================================================================ 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| = 19, |V| = 64) [ robot locations: {1#25 2#22 3#44 4#6 5#55 6#31 7#61 8#7 9#26 10#13 11#48 12#30 13#33 14#46 15#56 16#35 17#62 18#10 19#18 } vertex occupancy: {0#0 0#1 0#2 0#3 0#4 0#5 4#6 8#7 0#8 0#9 18#10 0#11 0#12 10#13 0#14 0#15 0#16 0#17 19#18 0#19 0#20 0#21 2#22 0#23 0#24 1#25 9#26 0#27 0#28 0#29 12#30 6#31 0#32 13#33 0#34 16#35 0#36 0#37 0#38 0#39 0#40 0#41 0#42 0#43 3#44 0#45 14#46 0#47 11#48 0#49 0#50 0#51 0#52 0#53 0#54 5#55 15#56 0#57 0#58 0#59 0#60 7#61 17#62 0#63 } ] Robot arrangement: (|R| = -1, |V| = 0) [ robot locations: {} vertex occupancy: {} ] Robot goal: (|R| = 19, |V| = 64) [ robot goals: { 1#{59} 2#{50} 3#{56} 4#{42} 5#{41} 6#{6} 7#{61} 8#{55} 9#{22} 10#{12} 11#{14} 12#{21} 13#{49} 14#{32} 15#{36} 16#{46} 17#{39} 18#{13} 19#{3} } vertex compatibilities: { 0@{} 1@{} 2@{} 3@{19} 4@{} 5@{} 6@{6} 7@{} 8@{} 9@{} 10@{} 11@{} 12@{10} 13@{18} 14@{11} 15@{} 16@{} 17@{} 18@{} 19@{} 20@{} 21@{12} 22@{9} 23@{} 24@{} 25@{} 26@{} 27@{} 28@{} 29@{} 30@{} 31@{} 32@{14} 33@{} 34@{} 35@{} 36@{15} 37@{} 38@{} 39@{17} 40@{} 41@{5} 42@{4} 43@{} 44@{} 45@{} 46@{16} 47@{} 48@{} 49@{13} 50@{2} 51@{} 52@{} 53@{} 54@{} 55@{8} 56@{3} 57@{} 58@{} 59@{1} 60@{} 61@{7} 62@{} 63@{} } ] Open/close/exp size (steps): 5/1/5 (2) Open/close/exp size (steps): 17/4/17 (5) Open/close/exp size (steps): 28/8/28 (9) Open/close/exp size (steps): 38/13/38 (14) Open/close/exp size (steps): 5/1/5 (20) Open/close/exp size (steps): 32/9/32 (28) Open/close/exp size (steps): 52/19/52 (38) Open/close/exp size (steps): 70/31/70 (50) Open/close/exp size (steps): 30/10/30 (65) Open/close/exp size (steps): 27/10/27 (83) Open/close/exp size (steps): 69/32/69 (105) Open/close/exp size (steps): 35/14/35 (132) Open/close/exp size (steps): 14/4/14 (165) Open/close/exp size (steps): 91/44/91 (205) Open/close/exp size (steps): 16/5/16 (253) 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 Groups 0 and 4 collide. Solution of group 0 Mulirobot solution: (|moves| = 6, paralellism = 1.000) [ Step 0: 1#25->26 Step 1: 1#26->27 Step 2: 1#27->35 Step 3: 1#35->43 Step 4: 1#43->51 Step 5: 1#51->59 ] Solution of group 4 Mulirobot solution: (|moves| = 7, paralellism = 1.000) [ Step 0: 1#55->54 Step 1: 1#54->46 Step 2: 1#46->45 Step 3: 1#45->44 Step 4: 1#44->43 Step 5: 1#43->42 Step 6: 1#42->41 ] Occupation table complementary for group 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1 1 0 1 0 1 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 1 1 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 1 1 1 0 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 1 1 1 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 1 0 0 0 1 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 1 1 0 0 0 0 1 1 1 0 0 1 0 0 0 0 0 0 1 1 0 0 0 1 0 1 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 1 0 1 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 1 0 1 0 1 1 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 1 0 0 1 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 0 1 0 1 1 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 1 0 0 0 1 0 0 1 0 1 1 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 1 1 1 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 1 0 1 0 0 0 0 1 0 0 1 1 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 1 1 0 0 0 1 0 0 1 1 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 1 1 0 0 0 1 0 0 1 1 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 1 1 0 0 0 1 0 0 1 1 0 0 0 0 1 1 0 0 0 0 1 0 0 ** Open/close/exp size (steps): 3/1/3 (2) ** Open/close/exp size (steps): 8/4/8 (5) ** Open/close/exp size (steps): 9/8/9 (9) Alternative solution of group 0 Mulirobot solution: (|moves| = 6, paralellism = 0.857) [ Step 0: Step 1: 1#25->26 Step 2: 1#26->34 Step 3: 1#34->42 Step 4: 1#42->50 Step 5: 1#50->51 Step 6: 1#51->59 ] 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 Collision between groups 0 and 4 resolved. 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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Solution of group 1 Mulirobot solution: (|moves| = 8, paralellism = 1.000) [ Step 0: 1#22->21 Step 1: 1#21->20 Step 2: 1#20->19 Step 3: 1#19->18 Step 4: 1#18->26 Step 5: 1#26->34 Step 6: 1#34->42 Step 7: 1#42->50 ] Solution of group 4 Mulirobot solution: (|moves| = 7, paralellism = 1.000) [ Step 0: 1#55->54 Step 1: 1#54->46 Step 2: 1#46->45 Step 3: 1#45->44 Step 4: 1#44->43 Step 5: 1#43->42 Step 6: 1#42->41 ] Occupation table complementary for group 1 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 1 1 0 1 0 1 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 1 1 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 1 1 1 0 0 1 0 0 1 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 1 1 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 1 0 0 0 1 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 1 1 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 1 1 0 1 0 1 0 1 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 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 1 0 0 1 0 1 0 1 0 1 1 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 1 0 0 1 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 0 0 1 0 1 1 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 1 0 0 0 1 0 0 1 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 1 1 1 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 1 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 1 1 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 1 1 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 1 1 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 Occupation table complementary for group 4 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 1 0 0 0 1 1 0 1 0 1 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 1 1 1 0 0 1 0 0 1 0 0 1 1 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 1 1 1 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 1 0 0 0 1 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 1 1 0 0 0 0 1 1 1 0 0 1 0 0 0 0 0 0 1 1 0 1 0 1 0 1 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 1 0 0 0 1 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 1 0 1 0 1 1 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 1 0 0 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 0 0 1 0 1 1 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 1 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 1 1 1 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 1 0 0 0 0 0 0 1 0 0 1 1 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 1 0 0 0 1 0 0 1 1 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 1 0 0 0 1 0 0 1 1 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 1 0 0 0 1 0 0 1 1 0 0 0 0 1 1 0 0 1 0 1 0 0 ** Open/close/exp size (steps): 4/3/4 (14) ** Open/close/exp size (steps): 6/9/6 (20) ** Open/close/exp size (steps): 18/17/18 (28) ** Open/close/exp size (steps): 12/27/12 (38) ** Open/close/exp size (steps): 13/39/13 (50) ** Open/close/exp size (steps): 15/54/15 (65) ** Open/close/exp size (steps): 10/72/10 (83) ** Open/close/exp size (steps): 2/94/2 (105) Unable to resolve collision between groups 1 and 4. Merging groups 1 and 4. Searching solution for merged group 1+4. Open/close/exp size (steps): 54/15/54 (311) Open/close/exp size (steps): 213/85/213 (381) Open/close/exp size (steps): 359/169/359 (465) Open/close/exp size (steps): 511/270/511 (566) Open/close/exp size (steps): 698/392/698 (688) Open/close/exp size (steps): 915/539/915 (835) Open/close/exp size (steps): 1133/716/1133 (1012) Open/close/exp size (steps): 1308/929/1308 (1225) Open/close/exp size (steps): 1683/1185/1683 (1481) Open/close/exp size (steps): 2016/1493/2016 (1789) Open/close/exp size (steps): 2387/1863/2387 (2159) Open/close/exp size (steps): 2863/2307/2863 (2603) Open/close/exp size (steps): 3315/2840/3315 (3136) Open/close/exp size (steps): 3867/3480/3867 (3776) Open/close/exp size (steps): 4702/4248/4702 (4544) 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 Groups 0 and 1 collide. Solution of group 0 Mulirobot solution: (|moves| = 6, paralellism = 0.857) [ Step 0: Step 1: 1#25->26 Step 2: 1#26->34 Step 3: 1#34->42 Step 4: 1#42->50 Step 5: 1#50->51 Step 6: 1#51->59 ] Solution of group 1 Mulirobot solution: (|moves| = 15, paralellism = 1.875) [ Step 0: 1#22->21 2#55->54 Step 1: 1#21->20 2#54->53 Step 2: 1#20->19 2#53->52 Step 3: 1#19->18 2#52->51 Step 4: 1#18->26 2#51->50 Step 5: 1#26->34 2#50->49 Step 6: 1#34->42 2#49->41 Step 7: 1#42->50 ] Occupation table complementary for group 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1 1 0 1 0 1 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 2 1 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 1 1 1 0 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 1 1 1 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 1 0 0 0 1 0 0 1 0 0 0 2 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 1 1 1 0 0 1 0 0 0 0 0 0 1 1 0 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 1 0 0 2 0 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 1 0 0 1 0 2 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 1 0 1 0 1 1 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 1 1 1 2 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 0 1 0 1 1 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 1 0 0 0 1 0 0 1 0 2 1 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 1 1 1 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 1 0 2 0 0 0 0 1 0 0 1 1 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 2 1 0 0 0 1 0 0 1 1 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 2 1 0 0 0 1 0 0 1 1 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 2 1 0 0 0 1 0 0 1 1 0 0 0 0 1 1 0 0 0 0 1 0 0 Alternative solution of group 0 Mulirobot solution: (|moves| = 6, paralellism = 0.857) [ Step 0: Step 1: 1#25->26 Step 2: 1#26->34 Step 3: 1#34->42 Step 4: 1#42->43 Step 5: 1#43->51 Step 6: 1#51->59 ] 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 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Solution of group 1 Mulirobot solution: (|moves| = 15, paralellism = 1.875) [ Step 0: 1#22->21 2#55->54 Step 1: 1#21->20 2#54->53 Step 2: 1#20->19 2#53->52 Step 3: 1#19->18 2#52->51 Step 4: 1#18->26 2#51->50 Step 5: 1#26->34 2#50->49 Step 6: 1#34->42 2#49->41 Step 7: 1#42->50 ] Solution of group 6 Mulirobot solution: (|moves| = 2, paralellism = 1.000) [ Step 0: 1#61->53 Step 1: 1#53->61 ] Occupation table complementary for group 1 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 1 1 0 1 0 1 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 1 1 1 0 0 1 0 0 1 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 1 1 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 1 0 0 0 1 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 1 1 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 1 1 0 1 0 1 0 1 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 0 0 0 1 0 0 0 0 0 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Solution of group 1 Mulirobot solution: (|moves| = 15, paralellism = 1.875) [ Step 0: 1#22->21 2#55->54 Step 1: 1#21->20 2#54->53 Step 2: 1#20->19 2#53->52 Step 3: 1#19->18 2#52->51 Step 4: 1#18->26 2#51->50 Step 5: 1#26->34 2#50->49 Step 6: 1#34->42 2#49->41 Step 7: 1#42->50 ] Solution of group 8 Mulirobot solution: (|moves| = 5, paralellism = 1.000) [ Step 0: 1#26->18 Step 1: 1#18->19 Step 2: 1#19->20 Step 3: 1#20->21 Step 4: 1#21->22 ] Occupation table complementary for group 1 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 1 1 0 1 0 1 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 1 1 1 0 0 1 0 0 1 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 1 0 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 1 0 0 0 0 0 0 1 0 1 1 1 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 1 0 0 0 1 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 1 1 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 1 1 0 1 0 1 0 1 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 1 0 0 0 1 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 1 0 1 0 1 1 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 1 0 0 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 0 0 1 0 1 1 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 1 1 1 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 1 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 1 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 1 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 Occupation table complementary for group 8 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 0 1 1 0 1 0 1 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 2 1 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 1 1 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 1 0 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 1 0 0 0 0 0 0 0 1 1 1 1 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 1 0 0 0 1 0 0 1 0 0 0 2 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 1 0 1 0 0 1 0 0 0 0 0 0 1 1 0 1 0 1 0 1 0 0 1 0 0 0 0 0 0 0 1 0 0 2 0 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 1 0 0 0 1 0 0 1 0 2 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 1 0 1 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 1 1 1 2 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 1 0 0 0 0 0 0 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 0 0 1 0 1 1 0 0 0 0 0 0 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Solution of group 1 Mulirobot solution: (|moves| = 15, paralellism = 1.875) [ Step 0: 1#22->21 2#55->54 Step 1: 1#21->20 2#54->53 Step 2: 1#20->19 2#53->52 Step 3: 1#19->18 2#52->51 Step 4: 1#18->26 2#51->50 Step 5: 1#26->34 2#50->49 Step 6: 1#34->42 2#49->41 Step 7: 1#42->50 ] Solution of group 11 Mulirobot solution: (|moves| = 2, paralellism = 1.000) [ Step 0: 1#30->22 Step 1: 1#22->21 ] Occupation table complementary for group 1 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 1 1 0 1 0 1 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 1 1 1 0 0 1 0 0 0 0 0 0 1 0 0 1 0 1 0 0 1 0 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 1 0 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 1 0 0 0 0 0 0 0 0 1 1 1 0 0 1 0 1 0 0 0 1 0 0 0 0 1 0 0 1 0 1 0 0 0 1 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 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 1 1 0 1 0 1 0 1 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 1 1 0 1 0 0 0 1 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 1 0 1 0 1 1 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 1 0 0 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 0 0 1 0 1 1 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 1 1 1 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 1 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 1 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 1 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 Occupation table complementary for group 11 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 1 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 2 1 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 1 1 1 0 0 1 0 0 0 0 0 1 0 0 0 1 0 1 0 0 1 0 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 1 0 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 1 0 0 0 0 0 0 0 1 0 1 1 0 0 1 0 1 0 0 0 1 0 0 0 0 1 0 0 1 0 1 0 0 0 1 0 0 1 0 0 0 2 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 1 1 0 1 0 1 0 1 0 0 1 0 0 0 0 0 0 0 1 0 0 2 0 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 1 1 0 1 0 0 0 1 0 0 1 0 2 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 1 0 1 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 1 1 1 2 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 1 0 0 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 0 0 1 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 0 1 0 0 1 0 2 1 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 1 1 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 1 0 2 0 0 0 0 1 0 0 1 1 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 2 1 0 0 0 1 0 0 1 1 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 2 1 0 0 0 1 0 0 1 1 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 2 1 0 0 0 1 0 0 1 1 0 0 0 0 1 1 0 0 1 0 1 0 0 Unable to resolve collision between groups 1 and 11. Merging groups 1 and 11. Searching solution for merged group 1+11. Open/close/exp size (steps): 786/282/786 (5466) Open/close/exp size (steps): 3079/1389/3079 (6573) Open/close/exp size (steps): 6268/2718/6268 (7902) Open/close/exp size (steps): 6299/4313/6299 (9497) Open/close/exp size (steps): 7108/6227/7108 (11411) Open/close/exp size (steps): 5759/8524/5759 (13708) Open/close/exp size (steps): 9693/11281/9693 (16465) Open/close/exp size (steps): 18664/14590/18664 (19774) Open/close/exp size (steps): 18648/18561/18648 (23745) Open/close/exp size (steps): 30393/23327/30393 (28511) Open/close/exp size (steps): 29752/29047/29752 (34231) Open/close/exp size (steps): 28437/35911/28437 (41095) Open/close/exp size (steps): 33012/44148/33012 (49332) Open/close/exp size (steps): 42922/54033/42922 (59217) Open/close/exp size (steps): 59795/65895/59795 (71079) Open/close/exp size (steps): 90675/80130/90675 (85314) Open/close/exp size (steps): 76652/97212/76652 (102396) Open/close/exp size (steps): 98029/117711/98029 (122895) Open/close/exp size (steps): 81366/142310/81366 (147494) Open/close/exp size (steps): 61465/171829/61465 (177013) Open/close/exp size (steps): 89123/207252/89123 (212436) Open/close/exp size (steps): 142870/249760/142870 (254944) Open/close/exp size (steps): 143367/300770/143367 (305954) Open/close/exp size (steps): 190720/361982/190720 (367166) Open/close/exp size (steps): 138605/435437/138605 (440621) Open/close/exp size (steps): 204130/523583/204130 (528767) Open/close/exp size (steps): 316621/629359/316621 (634543) Open/close/exp size (steps): 333507/756291/333507 (761475) 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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Solution of group 1 Mulirobot solution: (|moves| = 17, paralellism = 2.125) [ Step 0: 1#22->21 2#55->54 3#30->29 Step 1: 1#21->20 2#54->53 Step 2: 1#20->19 2#53->52 3#29->21 Step 3: 1#19->18 2#52->51 Step 4: 1#18->26 2#51->50 Step 5: 1#26->34 2#50->49 Step 6: 1#34->42 2#49->41 Step 7: 1#42->50 ] Solution of group 5 Mulirobot solution: (|moves| = 4, paralellism = 1.000) [ Step 0: 1#31->30 Step 1: 1#30->22 Step 2: 1#22->14 Step 3: 1#14->6 ] Occupation table complementary for group 1 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 1 1 1 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 1 0 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 1 0 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 1 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 1 0 0 0 1 0 0 0 0 1 0 0 1 0 1 0 0 0 1 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 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 1 1 0 1 0 1 0 1 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 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0 0 1 1 0 0 1 0 1 0 0 Occupation table complementary for group 5 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 1 0 0 0 3 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 2 1 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 1 1 1 0 0 1 0 0 0 0 0 1 0 0 0 1 0 1 0 3 0 0 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 1 0 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 1 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 3 0 0 1 0 0 0 0 1 0 0 1 0 1 0 0 0 1 0 0 1 0 0 0 2 0 0 0 0 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 1 0 3 0 0 1 0 0 0 0 1 0 1 1 0 1 0 1 0 1 0 0 1 0 0 0 0 0 0 0 1 0 0 2 0 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 1 0 0 1 0 1 0 0 3 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 1 1 0 1 0 0 0 1 0 0 1 0 2 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 1 0 1 1 0 0 0 0 0 0 0 3 1 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 1 1 1 2 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 1 0 0 0 0 1 0 0 3 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 1 0 0 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 0 0 0 0 1 0 1 1 0 0 0 0 0 0 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Solution of group 1 Mulirobot solution: (|moves| = 17, paralellism = 2.125) [ Step 0: 1#22->21 2#55->54 3#30->29 Step 1: 1#21->20 2#54->53 Step 2: 1#20->19 2#53->52 3#29->21 Step 3: 1#19->18 2#52->51 Step 4: 1#18->26 2#51->50 Step 5: 1#26->34 2#50->49 Step 6: 1#34->42 2#49->41 Step 7: 1#42->50 ] Solution of group 8 Mulirobot solution: (|moves| = 5, paralellism = 1.000) [ Step 0: 1#26->27 Step 1: 1#27->28 Step 2: 1#28->29 Step 3: 1#29->30 Step 4: 1#30->22 ] Occupation table complementary for group 1 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 1 1 1 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 1 0 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 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 1 0 1 0 0 0 0 1 0 0 1 0 1 0 0 0 1 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 1 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 1 0 1 1 0 1 0 1 0 1 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 1 1 0 1 0 0 0 1 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 1 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 1 0 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 1 0 0 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 0 0 1 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 1 1 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 1 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 1 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 1 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 ** Open/close/exp size (steps): 5/2/5 (132) ** Open/close/exp size (steps): 44/35/44 (165) ** Open/close/exp size (steps): 45/75/45 (205) ** Open/close/exp size (steps): 31/123/31 (253) ** Open/close/exp size (steps): 100/181/100 (311) ** Open/close/exp size (steps): 123/251/123 (381) ** Open/close/exp size (steps): 88/335/88 (465) ** Open/close/exp size (steps): 209/436/209 (566) ** Open/close/exp size (steps): 215/558/215 (688) ** Open/close/exp size (steps): 226/705/226 (835) ** Open/close/exp size (steps): 367/882/367 (1012) ** Open/close/exp size (steps): 648/1095/648 (1225) ** Open/close/exp size (steps): 540/1351/540 (1481) ** Open/close/exp size (steps): 483/1659/483 (1789) ** Open/close/exp size (steps): 688/2029/688 (2159) ** Open/close/exp size (steps): 935/2473/935 (2603) ** Open/close/exp size (steps): 1361/3006/1361 (3136) ** Open/close/exp size (steps): 1626/3646/1626 (3776) ** Open/close/exp size (steps): 2310/4414/2310 (4544) ** Open/close/exp size (steps): 3547/5336/3547 (5466) ** Open/close/exp size (steps): 3140/6443/3140 (6573) ** Open/close/exp size (steps): 3300/7772/3300 (7902) ** Open/close/exp size (steps): 2319/9367/2319 (9497) ** Open/close/exp size (steps): 3771/11281/3771 (11411) ** Open/close/exp size (steps): 3967/13578/3967 (13708) ** Open/close/exp size (steps): 5222/16335/5222 (16465) ** Open/close/exp size (steps): 5068/19644/5068 (19774) ** Open/close/exp size (steps): 7478/23615/7478 (23745) ** Open/close/exp size (steps): 8224/28381/8224 (28511) ** Open/close/exp size (steps): 7001/34101/7001 (34231) ** Open/close/exp size (steps): 8226/40965/8226 (41095) ** Open/close/exp size (steps): 9649/49202/9649 (49332) ** Open/close/exp size (steps): 13001/59087/13001 (59217) ** Open/close/exp size (steps): 20692/70949/20692 (71079) ** Open/close/exp size (steps): 26337/85184/26337 (85314) ** Open/close/exp size (steps): 29905/102266/29905 (102396) ** Open/close/exp size (steps): 23143/122765/23143 (122895) ** Open/close/exp size (steps): 45653/147364/45653 (147494) ** Open/close/exp size (steps): 39777/176883/39777 (177013) ** Open/close/exp size (steps): 44520/212306/44520 (212436) ** Open/close/exp size (steps): 70966/254814/70966 (254944) ** Open/close/exp size (steps): 70034/305824/70034 (305954) ** Open/close/exp size (steps): 58281/367036/58281 (367166) ** Open/close/exp size (steps): 58444/440491/58444 (440621) ** Open/close/exp size (steps): 83673/528637/83673 (528767) ** Open/close/exp size (steps): 38541/634413/38541 (634543) ** Open/close/exp size (steps): 32156/761345/32156 (761475) Occupation table complementary for group 8 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 0 3 1 0 1 0 1 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 2 1 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 1 1 1 0 0 1 0 0 0 0 0 1 0 0 0 1 0 0 0 3 0 1 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 1 0 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 1 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 3 1 0 1 0 0 0 0 1 0 0 1 0 1 0 0 0 1 0 0 1 0 0 0 2 0 0 0 0 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 1 0 3 1 0 1 0 0 0 0 0 0 1 1 0 1 0 1 0 1 0 0 1 0 0 0 0 0 0 0 1 0 0 2 0 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 1 1 0 1 0 1 0 0 3 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 1 0 0 0 1 0 0 1 0 2 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 1 0 1 0 1 1 0 0 0 0 0 0 0 3 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 1 1 1 2 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 0 1 0 0 3 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 1 0 0 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 0 0 1 0 1 1 0 0 0 0 0 0 0 3 0 0 0 0 1 0 0 0 0 0 1 0 0 0 1 0 0 1 0 2 1 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 1 1 1 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 1 0 2 0 0 0 0 1 0 0 1 1 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 2 1 0 0 0 1 0 0 1 1 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 2 1 0 0 0 1 0 0 1 1 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 1 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 2 1 0 0 0 1 0 0 1 1 0 0 0 0 1 1 0 0 1 0 1 0 0 Alternative solution of group 8 Mulirobot solution: (|moves| = 5, paralellism = 0.833) [ Step 0: 1#26->27 Step 1: 1#27->28 Step 2: Step 3: 1#28->29 Step 4: 1#29->30 Step 5: 1#30->22 ] 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 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 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 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 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 0 0 3 0 0 0 0 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 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 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 2 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 Collision between groups 1 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 1 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 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 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 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 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 0 0 3 0 0 0 0 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 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 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 2 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 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 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 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 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 0 0 3 0 0 0 0 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 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 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 2 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 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 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 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 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 0 0 3 0 0 0 0 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 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 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 2 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 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 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 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 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 0 0 3 0 0 0 0 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 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 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 2 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 Groups 1 and 12 collide. Solution of group 1 Mulirobot solution: (|moves| = 17, paralellism = 2.125) [ Step 0: 1#22->21 2#55->54 3#30->29 Step 1: 1#21->20 2#54->53 Step 2: 1#20->19 2#53->52 3#29->21 Step 3: 1#19->18 2#52->51 Step 4: 1#18->26 2#51->50 Step 5: 1#26->34 2#50->49 Step 6: 1#34->42 2#49->41 Step 7: 1#42->50 ] Solution of group 12 Mulirobot solution: (|moves| = 2, paralellism = 1.000) [ Step 0: 1#33->41 Step 1: 1#41->49 ] Occupation table complementary for group 1 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 1 1 1 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 1 0 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 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 1 0 1 0 0 0 0 1 0 0 1 0 1 0 0 0 1 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 1 0 0 0 0 0 0 0 0 1 0 1 0 0 0 1 0 0 1 1 0 1 0 1 0 1 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 1 0 0 0 1 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 1 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 1 0 0 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 0 0 1 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 1 1 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 1 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 1 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 1 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 ** Open/close/exp size (steps): 10613/21619/10613 (913794) ** Open/close/exp size (steps): 48527/204402/48527 (1096577) ** Open/close/exp size (steps): 91226/423742/91226 (1315917) ** Open/close/exp size (steps): 178801/686950/178801 (1579125) ** Open/close/exp size (steps): 107938/1002800/107938 (1894975) ** Open/close/exp size (steps): 59754/1381820/59754 (2273995) 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 = [ 18 ] 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) = 3.537 CPU/machine TIME (seconds) = 3.530 ] 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 = 6751640 Produced CNF variables = 0 Produced CNF clauses = 0 Search steps = 0 Wall clock TIME (seconds) = 64.010 CPU/machine TIME (seconds) = 64.010 ] } ] ----------------------------------------------------------------