phase = 'root_phase') [
        Phase (name = 'root_phase') [
            Total SAT solver calls         = 0
            Satisfiable SAT solver calls   = 0
            Unsatisfiable SAT solver calls = 0
            Indeterminate SAT solver calls = 0
            Move executions                = 0
            Produced CNF variables         = 0
            Produced CNF clauses           = 0
            Search steps                   = 0
            Wall clock TIME (seconds)      = 7.782
            CPU/machine TIME (seconds)     = 7.780
        ]
        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                = 5073181
                Produced CNF variables         = 0
                Produced CNF clauses           = 0
                Search steps                   = 0
                Wall clock TIME (seconds)      = 64.010
                CPU/machine TIME (seconds)     = 64.010
            ]
        }
]
----------------------------------------------------------------