================================================================ 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| = 22, |V| = 64) [ robot locations: {1#0 2#49 3#52 4#22 5#5 6#25 7#41 8#12 9#43 10#30 11#15 12#11 13#6 14#63 15#56 16#26 17#32 18#45 19#51 20#42 21#53 22#38 } vertex occupancy: {1#0 0#1 0#2 0#3 0#4 5#5 13#6 0#7 0#8 0#9 0#10 12#11 8#12 0#13 0#14 11#15 0#16 0#17 0#18 0#19 0#20 0#21 4#22 0#23 0#24 6#25 16#26 0#27 0#28 0#29 10#30 0#31 17#32 0#33 0#34 0#35 0#36 0#37 22#38 0#39 0#40 7#41 20#42 9#43 0#44 18#45 0#46 0#47 0#48 2#49 0#50 19#51 3#52 21#53 0#54 0#55 15#56 0#57 0#58 0#59 0#60 0#61 0#62 14#63 } ] Robot arrangement: (|R| = -1, |V| = 0) [ robot locations: {} vertex occupancy: {} ] Robot goal: (|R| = 22, |V| = 64) [ robot goals: { 1#{34} 2#{31} 3#{60} 4#{8} 5#{32} 6#{24} 7#{23} 8#{51} 9#{3} 10#{43} 11#{35} 12#{56} 13#{57} 14#{37} 15#{30} 16#{14} 17#{46} 18#{22} 19#{17} 20#{16} 21#{0} 22#{36} } vertex compatibilities: { 0@{21} 1@{} 2@{} 3@{9} 4@{} 5@{} 6@{} 7@{} 8@{4} 9@{} 10@{} 11@{} 12@{} 13@{} 14@{16} 15@{} 16@{20} 17@{19} 18@{} 19@{} 20@{} 21@{} 22@{18} 23@{7} 24@{6} 25@{} 26@{} 27@{} 28@{} 29@{} 30@{15} 31@{2} 32@{5} 33@{} 34@{1} 35@{11} 36@{22} 37@{14} 38@{} 39@{} 40@{} 41@{} 42@{} 43@{10} 44@{} 45@{} 46@{17} 47@{} 48@{} 49@{} 50@{} 51@{8} 52@{} 53@{} 54@{} 55@{} 56@{12} 57@{13} 58@{} 59@{} 60@{3} 61@{} 62@{} 63@{} } ] Open/close/exp size (steps): 3/1/3 (2) Open/close/exp size (steps): 12/4/12 (5) Open/close/exp size (steps): 22/8/22 (9) Open/close/exp size (steps): 31/13/31 (14) Open/close/exp size (steps): 5/1/5 (20) Open/close/exp size (steps): 32/9/32 (28) Open/close/exp size (steps): 47/19/47 (38) Open/close/exp size (steps): 70/31/70 (50) Open/close/exp size (steps): 17/4/17 (65) Open/close/exp size (steps): 17/6/17 (83) Open/close/exp size (steps): 61/28/61 (105) Open/close/exp size (steps): 32/9/32 (132) Open/close/exp size (steps): 5/1/5 (165) Open/close/exp size (steps): 28/10/28 (205) Open/close/exp size (steps): 66/31/66 (253) Open/close/exp size (steps): 97/48/97 (311) Open/close/exp size (steps): 54/27/54 (381) Open/close/exp size (steps): 45/16/45 (465) 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 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 1 collide. Solution of group 0 Mulirobot solution: (|moves| = 6, paralellism = 1.000) [ Step 0: 1#0->1 Step 1: 1#1->2 Step 2: 1#2->10 Step 3: 1#10->18 Step 4: 1#18->26 Step 5: 1#26->34 ] Solution of group 1 Mulirobot solution: (|moves| = 9, paralellism = 1.000) [ Step 0: 1#49->41 Step 1: 1#41->33 Step 2: 1#33->25 Step 3: 1#25->26 Step 4: 1#26->27 Step 5: 1#27->28 Step 6: 1#28->29 Step 7: 1#29->30 Step 8: 1#30->31 ] Occupation table complementary for group 0 0 0 0 0 0 1 1 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 1 0 0 1 1 0 0 0 1 0 1 0 0 0 0 0 1 0 0 1 1 1 0 1 0 0 0 1 0 1 1 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 1 1 0 1 0 0 0 1 0 1 0 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 1 1 0 0 1 0 0 0 0 0 1 0 0 0 0 1 1 1 1 1 1 0 0 0 1 1 1 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 1 0 0 1 1 0 0 0 0 1 1 1 0 1 0 0 1 1 0 1 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 1 0 0 0 1 1 1 1 0 1 1 0 1 0 1 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 1 0 0 1 0 1 1 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 1 0 0 0 0 1 0 1 1 0 0 1 0 1 0 1 0 1 1 1 0 0 0 1 0 0 0 1 1 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 1 1 0 1 0 0 1 0 1 0 0 0 0 0 1 1 1 0 0 1 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 0 1 0 1 1 0 0 1 0 1 0 0 0 0 1 1 1 0 0 0 0 0 1 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 1 0 1 1 1 0 1 1 1 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 0 1 1 1 0 0 1 1 1 0 0 0 1 0 1 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 0 1 1 1 0 0 1 1 1 0 0 0 0 0 1 0 0 1 0 0 1 0 1 0 0 0 0 1 0 0 0 1 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 0 1 1 1 0 0 1 1 1 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 1 1 0 0 1 0 0 0 ** Open/close/exp size (steps): 3/1/3 (2) ** Open/close/exp size (steps): 4/4/4 (5) Occupation table complementary for group 1 1 0 0 0 0 1 1 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 1 0 0 1 1 0 0 0 1 0 1 0 0 0 0 0 1 0 0 1 1 1 0 1 0 0 0 0 0 1 1 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 1 0 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 1 1 0 1 0 0 0 0 0 1 0 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 1 1 0 0 0 0 1 1 0 0 1 0 0 0 0 0 1 0 0 0 0 1 1 1 1 1 1 0 0 0 0 1 1 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 1 0 1 1 1 0 0 0 0 1 1 1 0 1 0 0 1 0 0 1 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 1 0 0 0 1 1 1 1 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 1 0 0 1 0 1 1 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 1 0 0 0 0 1 0 1 1 0 0 1 0 1 0 1 0 1 1 0 0 0 0 1 0 1 0 1 1 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 1 1 0 1 0 0 1 0 0 0 0 0 0 1 1 1 1 0 0 1 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 0 1 0 1 1 0 0 1 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 1 0 0 1 1 1 1 1 1 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 0 1 0 1 0 1 1 1 1 0 0 0 1 0 1 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 0 1 0 1 0 1 1 1 1 0 0 0 0 0 1 0 0 1 0 0 1 0 1 0 0 0 0 1 0 0 0 1 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 0 1 0 1 0 1 1 1 1 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 1 1 0 0 1 0 0 0 ** Open/close/exp size (steps): 1/0/1 (9) ** Open/close/exp size (steps): 16/5/16 (14) ** Open/close/exp size (steps): 25/11/25 (20) Alternative solution of group 1 Mulirobot solution: (|moves| = 9, paralellism = 1.000) [ Step 0: 1#49->50 Step 1: 1#50->51 Step 2: 1#51->52 Step 3: 1#52->53 Step 4: 1#53->54 Step 5: 1#54->55 Step 6: 1#55->47 Step 7: 1#47->39 Step 8: 1#39->31 ] 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 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 1 resolved. 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Groups 0 and 4 collide. Solution of group 0 Mulirobot solution: (|moves| = 6, paralellism = 1.000) [ Step 0: 1#0->1 Step 1: 1#1->2 Step 2: 1#2->10 Step 3: 1#10->18 Step 4: 1#18->26 Step 5: 1#26->34 ] Solution of group 4 Mulirobot solution: (|moves| = 9, paralellism = 1.000) [ Step 0: 1#5->4 Step 1: 1#4->3 Step 2: 1#3->2 Step 3: 1#2->1 Step 4: 1#1->0 Step 5: 1#0->8 Step 6: 1#8->16 Step 7: 1#16->24 Step 8: 1#24->32 ] Occupation table complementary for group 0 0 0 0 0 0 1 1 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 1 0 0 1 1 0 0 0 1 0 1 0 0 0 0 0 1 0 0 1 1 1 0 1 0 0 0 1 0 1 1 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 1 1 0 1 0 0 0 0 0 1 0 1 0 0 1 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 1 1 0 0 1 0 0 0 0 0 1 0 0 0 0 1 1 1 1 1 1 0 0 0 0 1 1 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 1 0 0 1 1 0 0 0 0 1 1 1 0 1 0 0 1 0 0 1 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 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 0 1 1 1 1 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1 1 0 0 0 0 1 0 1 1 0 0 1 0 1 0 1 0 1 1 0 0 0 0 1 0 0 0 1 1 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 1 1 0 1 0 0 1 0 0 0 0 0 0 0 1 1 1 0 0 1 0 0 1 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 0 1 0 1 1 0 0 1 0 0 0 0 0 0 1 1 1 0 1 0 0 0 1 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 1 0 1 1 1 0 1 1 1 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 0 1 1 1 0 0 1 1 1 0 0 0 1 0 1 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 0 1 1 1 0 0 1 1 1 0 0 0 0 0 1 0 0 1 0 0 1 0 1 0 0 0 0 1 0 0 0 1 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 0 1 1 1 0 0 1 1 1 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 1 1 0 0 1 0 0 0 ** Open/close/exp size (steps): 5/3/5 (28) Occupation table complementary for group 4 1 0 0 0 0 0 1 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 1 0 0 1 1 0 0 0 1 0 1 0 0 0 0 0 1 0 0 1 1 1 0 1 0 0 0 1 0 1 1 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 1 1 0 1 0 0 0 0 0 1 0 1 0 0 1 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 1 1 0 0 1 0 0 0 0 0 1 0 0 0 0 1 1 1 1 1 1 0 0 0 0 1 1 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 1 1 0 0 0 0 1 1 1 0 1 0 0 1 0 0 1 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 1 1 1 1 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 1 0 0 1 0 1 1 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 1 0 1 1 0 0 1 0 1 0 1 0 1 1 0 0 0 0 1 0 1 0 1 1 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 1 1 0 1 0 0 1 0 0 0 0 0 0 1 1 1 1 0 0 1 0 0 1 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 0 1 0 1 1 0 0 1 0 0 0 0 0 1 1 1 1 0 1 0 0 0 1 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 1 0 1 0 1 1 1 1 1 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 0 1 1 0 0 1 1 1 1 0 0 0 1 0 1 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 0 1 1 0 0 1 1 1 1 0 0 0 0 0 1 0 0 1 0 0 1 0 1 0 0 0 0 1 0 0 0 1 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 0 1 1 0 0 1 1 1 1 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 1 1 0 0 1 0 0 0 Unable to resolve collision between groups 0 and 4. Merging groups 0 and 4. Searching solution for merged group 0+4. Open/close/exp size (steps): 51/17/51 (566) Open/close/exp size (steps): 278/139/278 (688) Open/close/exp size (steps): 316/286/316 (835) Open/close/exp size (steps): 600/463/600 (1012) Open/close/exp size (steps): 561/676/561 (1225) Open/close/exp size (steps): 890/932/890 (1481) Open/close/exp size (steps): 778/1240/778 (1789) Open/close/exp size (steps): 1029/1610/1029 (2159) Open/close/exp size (steps): 1608/2054/1608 (2603) Open/close/exp size (steps): 1250/2587/1250 (3136) Open/close/exp size (steps): 1331/3227/1331 (3776) Open/close/exp size (steps): 2135/3995/2135 (4544) Open/close/exp size (steps): 3146/4917/3146 (5466) Open/close/exp size (steps): 2603/6024/2603 (6573) Open/close/exp size (steps): 2058/7353/2058 (7902) Open/close/exp size (steps): 3020/8948/3020 (9497) Open/close/exp size (steps): 2099/10862/2099 (11411) 1 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 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 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 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 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 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 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 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 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 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Groups 0 and 3 collide. Solution of group 0 Mulirobot solution: (|moves| = 15, paralellism = 1.667) [ Step 0: 1#0->1 2#5->4 Step 1: 1#1->9 2#4->3 Step 2: 1#9->10 2#3->2 Step 3: 1#10->18 2#2->1 Step 4: 1#18->26 2#1->0 Step 5: 1#26->34 2#0->8 Step 6: 2#8->16 Step 7: 2#16->24 Step 8: 2#24->32 ] Solution of group 3 Mulirobot solution: (|moves| = 7, paralellism = 1.000) [ Step 0: 1#22->14 Step 1: 1#14->13 Step 2: 1#13->12 Step 3: 1#12->11 Step 4: 1#11->10 Step 5: 1#10->9 Step 6: 1#9->8 ] Occupation table complementary for group 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 1 0 0 1 1 0 0 0 1 0 1 0 0 0 0 0 1 0 0 1 1 1 0 1 0 0 0 1 0 1 1 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 1 1 0 1 0 0 0 0 0 1 0 1 0 0 1 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 1 0 0 0 0 0 1 0 0 0 0 1 1 1 1 1 1 0 0 0 0 1 1 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 1 0 0 0 0 1 1 1 0 1 0 0 1 0 0 1 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 1 1 1 1 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 1 0 1 1 0 0 1 0 1 0 1 0 1 1 0 0 0 0 1 0 0 0 1 1 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 1 1 0 1 0 0 1 0 0 0 0 0 0 0 1 1 1 0 0 1 0 0 1 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 0 1 0 1 1 0 0 1 0 0 0 0 0 0 1 1 1 0 1 0 0 0 1 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 1 0 1 0 1 0 1 1 1 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 0 1 1 0 0 0 1 1 1 0 0 0 1 0 1 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 0 1 1 0 0 0 1 1 1 0 0 0 0 0 1 0 0 1 0 0 1 0 1 0 0 0 0 1 0 0 0 1 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 0 1 1 0 0 0 1 1 1 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 1 1 0 0 1 0 0 0 Occupation table complementary for group 3 1 0 0 0 0 2 1 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 1 0 0 0 0 0 1 0 0 1 1 1 0 1 0 0 0 1 0 1 1 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 2 1 0 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 1 1 0 1 0 0 0 0 0 1 0 1 0 0 1 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 2 1 0 0 0 0 1 1 0 0 1 0 0 0 0 0 1 0 0 0 0 1 1 1 1 1 1 0 0 0 0 1 1 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 0 0 0 0 0 2 1 0 0 0 0 1 0 1 1 1 0 0 0 0 1 1 1 0 1 0 0 1 0 0 1 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 2 1 0 0 0 0 0 0 0 0 1 1 0 0 0 1 1 1 1 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 2 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 1 0 0 1 0 1 1 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 2 1 0 0 0 0 1 0 1 1 0 0 1 0 1 0 1 0 1 1 0 0 0 0 1 0 1 0 1 1 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 1 1 0 1 0 0 1 0 0 0 0 0 0 1 1 1 1 0 0 1 0 0 1 0 0 1 1 0 0 0 1 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 1 0 1 1 0 0 0 0 1 0 1 1 0 0 1 0 0 0 0 0 1 1 1 1 0 1 0 0 0 1 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 1 0 1 2 1 1 1 1 1 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 0 1 1 2 0 1 1 1 1 0 0 0 1 0 1 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 0 1 1 2 0 1 1 1 1 0 0 0 0 0 1 0 0 1 0 0 1 0 1 0 0 0 0 1 0 0 0 1 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 0 1 1 2 0 1 1 1 1 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 1 1 0 0 1 0 0 0 ** Open/close/exp size (steps): 4/5/4 (38) ** Open/close/exp size (steps): 12/17/12 (50) ** Open/close/exp size (steps): 5/32/5 (65) ** Open/close/exp size (steps): 6/50/6 (83) ** Open/close/exp size (steps): 3/72/3 (105) Unable to resolve collision between groups 0 and 3. Merging groups 0 and 3. Searching solution for merged group 0+3. Open/close/exp size (steps): 1409/1953/1409 (13708) Open/close/exp size (steps): 9823/4710/9823 (16465) Open/close/exp size (steps): 8798/8019/8798 (19774) Open/close/exp size (steps): 6345/11990/6345 (23745) Open/close/exp size (steps): 13865/16756/13865 (28511) Open/close/exp size (steps): 29502/22476/29502 (34231) Open/close/exp size (steps): 25314/29340/25314 (41095) Open/close/exp size (steps): 19479/37577/19479 (49332) Open/close/exp size (steps): 11598/47462/11598 (59217) Open/close/exp size (steps): 49925/59324/49925 (71079) Open/close/exp size (steps): 45848/73559/45848 (85314) Open/close/exp size (steps): 33165/90641/33165 (102396) Open/close/exp size (steps): 39683/111140/39683 (122895) Open/close/exp size (steps): 43800/135739/43800 (147494) Open/close/exp size (steps): 52588/165258/52588 (177013) Open/close/exp size (steps): 142358/200681/142358 (212436) Open/close/exp size (steps): 108370/243189/108370 (254944) Open/close/exp size (steps): 64781/294199/64781 (305954) Open/close/exp size (steps): 138959/355411/138959 (367166) Open/close/exp size (steps): 65504/428866/65504 (440621) Open/close/exp size (steps): 160947/517012/160947 (528767) Open/close/exp size (steps): 443066/622788/443066 (634543) Open/close/exp size (steps): 427354/749720/427354 (761475) Open/close/exp size (steps): 325001/902039/325001 (913794) Open/close/exp size (steps): 200215/1084822/200215 (1096577) Open/close/exp size (steps): 488767/1304162/488767 (1315917) Open/close/exp size (steps): 324634/1567370/324634 (1579125) Open/close/exp size (steps): 329196/1883220/329196 (1894975) 1 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 3 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 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 3 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 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 3 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 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 3 0 1 0 0 0 0 0 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 3 collide. Solution of group 0 Mulirobot solution: (|moves| = 22, paralellism = 2.444) [ Step 0: 1#0->1 3#5->4 Step 1: 1#1->9 3#4->3 Step 2: 1#9->10 2#22->14 3#3->2 Step 3: 1#10->18 2#14->13 3#2->1 Step 4: 1#18->26 2#13->12 3#1->0 Step 5: 1#26->34 2#12->11 3#0->8 Step 6: 2#11->10 3#8->16 Step 7: 2#10->9 3#16->24 Step 8: 2#9->8 3#24->32 ] Solution of group 3 Mulirobot solution: (|moves| = 11, paralellism = 1.000) [ Step 0: 1#53->45 Step 1: 1#45->37 Step 2: 1#37->29 Step 3: 1#29->21 Step 4: 1#21->13 Step 5: 1#13->5 Step 6: 1#5->4 Step 7: 1#4->3 Step 8: 1#3->2 Step 9: 1#2->1 Step 10: 1#1->0 ] Occupation table complementary for group 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 1 0 0 0 0 0 1 0 0 1 1 1 0 1 0 0 0 1 0 1 1 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 1 1 0 1 0 0 0 0 0 1 0 1 0 0 1 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 1 0 0 0 0 0 1 0 0 0 0 1 1 1 1 1 1 0 0 0 0 1 1 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 1 0 0 0 0 1 1 1 0 1 0 0 1 0 0 1 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 1 1 1 1 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 1 0 1 1 0 0 1 0 1 0 1 0 1 1 0 0 0 0 1 0 0 0 1 1 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 1 1 0 1 0 0 1 0 0 0 0 0 0 0 1 1 1 0 0 1 0 0 1 0 0 1 1 0 0 0 1 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 1 0 1 1 0 0 0 0 1 0 1 1 0 0 1 0 0 0 0 0 0 1 1 1 0 1 0 0 0 1 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 1 0 1 0 1 0 1 1 1 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 0 1 1 0 0 0 1 1 1 0 0 0 1 0 1 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 0 1 1 0 0 0 1 1 1 0 0 0 0 0 1 0 0 1 0 0 1 0 1 0 0 0 0 1 0 0 0 1 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 0 1 1 0 0 0 1 1 1 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 1 1 0 0 1 0 0 0 Occupation table complementary for group 3 1 0 0 0 0 3 1 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 2 0 0 1 1 0 0 0 1 0 1 0 0 0 0 0 1 0 0 1 1 1 0 1 0 0 0 1 0 1 1 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 3 1 0 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 2 0 1 0 0 0 0 1 0 0 0 1 1 1 0 1 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 3 1 0 0 0 0 1 1 0 0 1 0 0 0 0 0 1 0 0 2 0 1 1 1 1 1 1 0 0 0 0 1 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 0 0 0 0 0 3 1 0 0 0 0 1 0 1 1 1 0 2 0 0 1 1 1 0 1 0 0 1 0 0 1 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 3 1 0 0 0 0 0 0 0 0 1 1 2 0 0 1 1 1 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 3 1 0 1 0 0 0 0 0 0 0 0 2 1 0 0 1 0 1 1 0 0 1 0 1 1 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 3 1 0 2 0 0 1 0 1 1 0 0 1 0 1 0 1 0 1 1 0 0 0 0 1 0 1 0 1 1 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 2 0 0 0 1 0 1 1 0 0 0 1 1 0 1 0 0 1 0 0 0 0 0 0 1 1 1 1 0 0 1 0 0 1 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 2 0 0 0 0 1 0 1 1 0 0 0 0 1 0 1 1 0 0 1 0 0 0 0 0 1 1 1 1 0 1 0 0 0 1 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 2 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 1 0 1 3 1 1 1 1 1 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 2 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 0 1 1 3 0 1 1 1 1 0 0 0 1 0 1 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 2 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 0 1 1 3 0 1 1 1 1 0 0 0 0 0 1 0 0 1 0 0 1 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 2 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 0 0 1 1 3 0 1 1 1 1 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 1 1 0 0 1 0 0 0 ** Open/close/exp size (steps): 5/21/5 (132) ** Open/close/exp size (steps): 7/54/7 (165) Unable to resolve collision between groups 0 and 3. Merging groups 0 and 3. Searching solution for merged group 0+3. 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 = [ 21 ] 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) = 0.181 CPU/machine TIME (seconds) = 0.180 ] 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 = 7872629 Produced CNF variables = 0 Produced CNF clauses = 0 Search steps = 0 Wall clock TIME (seconds) = 64.010 CPU/machine TIME (seconds) = 64.010 ] } ] ----------------------------------------------------------------