================================================================ 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| = 24, |V| = 64) [ robot locations: {1#17 2#8 3#47 4#27 5#32 6#55 7#38 8#44 9#33 10#40 11#49 12#54 13#53 14#12 15#4 16#57 17#18 18#24 19#28 20#0 21#48 22#50 23#19 24#9 } vertex occupancy: {20#0 0#1 0#2 0#3 15#4 0#5 0#6 0#7 2#8 24#9 0#10 0#11 14#12 0#13 0#14 0#15 0#16 1#17 17#18 23#19 0#20 0#21 0#22 0#23 18#24 0#25 0#26 4#27 19#28 0#29 0#30 0#31 5#32 9#33 0#34 0#35 0#36 0#37 7#38 0#39 10#40 0#41 0#42 0#43 8#44 0#45 0#46 3#47 21#48 11#49 22#50 0#51 0#52 13#53 12#54 6#55 0#56 16#57 0#58 0#59 0#60 0#61 0#62 0#63 } ] Robot arrangement: (|R| = -1, |V| = 0) [ robot locations: {} vertex occupancy: {} ] Robot goal: (|R| = 24, |V| = 64) [ robot goals: { 1#{19} 2#{12} 3#{60} 4#{25} 5#{63} 6#{42} 7#{40} 8#{0} 9#{44} 10#{3} 11#{32} 12#{28} 13#{7} 14#{8} 15#{20} 16#{22} 17#{49} 18#{31} 19#{10} 20#{58} 21#{17} 22#{46} 23#{59} 24#{13} } vertex compatibilities: { 0@{8} 1@{} 2@{} 3@{10} 4@{} 5@{} 6@{} 7@{13} 8@{14} 9@{} 10@{19} 11@{} 12@{2} 13@{24} 14@{} 15@{} 16@{} 17@{21} 18@{} 19@{1} 20@{15} 21@{} 22@{16} 23@{} 24@{} 25@{4} 26@{} 27@{} 28@{12} 29@{} 30@{} 31@{18} 32@{11} 33@{} 34@{} 35@{} 36@{} 37@{} 38@{} 39@{} 40@{7} 41@{} 42@{6} 43@{} 44@{9} 45@{} 46@{22} 47@{} 48@{} 49@{17} 50@{} 51@{} 52@{} 53@{} 54@{} 55@{} 56@{} 57@{} 58@{20} 59@{23} 60@{3} 61@{} 62@{} 63@{5} } ] Open/close/exp size (steps): 5/1/5 (2) Open/close/exp size (steps): 8/2/8 (5) Open/close/exp size (steps): 8/2/8 (9) Open/close/exp size (steps): 20/7/20 (14) Open/close/exp size (steps): 1/0/1 (20) Open/close/exp size (steps): 18/6/18 (28) Open/close/exp size (steps): 40/16/40 (38) Open/close/exp size (steps): 61/28/61 (50) Open/close/exp size (steps): 82/43/82 (65) Open/close/exp size (steps): 1/0/1 (83) Open/close/exp size (steps): 20/6/20 (105) Open/close/exp size (steps): 74/33/74 (132) Open/close/exp size (steps): 37/14/37 (165) Open/close/exp size (steps): 13/3/13 (205) Open/close/exp size (steps): 45/17/45 (253) Open/close/exp size (steps): 9/2/9 (311) 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 15 collide. Solution of group 0 Mulirobot solution: (|moves| = 2, paralellism = 1.000) [ Step 0: 1#17->18 Step 1: 1#18->19 ] Solution of group 15 Mulirobot solution: (|moves| = 10, paralellism = 1.000) [ Step 0: 1#57->49 Step 1: 1#49->41 Step 2: 1#41->33 Step 3: 1#33->25 Step 4: 1#25->17 Step 5: 1#17->18 Step 6: 1#18->19 Step 7: 1#19->20 Step 8: 1#20->21 Step 9: 1#21->22 ] Occupation table complementary for group 0 1 0 0 0 1 0 0 0 1 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 1 0 0 1 1 0 0 0 1 1 0 0 0 0 1 0 1 0 0 0 1 0 0 1 1 1 1 0 0 1 1 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 1 0 0 1 0 0 0 0 1 1 1 0 0 0 0 1 1 1 0 1 1 0 0 1 1 1 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 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 1 0 0 0 1 1 1 0 1 0 0 0 1 1 1 1 1 1 1 0 0 1 0 1 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 1 1 1 1 0 0 0 1 0 0 0 1 0 0 0 1 1 0 1 0 1 1 0 1 1 0 1 1 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 1 0 0 1 0 1 0 1 1 0 0 0 1 0 0 1 1 0 0 1 0 1 0 1 0 0 0 0 1 0 0 1 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 1 0 1 0 1 1 0 0 0 1 0 0 1 0 0 0 0 1 1 0 1 1 0 0 1 1 0 0 0 1 0 0 0 0 0 1 1 0 1 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 1 0 1 0 0 1 0 1 0 1 1 0 0 0 1 1 0 1 0 0 0 0 1 0 0 1 0 1 0 1 0 1 0 0 0 1 0 0 0 1 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 1 0 1 0 1 0 1 1 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 1 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 0 0 1 1 0 0 0 0 1 0 1 0 0 0 1 1 0 1 0 1 1 0 0 0 1 0 0 1 0 0 0 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 1 0 1 1 0 1 1 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 1 1 0 0 0 1 0 0 1 1 0 0 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 1 0 1 0 0 1 0 0 0 0 0 1 0 0 1 1 1 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 1 1 0 0 0 1 0 0 1 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 1 1 1 0 0 1 Occupation table complementary for group 15 1 0 0 0 1 0 0 0 1 1 0 0 1 0 0 0 0 1 1 1 0 0 0 0 1 0 0 1 1 0 0 0 1 1 0 0 0 0 1 0 1 0 0 0 1 0 0 1 1 1 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 1 1 0 1 0 0 0 0 1 1 1 0 0 0 0 1 1 1 0 1 1 0 0 1 1 1 0 0 1 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 0 0 0 1 1 1 0 0 0 0 0 0 1 1 0 0 0 1 1 1 0 1 0 0 0 1 1 1 1 1 1 1 0 0 0 0 1 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 1 1 1 1 0 0 0 1 0 0 1 1 0 0 0 1 1 0 1 0 1 1 0 1 1 0 1 1 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 1 0 0 1 0 1 1 1 1 0 0 0 1 0 0 1 1 0 0 1 0 1 0 1 0 0 0 0 1 0 0 1 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 1 0 1 0 1 1 0 0 0 1 0 1 1 0 0 0 0 1 1 0 1 1 0 0 1 1 0 0 0 1 0 0 0 0 0 1 1 0 1 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 1 0 1 0 0 1 0 1 0 1 1 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 1 0 1 0 1 0 0 0 1 0 0 0 1 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 1 0 1 0 1 0 1 1 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 1 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 0 0 1 1 0 0 0 0 1 0 1 0 0 0 1 1 0 1 0 1 1 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 1 0 1 1 0 1 1 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 1 1 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 1 0 1 0 0 1 0 0 0 0 0 1 0 0 1 1 1 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 1 1 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 1 1 1 0 0 1 ** Open/close/exp size (steps): 3/1/3 (2) ** Open/close/exp size (steps): 11/4/11 (5) ** Open/close/exp size (steps): 18/8/18 (9) ** Open/close/exp size (steps): 29/13/29 (14) Alternative solution of group 15 Mulirobot solution: (|moves| = 10, paralellism = 1.000) [ Step 0: 1#57->58 Step 1: 1#58->59 Step 2: 1#59->60 Step 3: 1#60->61 Step 4: 1#61->53 Step 5: 1#53->45 Step 6: 1#45->37 Step 7: 1#37->29 Step 8: 1#29->21 Step 9: 1#21->22 ] 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 15 resolved. 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 16 collide. Solution of group 0 Mulirobot solution: (|moves| = 2, paralellism = 1.000) [ Step 0: 1#17->18 Step 1: 1#18->19 ] Solution of group 16 Mulirobot solution: (|moves| = 5, paralellism = 1.000) [ Step 0: 1#18->17 Step 1: 1#17->25 Step 2: 1#25->33 Step 3: 1#33->41 Step 4: 1#41->49 ] Occupation table complementary for group 0 1 0 0 0 1 0 0 0 1 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 1 0 0 1 1 0 0 0 1 1 0 0 0 0 1 0 1 0 0 0 1 0 0 1 1 1 1 0 0 1 1 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 1 0 0 1 0 0 0 0 1 1 1 0 0 0 0 1 1 1 0 1 1 0 0 1 1 1 0 0 1 1 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 1 0 0 0 1 1 1 0 1 0 0 0 1 1 1 1 1 1 1 0 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 0 0 0 0 1 1 1 1 0 0 0 1 0 0 0 1 0 0 0 1 1 0 1 0 1 1 0 1 1 0 1 1 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 1 0 0 1 0 1 0 1 1 0 0 0 1 0 0 1 1 0 0 1 0 1 0 1 0 0 0 0 1 0 0 1 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 1 0 1 0 1 1 0 0 0 1 0 0 1 0 0 0 0 1 1 0 1 1 0 0 1 1 0 0 0 1 0 0 0 0 0 1 1 0 1 0 0 1 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 1 0 1 0 1 0 0 1 0 1 0 1 1 0 0 0 1 0 0 1 0 0 0 0 1 0 0 1 0 1 0 1 0 1 0 0 0 1 0 0 0 1 0 1 1 1 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 1 0 1 0 1 0 1 1 0 0 0 1 0 0 1 0 0 0 0 1 0 0 1 0 0 1 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 0 0 1 1 0 0 0 0 1 0 1 0 0 0 1 1 0 1 0 1 1 0 0 0 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 0 0 0 0 0 0 0 1 0 1 0 1 0 1 1 0 1 1 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 1 1 0 0 0 1 0 0 1 1 0 0 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 1 0 1 0 0 1 0 0 0 0 0 1 0 0 1 1 1 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 1 1 0 0 0 1 0 0 1 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 1 1 1 0 0 1 Occupation table complementary for group 16 1 0 0 0 1 0 0 0 1 1 0 0 1 0 0 0 0 1 0 1 0 0 0 0 1 0 0 1 1 0 0 0 1 1 0 0 0 0 1 0 1 0 0 0 1 0 0 1 1 1 1 0 0 1 1 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 1 0 0 0 0 1 1 1 0 0 0 0 1 1 1 0 1 1 0 0 1 1 1 0 0 1 1 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 1 1 0 0 0 1 1 1 0 1 0 0 0 1 1 1 1 1 1 1 0 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 0 0 0 0 1 1 1 1 0 0 0 1 0 0 1 1 0 0 0 1 1 0 1 0 1 1 0 1 0 0 1 1 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 1 0 0 1 0 1 1 1 1 0 0 0 1 0 0 1 1 0 0 1 0 1 0 1 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 1 0 1 0 1 1 0 0 0 1 0 1 1 0 0 0 0 1 1 0 1 1 0 0 1 1 0 0 0 1 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 1 0 1 0 1 0 0 1 0 1 0 1 1 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 1 0 1 0 1 0 0 0 1 0 0 0 1 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 1 0 1 0 1 0 1 1 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 1 1 0 0 0 0 1 0 1 1 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 1 0 0 0 1 1 0 1 0 1 1 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 1 0 1 1 0 0 0 0 0 0 0 1 0 1 0 1 0 1 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 1 1 0 0 0 1 0 1 1 1 0 0 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 1 1 1 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 1 1 0 0 0 1 0 1 1 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 1 Unable to resolve collision between groups 0 and 16. Merging groups 0 and 16. Searching solution for merged group 0+16. Open/close/exp size (steps): 7/2/7 (381) Open/close/exp size (steps): 211/86/211 (465) Open/close/exp size (steps): 342/187/342 (566) Open/close/exp size (steps): 454/309/454 (688) Open/close/exp size (steps): 379/456/379 (835) Open/close/exp size (steps): 501/633/501 (1012) Open/close/exp size (steps): 563/846/563 (1225) 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 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 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 Groups 0 and 3 collide. Solution of group 0 Mulirobot solution: (|moves| = 7, paralellism = 1.400) [ Step 0: 2#18->26 Step 1: 1#17->18 2#26->25 Step 2: 1#18->19 2#25->33 Step 3: 2#33->41 Step 4: 2#41->49 ] Solution of group 3 Mulirobot solution: (|moves| = 2, paralellism = 1.000) [ Step 0: 1#27->26 Step 1: 1#26->25 ] Occupation table complementary for group 0 1 0 0 0 1 0 0 0 1 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 1 0 0 0 1 1 0 0 0 0 1 0 1 0 0 0 1 0 0 1 1 1 1 0 0 1 1 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 0 0 1 0 0 0 0 1 1 1 0 0 0 0 1 1 1 0 1 1 0 0 1 1 1 0 0 1 1 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 1 0 0 0 1 1 1 0 1 0 0 0 1 1 1 1 1 1 1 0 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 0 0 0 0 1 1 1 1 0 0 0 1 0 0 0 1 0 0 0 1 1 0 1 0 1 1 0 1 0 0 1 1 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 1 0 0 1 0 1 0 1 1 0 0 0 1 0 0 1 1 0 0 1 0 1 0 1 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 1 0 1 0 1 1 0 0 0 1 0 0 1 0 0 0 0 1 1 0 1 1 0 0 1 1 0 0 0 1 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 1 0 1 0 1 0 0 1 0 1 0 1 1 0 0 0 1 0 0 1 0 0 0 0 1 0 0 1 0 1 0 1 0 1 0 0 0 1 0 0 0 1 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 1 0 1 0 1 0 1 1 0 0 0 1 0 0 1 0 0 0 0 1 0 0 1 0 0 1 1 0 0 0 0 1 0 1 1 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 1 0 0 0 1 1 0 1 0 1 1 0 0 0 1 0 0 1 0 0 0 0 1 0 0 1 1 0 1 1 0 0 0 0 0 0 0 1 0 1 0 1 0 1 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 1 1 0 0 0 1 0 0 1 1 0 0 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 1 1 1 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 1 1 0 0 0 1 0 0 1 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 1 ** Open/close/exp size (steps): 1/3/1 (20) ** Open/close/exp size (steps): 3/11/3 (28) ** Open/close/exp size (steps): 2/21/2 (38) ** Open/close/exp size (steps): 6/33/6 (50) ** Open/close/exp size (steps): 5/48/5 (65) ** Open/close/exp size (steps): 4/66/4 (83) ** Open/close/exp size (steps): 14/88/14 (105) Occupation table complementary for group 3 1 0 0 0 1 0 0 0 1 1 0 0 1 0 0 0 0 1 2 1 0 0 0 0 1 0 0 0 1 0 0 0 1 1 0 0 0 0 1 0 1 0 0 0 1 0 0 1 1 1 1 0 0 1 1 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 1 0 0 1 0 0 0 0 1 2 1 0 0 0 0 1 1 1 0 1 1 0 0 1 1 1 0 0 1 1 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 1 0 1 0 0 0 1 2 1 0 1 0 0 0 1 1 1 1 1 1 1 0 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 0 0 0 0 1 1 1 1 0 0 0 1 0 0 1 1 0 0 0 1 0 0 1 0 1 1 0 1 2 0 1 1 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 1 0 0 1 0 1 1 1 1 0 0 0 0 0 0 1 1 0 0 1 0 1 0 1 0 0 0 0 2 0 0 1 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 1 0 1 0 1 1 0 0 0 1 0 1 1 0 0 0 0 0 1 0 1 1 0 0 1 1 0 0 0 1 0 0 0 0 0 1 1 0 1 0 0 2 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 1 0 1 0 1 0 0 1 0 1 0 1 1 0 0 0 1 0 1 1 0 0 0 0 0 0 0 1 0 1 0 1 0 1 0 0 0 1 0 0 0 1 0 1 1 1 0 0 2 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 1 0 1 0 1 0 1 1 0 0 0 1 0 1 1 0 0 0 0 0 0 0 1 0 0 1 1 0 0 0 0 1 0 1 1 0 1 0 1 0 1 0 0 2 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 1 0 0 0 1 1 0 1 0 1 1 0 0 0 1 0 1 1 0 0 0 0 0 0 0 1 1 0 1 1 0 0 0 0 0 0 0 1 0 1 0 1 0 1 1 0 2 1 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 1 1 0 0 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 1 0 1 0 0 2 0 0 0 0 0 1 0 0 1 1 1 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 1 1 0 0 0 1 0 1 1 0 1 0 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 1 0 1 0 0 2 0 0 0 0 0 0 0 0 1 1 1 0 0 1 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): 311/130/311 (1481) Open/close/exp size (steps): 1032/438/1032 (1789) Open/close/exp size (steps): 2202/808/2202 (2159) Open/close/exp size (steps): 2887/1252/2887 (2603) Open/close/exp size (steps): 2909/1785/2909 (3136) Open/close/exp size (steps): 2696/2425/2696 (3776) Open/close/exp size (steps): 3636/3193/3636 (4544) Open/close/exp size (steps): 4503/4115/4503 (5466) Open/close/exp size (steps): 6095/5222/6095 (6573) Open/close/exp size (steps): 8297/6551/8297 (7902) Open/close/exp size (steps): 11081/8146/11081 (9497) Open/close/exp size (steps): 13998/10060/13998 (11411) Open/close/exp size (steps): 13375/12357/13375 (13708) Open/close/exp size (steps): 18862/15114/18862 (16465) Open/close/exp size (steps): 25659/18423/25659 (19774) Open/close/exp size (steps): 24575/22394/24575 (23745) Open/close/exp size (steps): 21955/27160/21955 (28511) Open/close/exp size (steps): 18353/32880/18353 (34231) Open/close/exp size (steps): 21637/39744/21637 (41095) Open/close/exp size (steps): 21157/47981/21157 (49332) Open/close/exp size (steps): 22751/57866/22751 (59217) Open/close/exp size (steps): 22295/69728/22295 (71079) Open/close/exp size (steps): 38599/83963/38599 (85314) Open/close/exp size (steps): 54161/101045/54161 (102396) Open/close/exp size (steps): 84120/121544/84120 (122895) 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 3 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 3 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 3 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 3 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 3 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 3 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 3 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 3 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 3 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 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| = 9, paralellism = 1.800) [ Step 0: 3#18->26 Step 1: 1#17->18 3#26->25 Step 2: 1#18->19 3#25->33 Step 3: 2#27->26 3#33->41 Step 4: 2#26->25 3#41->49 ] Solution of group 3 Mulirobot solution: (|moves| = 5, paralellism = 1.000) [ Step 0: 1#19->27 Step 1: 1#27->35 Step 2: 1#35->43 Step 3: 1#43->51 Step 4: 1#51->59 ] Occupation table complementary for group 0 1 0 0 0 1 0 0 0 1 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 1 1 0 0 0 0 1 0 1 0 0 0 1 0 0 1 1 1 1 0 0 1 1 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 1 1 1 0 1 1 0 0 1 1 1 0 0 1 1 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 1 0 0 0 1 0 1 0 1 0 0 0 1 1 1 1 1 1 1 0 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 0 0 0 0 1 1 1 1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 1 0 1 1 0 1 0 0 1 1 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 1 0 0 1 0 1 0 1 1 0 0 0 0 0 0 1 1 0 0 1 0 1 0 1 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 1 0 1 0 1 1 0 0 0 1 0 0 1 0 0 0 0 0 1 0 1 1 0 0 1 1 0 0 0 1 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 1 0 1 0 1 0 0 1 0 1 0 1 1 0 0 0 1 0 0 1 0 0 0 0 0 0 0 1 0 1 0 1 0 1 0 0 0 1 0 0 0 1 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 1 0 1 0 1 0 1 1 0 0 0 1 0 0 1 0 0 0 0 0 0 0 1 0 0 1 1 0 0 0 0 1 0 1 1 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 1 0 0 0 1 1 0 1 0 1 1 0 0 0 1 0 0 1 0 0 0 0 0 0 0 1 1 0 1 1 0 0 0 0 0 0 0 1 0 1 0 1 0 1 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 1 1 0 0 0 1 0 0 1 1 0 0 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 1 1 1 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 1 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 0 0 1 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 1 Occupation table complementary for group 3 1 0 0 0 1 0 0 0 1 1 0 0 1 0 0 0 0 1 3 0 0 0 0 0 1 0 0 2 1 0 0 0 1 1 0 0 0 0 1 0 1 0 0 0 1 0 0 1 1 1 1 0 0 1 1 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 1 0 0 1 0 0 0 0 1 3 2 0 0 0 0 1 1 1 0 1 1 0 0 1 1 1 0 0 1 1 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 1 0 1 0 0 0 1 3 1 2 1 0 0 0 1 1 1 1 1 1 1 0 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 0 0 0 0 1 1 1 1 0 0 0 1 0 0 1 1 0 0 0 1 0 0 1 0 1 1 0 1 3 0 1 1 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 1 0 0 1 0 1 1 1 1 0 0 0 0 2 0 1 1 0 0 1 0 1 0 1 0 0 0 0 3 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 1 0 1 0 1 1 0 0 0 1 0 1 1 0 0 0 0 2 1 0 1 1 0 0 1 1 0 0 0 1 0 0 0 0 0 1 1 0 1 0 0 3 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 1 0 0 1 0 1 0 1 1 0 0 0 1 0 1 1 0 0 0 0 2 0 0 1 0 1 0 1 0 1 0 0 0 1 0 0 0 1 0 1 1 1 0 0 3 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 1 0 1 0 1 0 1 1 0 0 0 1 0 1 1 0 0 0 0 2 0 0 1 0 0 1 1 0 0 0 0 1 0 1 1 0 1 0 1 0 1 0 0 3 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 1 0 1 1 0 0 0 1 0 1 1 0 0 0 0 2 0 0 1 1 0 1 1 0 0 0 0 0 0 0 1 0 1 0 1 0 1 1 0 3 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 1 1 0 0 0 1 0 1 1 1 0 0 0 2 0 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 1 0 1 0 0 3 0 0 0 0 0 1 0 0 1 0 1 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 1 1 0 0 0 1 0 1 1 0 1 0 0 2 0 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 1 0 1 0 0 3 0 0 0 0 0 0 0 0 1 0 1 0 0 1 ** Open/close/exp size (steps): 1/0/1 (132) 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): 8725/3698/8725 (147494) Open/close/exp size (steps): 28271/33217/28271 (177013) Open/close/exp size (steps): 48789/68640/48789 (212436) Open/close/exp size (steps): 57962/111148/57962 (254944) Open/close/exp size (steps): 169865/162158/169865 (305954) Open/close/exp size (steps): 317848/223370/317848 (367166) Open/close/exp size (steps): 269674/296825/269674 (440621) Open/close/exp size (steps): 546940/384971/546940 (528767) Open/close/exp size (steps): 777492/490747/777492 (634543) Open/close/exp size (steps): 746807/617679/746807 (761475) Open/close/exp size (steps): 620613/769998/620613 (913794) Open/close/exp size (steps): 481193/952781/481193 (1096577) Open/close/exp size (steps): 339033/1172121/339033 (1315917) Open/close/exp size (steps): 641293/1435329/641293 (1579125) Open/close/exp size (steps): 383382/1751179/383382 (1894975) Open/close/exp size (steps): 408826/2130199/408826 (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 = [ 23 ] trajectory distribution = [ ] ) Phase statistics (current phase = 'root_phase') [ Phase (name = 'root_phase') [ Total SAT solver calls = 0 Satisfiable SAT solver calls = 0 Unsatisfiable SAT solver calls = 0 Indeterminate SAT solver calls = 0 Move executions = 0 Produced CNF variables = 0 Produced CNF clauses = 0 Search steps = 0 Wall clock TIME (seconds) = 6.386 CPU/machine TIME (seconds) = 6.380 ] 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 = 8260515 Produced CNF variables = 0 Produced CNF clauses = 0 Search steps = 0 Wall clock TIME (seconds) = 64.014 CPU/machine TIME (seconds) = 64.010 ] } ] ----------------------------------------------------------------