================================================================
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#56 2#31 3#23 4#44 5#1 6#37 7#25 8#35 9#47 10#3 11#27 12#9 13#61 14#28 15#50 16#57 }
     vertex occupancy: {0#0 5#1 0#2 10#3 0#4 0#5 0#6 0#7 0#8 12#9 0#10 0#11 0#12 0#13 0#14 0#15 0#16 0#17 0#18 0#19 0#20 0#21 0#22 3#23 0#24 7#25 0#26 11#27 14#28 0#29 0#30 2#31 0#32 0#33 0#34 8#35 0#36 6#37 0#38 0#39 0#40 0#41 0#42 0#43 4#44 0#45 0#46 9#47 0#48 0#49 15#50 0#51 0#52 0#53 0#54 0#55 1#56 16#57 0#58 0#59 0#60 13#61 0#62 0#63 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 16, |V| = 64) [
    robot goals: {
        1#{22}
        2#{5}
        3#{4}
        4#{10}
        5#{8}
        6#{47}
        7#{56}
        8#{2}
        9#{25}
        10#{6}
        11#{13}
        12#{59}
        13#{62}
        14#{1}
        15#{14}
        16#{54}
    }
    vertex compatibilities: {
        0@{}
        1@{14}
        2@{8}
        3@{}
        4@{3}
        5@{2}
        6@{10}
        7@{}
        8@{5}
        9@{}
        10@{4}
        11@{}
        12@{}
        13@{11}
        14@{15}
        15@{}
        16@{}
        17@{}
        18@{}
        19@{}
        20@{}
        21@{}
        22@{1}
        23@{}
        24@{}
        25@{9}
        26@{}
        27@{}
        28@{}
        29@{}
        30@{}
        31@{}
        32@{}
        33@{}
        34@{}
        35@{}
        36@{}
        37@{}
        38@{}
        39@{}
        40@{}
        41@{}
        42@{}
        43@{}
        44@{}
        45@{}
        46@{}
        47@{6}
        48@{}
        49@{}
        50@{}
        51@{}
        52@{}
        53@{}
        54@{16}
        55@{}
        56@{7}
        57@{}
        58@{}
        59@{12}
        60@{}
        61@{}
        62@{13}
        63@{}
    }
]
Open/close/exp size (steps): 3/1/3 (2)
Open/close/exp size (steps): 12/4/12 (5)
Open/close/exp size (steps): 21/8/21 (9)
Open/close/exp size (steps): 30/13/30 (14)
Open/close/exp size (steps): 43/19/43 (20)
Open/close/exp size (steps): 58/27/58 (28)
Open/close/exp size (steps): 72/37/72 (38)
Open/close/exp size (steps): 94/49/94 (50)
Open/close/exp size (steps): 114/64/114 (65)
Open/close/exp size (steps): 8/2/8 (83)
Open/close/exp size (steps): 35/11/35 (105)
Open/close/exp size (steps): 17/4/17 (132)
Open/close/exp size (steps): 61/27/61 (165)
Open/close/exp size (steps): 1/0/1 (205)
Open/close/exp size (steps): 69/27/69 (253)
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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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 6 collide.
Solution of group 0
Mulirobot solution: (|moves| = 11, paralellism = 1.000) [
    Step 0: 1#56->48 
    Step 1: 1#48->40 
    Step 2: 1#40->32 
    Step 3: 1#32->24 
    Step 4: 1#24->16 
    Step 5: 1#16->17 
    Step 6: 1#17->18 
    Step 7: 1#18->19 
    Step 8: 1#19->20 
    Step 9: 1#20->21 
    Step 10: 1#21->22 
]
Solution of group 6
Mulirobot solution: (|moves| = 5, paralellism = 1.000) [
    Step 0: 1#25->24 
    Step 1: 1#24->32 
    Step 2: 1#32->40 
    Step 3: 1#40->48 
    Step 4: 1#48->56 
]
Occupation table complementary for group 0
0 1 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 1 0 0 1 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 0 1 0 0 
1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 0 1 0 0 1 0 0 1 0 0 0 0 0 1 0 1 0 0 0 1 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 
0 0 0 0 0 1 0 0 1 0 0 1 1 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 1 0 0 0 1 0 1 0 0 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 0 
0 0 0 0 1 0 1 0 1 0 0 1 1 0 1 0 0 0 0 1 1 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 0 1 0 0 0 0 0 0 0 0 0 0 1 0 
0 0 0 1 0 1 1 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 
0 0 1 0 1 1 1 0 1 0 1 1 0 1 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 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 0 
0 1 1 0 1 1 1 0 1 0 1 1 0 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 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 0 1 0 
0 1 1 0 1 1 1 0 1 0 1 0 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 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 1 0 0 0 0 0 1 0 
0 1 1 0 1 1 1 0 1 0 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 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 
0 1 1 0 1 1 1 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 
0 1 1 0 1 1 1 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 
0 1 1 0 1 1 1 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 

** Open/close/exp size (steps): 2/1/2 (2)
** Open/close/exp size (steps): 3/4/3 (5)
** Open/close/exp size (steps): 11/8/11 (9)
** Open/close/exp size (steps): 25/13/25 (14)
** Open/close/exp size (steps): 33/19/33 (20)
** Open/close/exp size (steps): 50/27/50 (28)
** Open/close/exp size (steps): 68/37/68 (38)
** Open/close/exp size (steps): 84/49/84 (50)
** Open/close/exp size (steps): 69/64/69 (65)
** Open/close/exp size (steps): 51/82/51 (83)
** Open/close/exp size (steps): 48/104/48 (105)
** Open/close/exp size (steps): 35/131/35 (132)
** Open/close/exp size (steps): 5/164/5 (165)
Occupation table complementary for group 6
0 1 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 
1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 1 0 1 0 0 0 1 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 
0 0 0 0 0 1 0 0 1 0 0 1 1 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 
0 0 0 0 1 0 1 0 1 0 0 1 1 0 1 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 1 0 1 0 0 0 0 0 0 0 0 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 1 0 1 1 0 1 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 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 1 0 0 0 0 0 0 0 0 0 1 0 
0 0 1 0 1 1 1 0 1 0 1 1 0 1 0 0 1 0 0 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 0 0 0 1 0 0 0 0 0 0 0 0 1 0 
0 1 1 0 1 1 1 0 1 0 1 1 0 1 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 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 
0 1 1 0 1 1 1 0 1 0 1 0 1 1 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 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 0 0 0 0 1 0 
0 1 1 0 1 1 1 0 1 0 1 0 0 1 0 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 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 1 1 0 1 1 1 0 1 0 1 0 0 1 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 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 
0 1 1 0 1 1 1 0 1 0 1 0 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 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 1 1 0 1 1 1 0 1 0 1 0 0 1 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 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 

Alternative solution of group 6
Mulirobot solution: (|moves| = 5, paralellism = 1.000) [
    Step 0: 1#25->33 
    Step 1: 1#33->41 
    Step 2: 1#41->49 
    Step 3: 1#49->48 
    Step 4: 1#48->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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 6 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 1 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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#31->30 
    Step 1: 1#30->22 
    Step 2: 1#22->14 
    Step 3: 1#14->6 
    Step 4: 1#6->5 
]
Solution of group 2
Mulirobot solution: (|moves| = 5, paralellism = 1.000) [
    Step 0: 1#23->22 
    Step 1: 1#22->14 
    Step 2: 1#14->6 
    Step 3: 1#6->5 
    Step 4: 1#5->4 
]
Occupation table complementary for group 1
0 1 0 1 0 0 0 0 0 1 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 1 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 
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0 0 0 1 0 1 1 0 1 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 
0 0 1 0 1 0 1 0 1 0 1 1 0 1 0 0 1 0 0 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 0 0 0 1 0 0 1 0 0 0 0 0 1 0 
0 1 1 0 1 0 1 0 1 0 1 1 0 1 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 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 0 1 0 
0 1 1 0 1 0 1 0 1 0 1 0 1 1 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 0 0 0 0 0 1 0 0 0 1 0 0 1 0 1 0 0 0 0 0 1 0 
0 1 1 0 1 0 1 0 1 0 1 0 0 1 0 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 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 
0 1 1 0 1 0 1 0 1 0 1 0 0 1 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 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 
0 1 1 0 1 0 1 0 1 0 1 0 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 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 
0 1 1 0 1 0 1 0 1 0 1 0 0 1 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 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 

** Open/close/exp size (steps): 8/29/8 (205)
** Open/close/exp size (steps): 17/77/17 (253)
** Open/close/exp size (steps): 11/135/11 (311)
Occupation table complementary for group 2
0 1 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 1 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 
1 0 0 0 1 0 0 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 1 0 0 1 0 1 0 0 0 1 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 
0 0 0 0 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 1 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 
0 0 0 0 1 0 1 0 1 0 0 1 1 0 1 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 
0 0 0 1 0 0 1 0 1 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 
0 0 1 0 0 1 1 0 1 0 1 1 0 1 0 0 1 0 0 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 0 0 0 1 0 0 1 0 0 0 0 0 1 0 
0 1 1 0 0 1 1 0 1 0 1 1 0 1 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 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 0 1 0 
0 1 1 0 0 1 1 0 1 0 1 0 1 1 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 0 0 0 0 0 1 0 0 0 1 0 0 1 0 1 0 0 0 0 0 1 0 
0 1 1 0 0 1 1 0 1 0 1 0 0 1 0 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 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 
0 1 1 0 0 1 1 0 1 0 1 0 0 1 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 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 
0 1 1 0 0 1 1 0 1 0 1 0 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 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 
0 1 1 0 0 1 1 0 1 0 1 0 0 1 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 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 

** Open/close/exp size (steps): 12/54/12 (381)
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): 65/27/65 (311)
Open/close/exp size (steps): 136/97/136 (381)
Open/close/exp size (steps): 229/181/229 (465)
Open/close/exp size (steps): 280/282/280 (566)
Open/close/exp size (steps): 462/404/462 (688)
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Groups 1 and 9 collide.
Solution of group 1
Mulirobot solution: (|moves| = 10, paralellism = 1.667) [
    Step 0: 1#31->30 2#23->22 
    Step 1: 1#30->29 2#22->14 
    Step 2: 1#29->21 2#14->6 
    Step 3: 1#21->13 2#6->5 
    Step 4: 2#5->4 
    Step 5: 1#13->5 
]
Solution of group 9
Mulirobot solution: (|moves| = 3, paralellism = 1.000) [
    Step 0: 1#3->4 
    Step 1: 1#4->5 
    Step 2: 1#5->6 
]
Occupation table complementary for group 1
0 1 0 1 0 0 0 0 0 1 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 1 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 
1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 1 0 0 0 1 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 
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0 0 0 1 0 0 1 0 1 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 
0 0 1 0 0 0 1 0 1 0 1 1 0 1 0 0 1 0 0 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 0 0 0 1 0 0 1 0 0 0 0 0 1 0 
0 1 1 0 0 0 1 0 1 0 1 1 0 1 0 0 0 1 0 0 0 0 0 0 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 0 0 0 0 1 0 1 0 0 0 0 0 1 0 
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0 1 1 0 0 0 1 0 1 0 1 0 0 1 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 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 
0 1 1 0 0 0 1 0 1 0 1 0 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 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 
0 1 1 0 0 0 1 0 1 0 1 0 0 1 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 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 

** Open/close/exp size (steps): 4/2/4 (465)
** Open/close/exp size (steps): 67/103/67 (566)
** Open/close/exp size (steps): 97/225/97 (688)
** Open/close/exp size (steps): 148/372/148 (835)
** Open/close/exp size (steps): 207/549/207 (1012)
** Open/close/exp size (steps): 369/762/369 (1225)
** Open/close/exp size (steps): 387/1018/387 (1481)
** Open/close/exp size (steps): 518/1326/518 (1789)
** Open/close/exp size (steps): 501/1696/501 (2159)
** Open/close/exp size (steps): 558/2140/558 (2603)
** Open/close/exp size (steps): 583/2673/583 (3136)
** Open/close/exp size (steps): 690/3313/690 (3776)
** Open/close/exp size (steps): 799/4081/799 (4544)
** Open/close/exp size (steps): 863/5003/863 (5466)
** Open/close/exp size (steps): 912/6110/912 (6573)
** Open/close/exp size (steps): 1095/7439/1095 (7902)
** Open/close/exp size (steps): 1658/9034/1658 (9497)
** Open/close/exp size (steps): 1405/10948/1405 (11411)
** Open/close/exp size (steps): 1693/13245/1693 (13708)
** Open/close/exp size (steps): 1086/16002/1086 (16465)
Occupation table complementary for group 9
0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 1 0 1 1 0 0 1 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 
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** Open/close/exp size (steps): 9/26/9 (19774)
Unable to resolve collision between groups 1 and 9.
Merging groups 1 and 9.
Searching solution for merged group 1+9.
Open/close/exp size (steps): 259/89/259 (835)
Open/close/exp size (steps): 598/266/598 (1012)
Open/close/exp size (steps): 1041/479/1041 (1225)
Open/close/exp size (steps): 1501/735/1501 (1481)
Open/close/exp size (steps): 2037/1043/2037 (1789)
Open/close/exp size (steps): 2549/1413/2549 (2159)
Open/close/exp size (steps): 3201/1857/3201 (2603)
Open/close/exp size (steps): 3859/2390/3859 (3136)
Open/close/exp size (steps): 4712/3030/4712 (3776)
Open/close/exp size (steps): 5703/3798/5703 (4544)
Open/close/exp size (steps): 7086/4720/7086 (5466)
Open/close/exp size (steps): 10086/5827/10086 (6573)
Open/close/exp size (steps): 13703/7156/13703 (7902)
Open/close/exp size (steps): 12817/8751/12817 (9497)
Open/close/exp size (steps): 12746/10665/12746 (11411)
Open/close/exp size (steps): 13572/12962/13572 (13708)
Open/close/exp size (steps): 13061/15719/13061 (16465)
Open/close/exp size (steps): 11753/19028/11753 (19774)
Open/close/exp size (steps): 14746/22999/14746 (23745)
Open/close/exp size (steps): 19380/27765/19380 (28511)
Open/close/exp size (steps): 33064/33485/33064 (34231)
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Groups 1 and 8 collide.
Solution of group 1
Mulirobot solution: (|moves| = 13, paralellism = 2.167) [
    Step 0: 2#23->22 3#3->4 
    Step 1: 1#31->30 2#22->14 3#4->5 
    Step 2: 1#30->22 2#14->13 3#5->6 
    Step 3: 1#22->14 2#13->5 
    Step 4: 1#14->13 2#5->4 
    Step 5: 1#13->5 
]
Solution of group 8
Mulirobot solution: (|moves| = 8, paralellism = 1.000) [
    Step 0: 1#47->46 
    Step 1: 1#46->38 
    Step 2: 1#38->30 
    Step 3: 1#30->29 
    Step 4: 1#29->28 
    Step 5: 1#28->27 
    Step 6: 1#27->26 
    Step 7: 1#26->25 
]
Occupation table complementary for group 1
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 1 1 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 
1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 1 0 0 0 1 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 
0 0 0 0 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 1 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 
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0 0 1 0 0 0 0 0 1 0 1 1 0 1 0 0 1 0 0 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 0 0 0 1 0 0 1 0 0 0 0 0 1 0 
0 1 1 0 0 0 0 0 1 0 1 1 0 1 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 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 0 1 0 
0 1 1 0 0 0 0 0 1 0 1 0 1 1 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 0 0 0 0 0 1 0 0 0 1 0 0 1 0 1 0 0 0 0 0 1 0 
0 1 1 0 0 0 0 0 1 0 1 0 0 1 0 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 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 
0 1 1 0 0 0 0 0 1 0 1 0 0 1 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 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 
0 1 1 0 0 0 0 0 1 0 1 0 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 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 
0 1 1 0 0 0 0 0 1 0 1 0 0 1 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 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 

** Open/close/exp size (steps): 3149/3865/3149 (23745)
** Open/close/exp size (steps): 5132/8631/5132 (28511)
** Open/close/exp size (steps): 10591/14351/10591 (34231)
** Open/close/exp size (steps): 9253/21215/9253 (41095)
** Open/close/exp size (steps): 9611/29452/9611 (49332)
** Open/close/exp size (steps): 16547/39337/16547 (59217)
** Open/close/exp size (steps): 18811/51199/18811 (71079)
** Open/close/exp size (steps): 24320/65434/24320 (85314)
** Open/close/exp size (steps): 28370/82516/28370 (102396)
** Open/close/exp size (steps): 39646/103015/39646 (122895)
** Open/close/exp size (steps): 40306/127614/40306 (147494)
** Open/close/exp size (steps): 31041/157133/31041 (177013)
** Open/close/exp size (steps): 44971/192556/44971 (212436)
** Open/close/exp size (steps): 71766/235064/71766 (254944)
Alternative solution of group 1
Mulirobot solution: (|moves| = 15, paralellism = 1.667) [
    Step 0: 3#3->4 
    Step 1: 3#4->5 
    Step 2: 2#23->22 3#5->6 
    Step 3: 1#31->23 2#22->14 3#6->7 
    Step 4: 1#23->22 2#14->6 
    Step 5: 1#22->14 2#6->5 
    Step 6: 1#14->6 2#5->4 
    Step 7: 1#6->5 
    Step 8: 3#7->6 
]
0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 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 2 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 2 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
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0 0 0 0 0 0 2 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 0 0 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 8 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 3 and 9 collide.
Solution of group 3
Mulirobot solution: (|moves| = 6, paralellism = 1.000) [
    Step 0: 1#44->36 
    Step 1: 1#36->28 
    Step 2: 1#28->20 
    Step 3: 1#20->12 
    Step 4: 1#12->11 
    Step 5: 1#11->10 
]
Solution of group 9
Mulirobot solution: (|moves| = 9, paralellism = 1.000) [
    Step 0: 1#50->42 
    Step 1: 1#42->34 
    Step 2: 1#34->26 
    Step 3: 1#26->18 
    Step 4: 1#18->10 
    Step 5: 1#10->11 
    Step 6: 1#11->12 
    Step 7: 1#12->13 
    Step 8: 1#13->14 
]
Occupation table complementary for group 3
0 1 0 3 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 1 0 1 1 0 0 1 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 
1 0 0 0 3 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 2 0 0 0 1 0 0 0 1 0 1 0 0 0 0 1 0 0 0 1 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 
0 0 0 0 0 3 0 0 1 0 0 1 1 0 0 0 0 0 0 1 0 0 0 2 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 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 
0 0 0 0 1 0 3 0 1 0 0 1 1 0 0 0 0 0 0 1 0 0 2 0 0 0 1 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 
0 0 0 1 0 0 0 3 1 0 0 0 0 1 2 0 0 0 1 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 
0 0 1 0 0 0 2 3 1 0 1 0 0 1 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 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 0 
0 1 1 0 0 2 0 3 1 0 0 1 0 1 1 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 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 0 1 0 
0 1 1 0 2 0 1 3 1 0 0 0 1 1 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 0 0 0 0 0 1 0 0 0 1 0 0 1 0 1 0 0 0 0 0 1 0 
0 1 1 0 2 1 0 3 1 0 0 0 0 1 0 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 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 
0 1 1 0 2 1 3 0 1 0 0 0 0 1 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 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 
0 1 1 0 2 1 3 0 1 0 0 0 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 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 
0 1 1 0 2 1 3 0 1 0 0 0 0 1 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 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 

Alternative solution of group 3
Mulirobot solution: (|moves| = 10, paralellism = 0.909) [
    Step 0: 1#44->36 
    Step 1: 1#36->28 
    Step 2: 1#28->20 
    Step 3: 
    Step 4: 1#20->12 
    Step 5: 1#12->20 
    Step 6: 1#20->28 
    Step 7: 1#28->27 
    Step 8: 1#27->26 
    Step 9: 1#26->18 
    Step 10: 1#18->10 
]
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 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 3 and 9 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

Groups 5 and 8 collide.
Solution of group 5
Mulirobot solution: (|moves| = 3, paralellism = 1.000) [
    Step 0: 1#37->38 
    Step 1: 1#38->39 
    Step 2: 1#39->47 
]
Solution of group 8
Mulirobot solution: (|moves| = 8, paralellism = 1.000) [
    Step 0: 1#47->46 
    Step 1: 1#46->38 
    Step 2: 1#38->30 
    Step 3: 1#30->29 
    Step 4: 1#29->28 
    Step 5: 1#28->27 
    Step 6: 1#27->26 
    Step 7: 1#26->25 
]
Occupation table complementary for group 5
0 1 0 3 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 1 0 1 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 
1 0 0 0 3 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 2 0 0 0 1 0 0 0 1 0 1 0 0 1 0 0 0 0 0 1 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 
0 0 0 0 0 3 0 0 1 0 0 1 1 0 0 0 0 0 0 1 0 0 0 2 0 0 0 0 1 0 0 1 0 0 1 0 0 0 1 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 
0 0 0 0 1 0 3 0 1 0 0 1 1 0 0 0 0 0 0 1 1 0 2 0 0 0 1 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 
0 0 0 1 0 0 0 3 1 0 0 0 0 1 2 0 0 0 1 0 1 0 0 1 1 0 0 1 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 0 0 0 0 0 0 0 0 0 1 0 
0 0 1 0 0 0 2 3 1 0 1 0 1 1 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 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 0 
0 1 1 0 0 2 0 3 1 0 0 1 0 1 1 0 0 1 0 0 1 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 0 0 0 0 0 1 0 1 0 0 0 0 0 1 0 
0 1 1 0 2 0 1 3 1 0 0 0 1 1 0 0 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 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 0 1 0 
0 1 1 0 2 1 0 3 1 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 0 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 0 1 0 
0 1 1 0 2 1 3 0 1 0 0 0 0 1 1 0 0 0 0 0 1 0 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 0 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 
0 1 1 0 2 1 3 0 1 0 0 0 0 1 1 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 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 0 1 0 
0 1 1 0 2 1 3 0 1 0 1 0 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 

Alternative solution of group 5
Mulirobot solution: (|moves| = 3, paralellism = 0.750) [
    Step 0: 1#37->45 
    Step 1: 
    Step 2: 1#45->46 
    Step 3: 1#46->47 
]
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

Collision between groups 5 and 8 resolved.
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 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 7 and 10 collide.
Solution of group 7
Mulirobot solution: (|moves| = 5, paralellism = 1.000) [
    Step 0: 1#35->27 
    Step 1: 1#27->19 
    Step 2: 1#19->11 
    Step 3: 1#11->3 
    Step 4: 1#3->2 
]
Solution of group 10
Mulirobot solution: (|moves| = 4, paralellism = 1.000) [
    Step 0: 1#27->19 
    Step 1: 1#19->11 
    Step 2: 1#11->12 
    Step 3: 1#12->13 
]
Occupation table complementary for group 7
0 1 0 3 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 1 0 1 1 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 
1 0 0 0 3 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 2 0 0 0 0 0 0 0 1 0 1 0 0 1 0 0 0 0 0 1 0 0 1 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 
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0 1 0 0 2 1 3 0 1 0 0 0 0 1 1 0 0 0 0 0 1 0 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 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 
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Occupation table complementary for group 10
0 1 0 3 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 1 0 0 1 0 0 1 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 
1 0 0 0 3 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 2 0 0 0 1 0 0 0 1 0 1 0 0 1 0 0 0 0 0 1 0 0 1 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 
0 0 0 0 0 3 0 0 1 0 0 1 1 0 0 0 0 0 0 1 0 0 0 2 0 0 0 0 1 0 0 1 0 0 1 0 0 0 1 0 1 1 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 
0 0 0 0 1 0 3 0 1 0 0 1 0 0 0 0 0 0 0 1 1 0 2 0 0 0 1 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 
0 0 0 1 0 0 0 3 1 0 0 0 0 0 2 0 0 0 1 0 1 0 0 1 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 
0 0 1 0 0 0 2 3 1 0 1 0 1 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 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 0 
0 1 1 0 0 2 0 3 1 0 0 1 0 0 1 0 0 1 0 0 1 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 0 0 0 0 1 0 1 0 0 0 0 0 1 0 
0 1 1 0 2 0 1 3 1 0 0 0 1 0 0 0 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 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 1 0 0 0 0 0 1 0 
0 1 1 0 2 1 0 3 1 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 1 0 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 0 1 0 1 0 0 1 0 0 1 0 
0 1 1 0 2 1 3 0 1 0 0 0 0 0 1 0 0 0 0 0 1 0 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 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 
0 1 1 0 2 1 3 0 1 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 
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Unable to resolve collision between groups 7 and 10.
Merging groups 7 and 10.
Searching solution for merged group 7+10.
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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 2 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 1 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 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 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 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 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 

Groups 7 and 9 collide.
Solution of group 7
Mulirobot solution: (|moves| = 9, paralellism = 1.800) [
    Step 0: 1#35->34 2#27->19 
    Step 1: 1#34->26 2#19->11 
    Step 2: 1#26->18 2#11->12 
    Step 3: 1#18->10 2#12->13 
    Step 4: 1#10->2 
]
Solution of group 9
Mulirobot solution: (|moves| = 9, paralellism = 1.000) [
    Step 0: 1#50->42 
    Step 1: 1#42->34 
    Step 2: 1#34->26 
    Step 3: 1#26->18 
    Step 4: 1#18->10 
    Step 5: 1#10->11 
    Step 6: 1#11->12 
    Step 7: 1#12->13 
    Step 8: 1#13->14 
]
Occupation table complementary for group 7
0 1 0 3 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 1 0 0 1 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 
1 0 0 0 3 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 2 0 0 0 0 0 0 0 1 0 1 0 0 1 0 0 0 0 0 1 0 0 1 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 
0 0 0 0 0 3 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 1 0 0 1 0 0 1 0 0 0 1 0 1 1 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 
0 0 0 0 1 0 3 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 2 0 0 0 1 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 
0 0 0 1 0 0 0 3 1 0 0 0 0 0 2 0 0 0 1 0 1 0 0 1 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 
0 0 1 0 0 0 2 3 1 0 1 0 1 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 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 0 
0 1 0 0 0 2 0 3 1 0 0 1 0 0 1 0 0 1 0 0 1 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 0 0 0 0 1 0 1 0 0 0 0 0 1 0 
0 1 0 0 2 0 1 3 1 0 0 0 1 0 0 0 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 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 1 0 0 0 0 0 1 0 
0 1 0 0 2 1 0 3 1 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 1 0 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 0 1 0 1 0 0 1 0 0 1 0 
0 1 0 0 2 1 3 0 1 0 0 0 0 0 1 0 0 0 0 0 1 0 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 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 
0 1 0 0 2 1 3 0 1 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 
0 1 0 0 2 1 3 0 1 0 1 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 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 

Occupation table complementary for group 9
0 1 0 3 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 1 0 2 1 0 0 1 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 
1 0 0 0 3 0 0 0 0 0 1 0 0 0 0 0 0 0 0 2 1 0 0 2 0 0 0 0 0 0 0 1 0 1 1 0 1 0 0 0 0 0 0 0 0 1 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 
0 0 0 0 0 3 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 0 2 0 0 1 0 1 0 0 1 0 0 0 0 0 0 1 0 1 1 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 
0 0 0 0 1 0 3 0 1 0 0 0 2 0 0 0 0 0 1 1 1 0 2 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 
0 0 0 1 0 0 0 3 1 0 1 0 0 2 2 0 0 0 0 0 1 0 0 1 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 
0 0 1 0 0 0 2 3 1 0 0 0 1 2 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 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 0 
0 1 1 0 0 2 0 3 1 0 0 0 0 2 1 0 0 1 0 0 1 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 0 0 0 0 1 0 1 0 0 0 0 0 1 0 
0 1 1 0 2 0 1 3 1 0 0 0 0 2 0 0 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 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 1 0 0 0 0 0 1 0 
0 1 1 0 2 1 0 3 1 0 0 0 0 2 0 0 0 0 0 1 0 0 0 0 0 1 0 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 0 1 0 1 0 0 1 0 0 1 0 
0 1 1 0 2 1 3 0 1 0 0 0 0 2 0 0 0 0 0 0 1 0 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 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 
0 1 1 0 2 1 3 0 1 0 0 0 0 2 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 
0 1 1 0 2 1 3 0 1 0 1 0 0 2 0 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 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 

Alternative solution of group 9
Mulirobot solution: (|moves| = 9, paralellism = 1.000) [
    Step 0: 1#50->42 
    Step 1: 1#42->43 
    Step 2: 1#43->35 
    Step 3: 1#35->36 
    Step 4: 1#36->37 
    Step 5: 1#37->29 
    Step 6: 1#29->21 
    Step 7: 1#21->22 
    Step 8: 1#22->14 
]
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 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 2 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 1 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 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 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 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 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 

Collision between groups 7 and 9 resolved.
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 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 2 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 1 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 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 

Groups 7 and 10 collide.
Solution of group 7
Mulirobot solution: (|moves| = 9, paralellism = 1.800) [
    Step 0: 1#35->34 2#27->19 
    Step 1: 1#34->26 2#19->11 
    Step 2: 1#26->18 2#11->12 
    Step 3: 1#18->10 2#12->13 
    Step 4: 1#10->2 
]
Solution of group 10
Mulirobot solution: (|moves| = 6, paralellism = 1.000) [
    Step 0: 1#28->20 
    Step 1: 1#20->12 
    Step 2: 1#12->4 
    Step 3: 1#4->3 
    Step 4: 1#3->2 
    Step 5: 1#2->1 
]
Occupation table complementary for group 7
0 1 0 3 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 1 0 0 1 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 
1 0 0 0 3 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 2 0 0 0 0 0 0 0 1 0 1 0 0 1 0 0 0 0 0 1 0 0 1 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 
0 0 0 0 0 3 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 1 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 
0 0 0 0 1 0 3 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 2 0 0 0 0 0 0 0 1 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 
0 0 0 1 0 0 0 3 1 0 0 0 0 0 2 0 0 0 0 0 1 0 0 1 1 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 
0 0 1 0 0 0 2 3 1 0 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 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 1 0 
0 1 0 0 0 2 0 3 1 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 0 1 0 
0 1 0 0 2 0 1 3 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 1 0 0 0 0 0 1 0 
0 1 0 0 2 1 0 3 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 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 0 1 0 1 0 0 1 0 0 1 0 
0 1 0 0 2 1 3 0 1 0 0 0 0 0 1 0 0 0 0 0 1 0 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 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 
0 1 0 0 2 1 3 0 1 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 
0 1 0 0 2 1 3 0 1 0 1 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 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 

Alternative solution of group 7
Mulirobot solution: (|moves| = 11, paralellism = 1.375) [
    Step 0: 1#35->34 2#27->19 
    Step 1: 1#34->26 2#19->18 
    Step 2: 2#18->10 
    Step 3: 1#26->18 2#10->11 
    Step 4: 1#18->10 
    Step 5: 
    Step 6: 1#10->2 2#11->12 
    Step 7: 2#12->13 
]
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 2 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 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 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 

Collision between groups 7 and 10 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 2 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
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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 
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Computed optimal makespan:11
Makespan optimal solution:
Mulirobot solution: (|moves| = 95, paralellism = 8.636) [
    Step 0: 1#56->48 10#3->4 16#57->49 4#44->36 5#1->0 6#37->45 7#25->33 8#35->34 11#27->19 9#47->46 15#50->42 14#28->20 12#9->10 13#61->62 
    Step 1: 1#48->40 10#4->5 16#49->50 4#36->28 5#0->8 7#33->41 8#34->26 11#19->18 9#46->38 15#42->43 14#20->12 12#10->11 
    Step 2: 1#40->32 3#23->22 10#5->6 16#50->51 4#28->20 6#45->46 7#41->49 11#18->10 9#38->30 15#43->35 14#12->4 12#11->19 
    Step 3: 1#32->24 2#31->23 3#22->14 10#6->7 16#51->52 6#46->47 7#49->48 8#26->18 11#10->11 9#30->29 15#35->36 14#4->3 12#19->27 
    Step 4: 1#24->16 2#23->22 3#14->6 16#52->53 4#20->12 7#48->56 8#18->10 9#29->28 15#36->37 14#3->2 12#27->35 
    Step 5: 1#16->17 2#22->14 3#6->5 16#53->54 4#12->20 9#28->27 15#37->29 14#2->1 12#35->43 
    Step 6: 1#17->18 2#14->6 3#5->4 4#20->28 8#10->2 11#11->12 9#27->26 15#29->21 12#43->51 
    Step 7: 1#18->19 2#6->5 4#28->27 11#12->13 9#26->25 15#21->22 12#51->59 
    Step 8: 1#19->20 10#7->6 4#27->26 15#22->14 
    Step 9: 1#20->21 4#26->18 
    Step 10: 1#21->22 4#18->10 
]
Multirobot solution analysis: (
    total makespan           = 11
    total distance           = 81
    total trajectory         = 95
    average parallelism      = 8.636
    average distance         = 5.062
    average trajectory       = 5.938
    parallelism distribution  = [ 0 2 0 1 0 0 1 0 2 0 1 2 1 1 ]
    distance distribution     = [ 1 1 2 1 4 2 0 2 1 0 1 ]
    trajectory distribution   = [ 1 1 1 0 5 3 0 2 1 1 1 ]
)
Phase statistics (current phase = 'root_phase') [
        Phase (name = 'root_phase') [
            Total SAT solver calls         = 0
            Satisfiable SAT solver calls   = 0
            Unsatisfiable SAT solver calls = 0
            Indeterminate SAT solver calls = 0
            Move executions                = 95
            Produced CNF variables         = 0
            Produced CNF clauses           = 0
            Search steps                   = 0
            Wall clock TIME (seconds)      = 0.028
            CPU/machine TIME (seconds)     = 0.030
        ]
        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                = 899823
                Produced CNF variables         = 0
                Produced CNF clauses           = 0
                Search steps                   = 0
                Wall clock TIME (seconds)      = 6.952
                CPU/machine TIME (seconds)     = 6.950
            ]
        }
]
----------------------------------------------------------------