================================================================ 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| = 25, |V| = 64) [ robot locations: {1#48 2#36 3#14 4#0 5#49 6#52 7#22 8#5 9#25 10#41 11#12 12#43 13#30 14#15 15#11 16#6 17#63 18#56 19#26 20#32 21#45 22#51 23#42 24#53 25#38 } vertex occupancy: {4#0 0#1 0#2 0#3 0#4 8#5 16#6 0#7 0#8 0#9 0#10 15#11 11#12 0#13 3#14 14#15 0#16 0#17 0#18 0#19 0#20 0#21 7#22 0#23 0#24 9#25 19#26 0#27 0#28 0#29 13#30 0#31 20#32 0#33 0#34 0#35 2#36 0#37 25#38 0#39 0#40 10#41 23#42 12#43 0#44 21#45 0#46 0#47 1#48 5#49 0#50 22#51 6#52 24#53 0#54 0#55 18#56 0#57 0#58 0#59 0#60 0#61 0#62 17#63 } ] Robot arrangement: (|R| = -1, |V| = 0) [ robot locations: {} vertex occupancy: {} ] Robot goal: (|R| = 25, |V| = 64) [ robot goals: { 1#{13} 2#{33} 3#{56} 4#{4} 5#{24} 6#{35} 7#{19} 8#{7} 9#{17} 10#{62} 11#{45} 12#{58} 13#{1} 14#{31} 15#{51} 16#{53} 17#{55} 18#{57} 19#{54} 20#{6} 21#{3} 22#{2} 23#{0} 24#{10} 25#{23} } vertex compatibilities: { 0@{23} 1@{13} 2@{22} 3@{21} 4@{4} 5@{} 6@{20} 7@{8} 8@{} 9@{} 10@{24} 11@{} 12@{} 13@{1} 14@{} 15@{} 16@{} 17@{9} 18@{} 19@{7} 20@{} 21@{} 22@{} 23@{25} 24@{5} 25@{} 26@{} 27@{} 28@{} 29@{} 30@{} 31@{14} 32@{} 33@{2} 34@{} 35@{6} 36@{} 37@{} 38@{} 39@{} 40@{} 41@{} 42@{} 43@{} 44@{} 45@{11} 46@{} 47@{} 48@{} 49@{} 50@{} 51@{15} 52@{} 53@{16} 54@{19} 55@{17} 56@{3} 57@{18} 58@{12} 59@{} 60@{} 61@{} 62@{10} 63@{} } ] Open/close/exp size (steps): 4/1/4 (2) Open/close/exp size (steps): 14/4/14 (5) Open/close/exp size (steps): 24/8/24 (9) Open/close/exp size (steps): 34/13/34 (14) Open/close/exp size (steps): 47/19/47 (20) Open/close/exp size (steps): 63/27/63 (28) Open/close/exp size (steps): 78/37/78 (38) Open/close/exp size (steps): 96/49/96 (50) Open/close/exp size (steps): 21/5/21 (65) Open/close/exp size (steps): 63/23/63 (83) Open/close/exp size (steps): 98/45/98 (105) Open/close/exp size (steps): 136/72/136 (132) Open/close/exp size (steps): 17/4/17 (165) Open/close/exp size (steps): 24/7/24 (205) Open/close/exp size (steps): 35/14/35 (253) Open/close/exp size (steps): 57/27/57 (311) Open/close/exp size (steps): 17/4/17 (381) 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Groups 0 and 2 collide. Solution of group 0 Mulirobot solution: (|moves| = 10, paralellism = 1.000) [ Step 0: 1#48->40 Step 1: 1#40->32 Step 2: 1#32->24 Step 3: 1#24->16 Step 4: 1#16->8 Step 5: 1#8->9 Step 6: 1#9->10 Step 7: 1#10->11 Step 8: 1#11->12 Step 9: 1#12->13 ] Solution of group 2 Mulirobot solution: (|moves| = 12, paralellism = 1.000) [ Step 0: 1#14->13 Step 1: 1#13->12 Step 2: 1#12->11 Step 3: 1#11->10 Step 4: 1#10->9 Step 5: 1#9->8 Step 6: 1#8->16 Step 7: 1#16->24 Step 8: 1#24->32 Step 9: 1#32->40 Step 10: 1#40->48 Step 11: 1#48->56 ] Occupation table complementary for group 0 1 0 0 0 0 1 1 0 0 0 0 1 1 0 1 1 0 0 0 0 0 0 1 0 0 1 1 0 0 0 1 0 1 0 0 0 1 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 1 0 0 0 0 0 0 1 0 0 0 1 0 1 0 1 1 1 1 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 1 1 1 1 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 1 1 0 1 1 0 0 1 1 1 0 0 0 1 1 1 1 0 1 0 1 1 1 1 1 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 1 1 0 0 1 0 0 0 0 0 1 1 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 0 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 0 1 0 0 0 1 1 0 1 0 0 1 0 0 1 0 0 0 1 0 1 0 1 0 1 1 0 0 0 0 1 1 1 0 1 0 1 0 1 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 1 0 1 1 0 1 0 1 0 1 0 1 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 1 0 1 1 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 1 0 1 1 0 0 0 0 0 0 1 1 1 1 0 0 1 1 0 0 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 1 1 0 1 1 0 0 0 0 0 1 0 1 1 1 0 0 1 0 0 0 1 0 0 0 0 1 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 1 0 0 0 1 0 1 1 1 1 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 1 0 0 0 1 0 1 1 1 1 1 1 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 1 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 1 0 0 0 1 0 1 1 1 1 1 0 1 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 1 0 0 0 1 0 1 1 1 1 1 0 1 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 1 1 0 1 1 0 0 0 1 0 1 1 1 1 1 0 1 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 1 1 1 0 0 0 1 0 ** Open/close/exp size (steps): 2/1/2 (2) ** Open/close/exp size (steps): 6/4/6 (5) ** Open/close/exp size (steps): 10/8/10 (9) ** Open/close/exp size (steps): 19/13/19 (14) Alternative solution of group 0 Mulirobot solution: (|moves| = 10, paralellism = 0.909) [ Step 0: 1#48->40 Step 1: Step 2: 1#40->41 Step 3: 1#41->42 Step 4: 1#42->34 Step 5: 1#34->26 Step 6: 1#26->27 Step 7: 1#27->28 Step 8: 1#28->20 Step 9: 1#20->12 Step 10: 1#12->13 ] 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 2 resolved. 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 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Solution of group 1 Mulirobot solution: (|moves| = 3, paralellism = 1.000) [ Step 0: 1#36->35 Step 1: 1#35->34 Step 2: 1#34->33 ] Solution of group 4 Mulirobot solution: (|moves| = 4, paralellism = 1.000) [ Step 0: 1#49->41 Step 1: 1#41->33 Step 2: 1#33->25 Step 3: 1#25->24 ] Occupation table complementary for group 1 1 0 0 0 0 1 1 0 0 0 0 1 1 0 1 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 1 1 0 1 1 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 1 0 1 1 1 1 0 0 1 0 0 1 0 0 0 1 0 0 1 0 0 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 1 1 0 1 1 0 0 1 1 1 0 0 0 1 1 1 1 0 1 0 1 0 1 1 1 0 0 1 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 1 1 0 0 1 0 0 0 0 0 1 1 1 0 1 0 1 0 1 0 1 0 1 0 1 0 0 0 1 0 0 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 0 1 0 0 0 1 1 0 1 0 0 1 0 0 1 0 0 0 1 0 1 0 1 0 1 1 0 0 0 0 1 1 1 0 0 0 1 0 1 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 1 0 1 1 0 1 0 1 0 1 0 1 0 0 0 1 0 1 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complementary for group 4 1 0 0 0 0 1 1 0 0 0 0 1 1 0 1 1 0 0 0 0 0 0 1 0 0 1 1 0 0 0 1 0 1 0 0 0 1 0 1 0 0 1 1 1 0 1 0 0 1 0 0 1 1 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 1 0 1 1 1 1 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 1 1 0 1 1 0 0 1 1 1 0 0 0 1 1 1 1 0 1 0 0 1 1 1 1 0 0 1 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 1 1 0 0 1 0 0 0 0 0 1 1 1 0 1 0 1 0 0 0 1 0 1 0 1 0 1 0 1 0 0 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 0 1 0 0 0 1 1 0 1 0 0 1 0 0 1 0 0 0 1 0 1 0 1 0 1 0 0 0 0 0 1 1 1 0 1 0 1 0 1 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 1 0 1 1 0 1 0 1 0 1 0 1 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 1 0 1 1 1 0 1 1 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 1 0 1 1 0 0 0 0 0 0 1 1 1 1 0 0 1 1 0 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 1 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 1 1 0 1 1 0 0 0 0 0 1 0 1 1 1 0 0 1 0 0 0 1 0 0 0 0 1 1 0 1 0 0 0 1 0 0 0 1 0 0 0 1 0 1 0 1 0 0 0 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Solution of group 1 Mulirobot solution: (|moves| = 3, paralellism = 1.000) [ Step 0: 1#36->35 Step 1: 1#35->34 Step 2: 1#34->33 ] Solution of group 21 Mulirobot solution: (|moves| = 7, paralellism = 1.000) [ Step 0: 1#51->43 Step 1: 1#43->35 Step 2: 1#35->27 Step 3: 1#27->19 Step 4: 1#19->11 Step 5: 1#11->3 Step 6: 1#3->2 ] Occupation table complementary for group 1 1 0 0 0 0 1 1 0 0 0 0 1 1 0 1 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 1 1 0 1 1 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 1 0 1 1 1 1 0 0 1 0 0 1 0 0 0 1 0 0 1 0 0 1 0 1 1 1 1 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 1 1 0 1 1 0 0 1 1 1 0 0 0 1 1 1 1 0 1 0 0 0 1 1 1 0 0 1 0 0 1 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 1 1 0 0 1 0 0 0 0 0 1 1 1 0 1 0 1 0 0 0 1 0 1 0 1 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 1 0 0 0 1 1 0 1 0 0 1 0 0 1 0 0 0 1 0 1 0 1 0 1 0 0 0 0 0 1 1 1 0 0 0 1 0 1 0 0 1 0 1 1 0 1 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 1 0 1 1 0 1 0 1 0 1 0 1 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 1 1 0 1 1 0 1 1 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 1 0 1 1 0 0 0 0 0 0 1 1 1 1 0 0 1 1 0 0 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 1 1 0 1 1 0 0 0 0 0 1 0 1 1 1 0 0 1 0 0 0 1 0 0 0 0 1 1 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 1 0 0 0 1 0 1 1 1 1 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 1 0 0 0 1 0 1 1 1 1 1 1 0 1 0 0 1 0 0 0 0 0 0 1 0 1 1 0 0 1 1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 1 0 0 0 1 0 1 1 1 1 1 0 1 1 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 1 0 0 0 1 0 1 1 1 1 1 0 1 1 0 0 1 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 1 1 0 1 1 0 0 0 1 0 1 1 1 1 1 0 1 1 0 0 1 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 1 1 1 0 0 0 1 0 Occupation table complementary for group 21 1 0 0 0 0 1 1 0 0 0 0 1 1 0 1 1 0 0 0 0 0 0 1 0 0 1 1 0 0 0 1 0 1 0 0 0 1 0 1 0 0 1 1 1 0 1 0 0 1 1 0 0 1 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 1 0 1 1 1 1 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 1 0 1 0 1 1 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 1 1 0 1 1 0 0 1 1 1 0 0 0 1 1 1 1 0 1 0 0 1 0 1 1 0 0 1 0 0 1 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 1 1 0 0 1 0 0 0 0 0 1 1 1 0 1 0 1 0 0 0 0 0 1 0 1 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 1 0 0 0 1 1 0 1 0 0 1 0 0 1 0 0 0 1 0 1 0 1 0 1 0 0 0 0 0 1 1 1 0 1 0 1 0 1 0 0 1 0 1 1 0 1 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 1 0 1 1 0 1 0 1 0 0 0 1 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 1 1 1 1 1 0 1 1 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 1 0 1 1 0 0 0 0 0 0 1 1 1 1 0 0 1 1 0 0 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 1 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 1 1 0 1 1 0 0 0 0 0 1 0 1 1 1 0 0 1 0 0 0 1 0 0 0 0 1 1 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 1 0 0 0 1 0 1 1 0 1 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 1 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 1 0 0 0 1 0 1 1 0 1 1 1 0 1 0 0 1 0 0 0 0 0 0 1 0 1 1 0 0 1 1 0 0 0 0 0 0 1 1 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 1 0 0 0 1 0 1 1 0 1 1 0 1 1 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 1 0 0 0 1 0 1 1 0 1 1 0 1 1 0 0 1 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 1 1 0 1 1 0 0 0 1 0 1 1 0 1 1 0 1 1 0 0 1 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 1 1 1 0 0 0 1 0 ** Open/close/exp size (steps): 2/1/2 (28) ** Open/close/exp size (steps): 8/11/8 (38) ** Open/close/exp size (steps): 19/23/19 (50) ** Open/close/exp size (steps): 23/38/23 (65) ** Open/close/exp size (steps): 19/56/19 (83) ** Open/close/exp size (steps): 18/78/18 (105) ** Open/close/exp size (steps): 15/105/15 (132) Unable to resolve collision between groups 1 and 21. Merging groups 1 and 21. Searching solution for merged group 1+21. Open/close/exp size (steps): 75/27/75 (465) Open/close/exp size (steps): 274/128/274 (566) Open/close/exp size (steps): 272/250/272 (688) Open/close/exp size (steps): 240/397/240 (835) Open/close/exp size (steps): 849/574/849 (1012) Open/close/exp size (steps): 1003/787/1003 (1225) Open/close/exp size (steps): 1054/1043/1054 (1481) Open/close/exp size (steps): 1383/1351/1383 (1789) Open/close/exp size (steps): 1589/1721/1589 (2159) Open/close/exp size (steps): 1149/2165/1149 (2603) Open/close/exp size (steps): 1186/2698/1186 (3136) Open/close/exp size (steps): 1711/3338/1711 (3776) Open/close/exp size (steps): 1086/4106/1086 (4544) Open/close/exp size (steps): 1175/5028/1175 (5466) 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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| = 10, paralellism = 0.909) [ Step 0: 1#48->40 Step 1: Step 2: 1#40->41 Step 3: 1#41->42 Step 4: 1#42->34 Step 5: 1#34->26 Step 6: 1#26->27 Step 7: 1#27->28 Step 8: 1#28->20 Step 9: 1#20->12 Step 10: 1#12->13 ] Solution of group 1 Mulirobot solution: (|moves| = 10, paralellism = 1.429) [ Step 0: 1#36->35 2#51->43 Step 1: 2#43->42 Step 2: 2#42->34 Step 3: 2#34->26 Step 4: 1#35->34 2#26->18 Step 5: 1#34->33 2#18->10 Step 6: 2#10->2 ] Occupation table complementary for group 0 1 0 0 0 0 1 1 0 0 0 0 1 1 0 1 1 0 0 0 0 0 0 1 0 0 1 1 0 0 0 1 0 1 0 0 0 1 0 1 0 0 1 1 1 0 1 0 0 0 1 0 2 1 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 1 0 1 1 1 1 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 0 1 2 1 1 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 1 1 0 1 1 0 0 1 1 1 0 0 0 1 1 1 1 0 1 0 0 0 1 1 1 0 0 0 0 2 1 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 1 1 0 0 1 0 0 0 0 0 1 1 1 0 1 0 1 0 0 0 0 0 1 0 1 0 0 2 1 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 1 0 0 0 1 1 0 1 0 0 1 0 0 1 0 0 0 1 0 1 0 1 0 1 0 0 2 0 0 1 1 1 0 0 0 1 0 1 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 1 0 1 1 0 1 0 1 0 0 0 1 0 0 0 1 2 1 0 0 0 1 0 0 0 0 0 0 0 1 1 0 1 1 0 1 1 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 1 0 1 1 0 0 0 0 0 0 1 1 1 1 0 0 1 1 0 2 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 1 1 0 1 1 0 0 0 0 0 1 0 1 1 1 0 0 1 0 0 0 1 0 0 0 0 1 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 1 0 0 0 1 0 1 1 2 1 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 1 0 0 0 1 0 1 1 2 1 1 1 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 1 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 1 0 0 0 1 0 1 1 2 1 1 0 1 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 1 0 0 0 1 0 1 1 2 1 1 0 1 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 1 1 0 1 1 0 0 0 1 0 1 1 2 1 1 0 1 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 1 1 1 0 0 0 1 0 ** Open/close/exp size (steps): 10/9/10 (165) Alternative solution of group 0 Mulirobot solution: (|moves| = 10, paralellism = 0.909) [ Step 0: 1#48->40 Step 1: 1#40->32 Step 2: 1#32->24 Step 3: 1#24->25 Step 4: Step 5: 1#25->26 Step 6: 1#26->27 Step 7: 1#27->28 Step 8: 1#28->20 Step 9: 1#20->12 Step 10: 1#12->13 ] 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Collision between groups 0 and 1 resolved. 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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| = 10, paralellism = 1.429) [ Step 0: 1#36->35 2#51->43 Step 1: 2#43->42 Step 2: 2#42->34 Step 3: 2#34->26 Step 4: 1#35->34 2#26->18 Step 5: 1#34->33 2#18->10 Step 6: 2#10->2 ] Solution of group 5 Mulirobot solution: (|moves| = 3, paralellism = 1.000) [ Step 0: 1#52->44 Step 1: 1#44->36 Step 2: 1#36->35 ] Occupation table complementary for group 1 1 0 0 0 0 1 1 0 0 0 0 1 1 0 1 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 1 1 0 0 1 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 1 0 1 1 1 1 0 0 1 0 0 1 0 0 0 1 0 0 1 0 0 1 0 1 0 1 1 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 1 1 0 1 1 0 0 1 1 1 0 0 0 1 1 1 1 0 1 1 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 1 1 0 0 1 0 0 0 0 0 1 1 1 0 1 0 1 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 1 0 0 0 1 1 0 1 0 0 1 0 0 1 0 0 0 1 0 1 0 1 0 1 0 1 0 0 0 1 1 1 0 0 0 1 0 1 0 0 1 0 0 1 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Groups 1 and 9 collide. Solution of group 1 Mulirobot solution: (|moves| = 10, paralellism = 1.429) [ Step 0: 1#36->35 2#51->43 Step 1: 2#43->42 Step 2: 2#42->34 Step 3: 2#34->26 Step 4: 1#35->34 2#26->18 Step 5: 1#34->33 2#18->10 Step 6: 2#10->2 ] Solution of group 9 Mulirobot solution: (|moves| = 7, paralellism = 1.000) [ Step 0: 1#41->42 Step 1: 1#42->43 Step 2: 1#43->44 Step 3: 1#44->45 Step 4: 1#45->46 Step 5: 1#46->54 Step 6: 1#54->62 ] Occupation table complementary for group 1 1 0 0 0 0 1 1 0 0 0 0 1 1 0 1 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 1 1 0 0 1 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 1 0 1 1 1 1 0 0 1 0 0 1 0 0 0 1 0 0 1 0 0 1 0 1 0 1 1 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 1 1 0 1 1 0 0 1 1 1 0 0 0 1 1 1 1 0 1 1 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 1 1 0 0 1 0 0 0 0 0 1 1 1 0 1 0 1 1 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 1 0 0 0 1 1 0 1 0 0 1 0 0 1 0 0 0 1 0 1 0 1 0 1 0 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 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 1 0 1 1 0 1 0 1 0 0 0 1 0 0 0 1 0 1 0 0 0 1 0 1 0 1 0 0 0 1 1 0 0 0 0 1 1 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 1 0 1 1 0 0 0 0 0 0 1 1 1 1 0 0 1 1 0 0 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 1 1 0 1 1 0 0 0 0 0 1 0 1 1 1 0 0 1 0 0 0 1 0 0 0 0 1 1 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 1 0 0 0 1 0 1 1 0 1 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 1 0 0 0 1 0 1 1 0 1 1 1 0 1 0 0 1 0 0 0 0 0 0 1 0 1 1 0 0 1 1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 1 0 0 0 1 0 1 1 0 1 1 0 1 1 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 1 0 0 0 1 0 1 1 0 1 1 0 1 1 0 0 1 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 1 1 0 1 1 0 0 0 1 0 1 1 0 1 1 0 1 1 0 0 1 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 1 1 1 0 0 0 1 0 ** Open/close/exp size (steps): 1/0/1 (205) Occupation table complementary for group 9 1 0 0 0 0 1 1 0 0 0 0 1 1 0 1 1 0 0 0 0 0 0 1 0 0 1 1 0 0 0 1 0 1 0 0 0 1 0 1 0 0 0 1 1 0 1 0 0 1 1 0 2 1 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 1 0 1 1 1 1 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 1 0 1 2 1 1 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 1 1 0 1 1 0 0 1 1 1 0 0 0 1 1 1 1 0 1 1 0 0 1 1 1 0 0 0 0 2 0 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 1 1 0 0 1 0 0 0 0 0 1 1 1 0 1 0 1 1 0 0 0 0 1 0 1 0 0 2 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 1 0 0 0 1 1 0 1 0 0 1 0 0 1 0 0 0 1 0 1 0 1 0 1 0 1 2 0 1 1 1 1 0 0 0 1 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 1 0 1 1 0 1 0 1 0 0 0 1 0 0 0 1 2 1 0 0 0 1 0 1 0 1 0 0 0 1 1 0 1 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 1 0 1 1 0 0 0 0 0 0 1 1 1 1 0 0 1 1 0 2 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 1 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 1 0 1 1 0 0 0 0 0 1 0 1 1 1 0 0 1 0 0 0 1 0 0 0 0 1 1 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 1 0 0 0 0 0 1 1 2 1 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 1 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 1 0 0 0 0 0 1 1 2 1 1 1 0 1 0 0 1 0 0 0 0 0 0 1 0 1 1 0 0 1 1 0 0 0 0 0 0 1 1 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 1 0 0 0 0 0 1 1 2 1 1 0 1 1 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 1 0 0 0 0 0 1 1 2 1 1 0 1 1 0 0 1 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 1 1 0 1 1 0 0 0 0 0 1 1 2 1 1 0 1 1 0 0 1 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 1 1 1 0 0 0 0 0 Alternative solution of group 9 Mulirobot solution: (|moves| = 11, paralellism = 1.000) [ Step 0: 1#41->33 Step 1: 1#33->41 Step 2: 1#41->49 Step 3: 1#49->50 Step 4: 1#50->42 Step 5: 1#42->43 Step 6: 1#43->44 Step 7: 1#44->52 Step 8: 1#52->60 Step 9: 1#60->61 Step 10: 1#61->62 ] 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 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 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 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 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 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 1 and 9 resolved. 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 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 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 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 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 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 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 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 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Groups 1 and 11 collide. Solution of group 1 Mulirobot solution: (|moves| = 10, paralellism = 1.429) [ Step 0: 1#36->35 2#51->43 Step 1: 2#43->42 Step 2: 2#42->34 Step 3: 2#34->26 Step 4: 1#35->34 2#26->18 Step 5: 1#34->33 2#18->10 Step 6: 2#10->2 ] Solution of group 11 Mulirobot solution: (|moves| = 3, paralellism = 1.000) [ Step 0: 1#43->42 Step 1: 1#42->50 Step 2: 1#50->58 ] Occupation table complementary for group 1 1 0 0 0 0 1 1 0 0 0 0 1 1 0 1 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 1 1 0 0 1 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 1 0 1 1 1 1 0 0 1 0 0 1 0 0 1 1 0 0 1 0 0 1 0 1 0 1 1 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 1 1 0 1 1 0 0 1 1 1 0 0 0 1 1 1 1 0 1 1 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 1 1 0 0 1 0 0 0 0 0 1 1 1 0 1 0 1 1 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 1 1 0 0 0 0 0 1 0 0 0 1 1 0 1 0 0 1 0 0 1 0 0 0 1 0 1 0 1 0 1 0 1 0 0 1 1 1 1 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 1 0 1 1 0 1 0 1 0 0 0 1 0 0 0 1 0 1 0 0 0 1 0 1 0 1 0 0 0 1 1 0 0 0 0 1 1 0 0 0 1 0 0 1 0 0 0 0 0 1 0 0 0 1 0 1 1 0 0 0 0 0 0 1 1 1 1 0 0 1 1 0 0 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 0 1 0 1 1 0 0 0 0 0 1 0 1 1 1 0 0 1 0 0 0 1 0 0 0 0 1 1 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 1 1 1 0 1 1 0 0 0 0 0 1 1 0 1 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 1 1 1 1 0 1 1 0 0 0 0 0 1 1 0 1 1 1 0 1 0 0 1 0 0 0 0 0 0 1 0 1 1 0 0 1 1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 1 0 1 0 0 0 1 1 0 1 1 0 1 1 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 1 0 0 1 0 0 1 1 0 1 1 0 1 1 0 0 1 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 1 1 0 1 1 0 0 0 1 0 1 1 0 1 1 0 1 1 0 0 1 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 1 1 1 0 0 0 1 0 ** Open/close/exp size (steps): 25/23/25 (253) ** Open/close/exp size (steps): 50/81/50 (311) ** Open/close/exp size (steps): 68/151/68 (381) ** Open/close/exp size (steps): 80/235/80 (465) ** Open/close/exp size (steps): 138/336/138 (566) ** Open/close/exp size (steps): 119/458/119 (688) ** Open/close/exp size (steps): 205/605/205 (835) ** Open/close/exp size (steps): 177/782/177 (1012) ** Open/close/exp size (steps): 331/995/331 (1225) ** Open/close/exp size (steps): 395/1251/395 (1481) ** Open/close/exp size (steps): 465/1559/465 (1789) ** Open/close/exp size (steps): 330/1929/330 (2159) ** Open/close/exp size (steps): 500/2373/500 (2603) ** Open/close/exp size (steps): 495/2906/495 (3136) ** Open/close/exp size (steps): 596/3546/596 (3776) ** Open/close/exp size (steps): 342/4314/342 (4544) ** Open/close/exp size (steps): 410/5236/410 (5466) ** Open/close/exp size (steps): 332/6343/332 (6573) ** Open/close/exp size (steps): 394/7672/394 (7902) Occupation table complementary for group 11 1 0 0 0 0 1 1 0 0 0 0 1 1 0 1 1 0 0 0 0 0 0 1 0 0 1 1 0 0 0 1 0 1 0 0 0 1 0 1 0 0 1 1 0 0 1 0 0 1 1 0 2 1 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 1 0 1 1 1 1 0 0 1 0 0 1 0 0 1 1 1 0 1 0 0 1 0 0 2 1 1 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 1 1 0 1 1 0 0 1 1 1 0 0 0 1 1 1 1 0 1 1 0 0 1 1 1 0 0 0 1 2 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 1 1 0 0 1 0 0 0 0 0 1 1 1 0 1 0 1 1 0 0 0 0 1 0 1 0 0 2 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 1 1 0 1 0 0 1 0 0 1 0 0 0 1 0 1 0 1 0 1 0 1 2 0 1 1 1 1 0 0 0 1 0 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 1 1 0 1 1 0 1 0 1 0 0 0 1 0 0 0 1 2 1 0 0 0 1 0 1 0 1 0 0 0 1 1 0 1 0 0 1 1 0 0 0 1 0 0 1 0 0 0 0 0 1 0 0 0 1 0 1 0 0 0 0 0 0 0 1 1 1 1 0 0 1 1 0 2 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 1 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 0 1 0 1 0 0 0 0 0 0 1 0 1 1 1 0 0 1 0 0 0 1 0 0 0 0 1 1 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 1 1 1 0 1 0 0 0 0 0 0 1 1 2 1 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 1 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 1 1 1 1 0 1 0 0 0 0 0 0 1 1 2 1 1 1 0 1 0 0 1 0 0 0 0 0 0 1 0 1 1 0 0 1 1 0 0 0 0 0 0 1 1 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 0 0 1 0 0 0 1 1 2 1 1 0 1 1 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 1 1 2 1 1 0 1 1 0 0 1 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 1 1 0 1 0 0 0 0 1 0 1 1 2 1 1 0 1 1 0 0 1 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 1 1 0 0 0 0 1 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): 1409/578/1409 (6573) Open/close/exp size (steps): 2158/1907/2158 (7902) Open/close/exp size (steps): 4689/3502/4689 (9497) Open/close/exp size (steps): 8890/5416/8890 (11411) Open/close/exp size (steps): 14244/7713/14244 (13708) Open/close/exp size (steps): 17422/10470/17422 (16465) Open/close/exp size (steps): 15486/13779/15486 (19774) Open/close/exp size (steps): 13553/17750/13553 (23745) Open/close/exp size (steps): 18114/22516/18114 (28511) Open/close/exp size (steps): 21558/28236/21558 (34231) Open/close/exp size (steps): 15609/35100/15609 (41095) Open/close/exp size (steps): 31345/43337/31345 (49332) Open/close/exp size (steps): 47685/53222/47685 (59217) Open/close/exp size (steps): 69678/65084/69678 (71079) Open/close/exp size (steps): 75639/79319/75639 (85314) Open/close/exp size (steps): 86831/96401/86831 (102396) Open/close/exp size (steps): 96379/116900/96379 (122895) Open/close/exp size (steps): 89123/141499/89123 (147494) Open/close/exp size (steps): 72293/171018/72293 (177013) Open/close/exp size (steps): 119078/206441/119078 (212436) Open/close/exp size (steps): 102034/248949/102034 (254944) Open/close/exp size (steps): 56571/299959/56571 (305954) Open/close/exp size (steps): 112815/361171/112815 (367166) Open/close/exp size (steps): 168394/434626/168394 (440621) Open/close/exp size (steps): 214161/522772/214161 (528767) Open/close/exp size (steps): 275363/628548/275363 (634543) Open/close/exp size (steps): 158315/755480/158315 (761475) Open/close/exp size (steps): 145844/907799/145844 (913794) Open/close/exp size (steps): 300467/1090582/300467 (1096577) Open/close/exp size (steps): 529639/1309922/529639 (1315917) 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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| = 13, paralellism = 1.857) [ Step 0: 1#36->35 3#51->50 Step 1: 2#43->51 3#50->42 Step 2: 2#51->50 3#42->34 Step 3: 2#50->58 3#34->26 Step 4: 3#26->18 Step 5: 1#35->34 3#18->10 Step 6: 1#34->33 3#10->2 ] Solution of group 5 Mulirobot solution: (|moves| = 5, paralellism = 0.833) [ Step 0: 1#52->44 Step 1: 1#44->36 Step 2: Step 3: 1#36->28 Step 4: 1#28->27 Step 5: 1#27->35 ] Occupation table complementary for group 1 1 0 0 0 0 1 1 0 0 0 0 1 1 0 1 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 0 0 1 0 0 1 1 0 0 1 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 1 0 1 1 1 1 0 0 1 0 0 1 0 0 1 1 0 0 1 0 0 1 0 0 0 1 1 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 1 1 0 1 1 0 0 1 1 1 0 0 0 1 1 1 1 0 1 1 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 1 1 0 0 1 0 0 0 0 0 1 1 1 0 1 0 1 1 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 1 1 0 1 0 0 1 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0 1 1 0 1 1 0 1 1 0 0 1 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 1 1 0 0 0 0 1 0 Occupation table complementary for group 5 1 0 0 0 0 1 1 0 0 0 0 1 1 0 1 1 0 0 0 0 0 0 1 0 0 1 1 0 0 0 1 0 1 0 0 0 1 0 1 0 0 1 1 2 0 1 0 0 1 1 0 3 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 1 0 1 1 1 1 0 0 1 0 0 1 0 0 1 1 1 0 1 0 0 1 0 0 2 0 1 0 0 0 1 3 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 1 1 0 1 1 0 0 1 1 1 0 0 0 1 1 1 1 0 1 1 0 0 1 0 1 0 0 0 1 3 0 0 0 0 0 1 0 0 2 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 1 1 0 0 1 0 0 0 0 0 1 1 1 0 1 0 1 1 0 0 0 0 1 0 1 0 0 3 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 2 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 1 1 0 1 0 0 1 0 0 1 0 0 0 1 0 1 0 1 0 1 0 1 3 0 0 1 1 1 0 0 0 1 0 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 2 0 0 0 0 0 0 1 1 0 1 1 0 1 0 1 0 0 0 1 0 0 0 1 3 1 0 0 0 1 0 1 0 0 0 0 0 1 1 0 0 1 0 1 1 0 0 0 1 0 0 1 0 0 0 0 0 1 0 0 0 1 0 1 2 0 0 0 0 0 0 1 1 1 1 0 0 1 1 0 3 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 1 0 0 0 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1#28->29 Step 6: 1#29->37 Step 7: 1#37->36 Step 8: 1#36->35 ] 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 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 3 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 0 0 0 0 3 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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and 9 collide. Solution of group 1 Mulirobot solution: (|moves| = 13, paralellism = 1.857) [ Step 0: 1#36->35 3#51->50 Step 1: 2#43->51 3#50->42 Step 2: 2#51->50 3#42->34 Step 3: 2#50->58 3#34->26 Step 4: 3#26->18 Step 5: 1#35->34 3#18->10 Step 6: 1#34->33 3#10->2 ] Solution of group 9 Mulirobot solution: (|moves| = 11, paralellism = 1.000) [ Step 0: 1#41->33 Step 1: 1#33->41 Step 2: 1#41->49 Step 3: 1#49->50 Step 4: 1#50->42 Step 5: 1#42->43 Step 6: 1#43->44 Step 7: 1#44->52 Step 8: 1#52->60 Step 9: 1#60->61 Step 10: 1#61->62 ] Occupation table complementary for group 1 1 0 0 0 0 1 1 0 0 0 0 1 1 0 1 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 0 0 1 0 0 1 1 0 0 1 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 1 0 1 1 1 1 0 0 1 0 0 1 0 0 1 1 0 0 1 0 0 1 0 0 0 1 1 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 1 1 0 1 1 0 0 1 1 1 0 0 0 1 1 1 1 0 1 1 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 1 1 0 0 1 0 0 0 0 0 1 1 1 0 1 0 1 1 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 1 1 0 1 0 0 1 0 0 1 0 0 0 1 0 1 0 1 0 1 0 1 0 0 1 1 1 1 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 1 1 0 1 1 0 1 0 1 0 0 0 1 0 0 0 1 0 1 0 0 0 1 0 1 0 0 1 0 0 1 1 0 0 0 0 1 1 0 0 0 1 0 0 1 0 0 0 0 0 1 0 0 0 1 0 1 0 0 0 0 0 0 0 1 1 1 1 0 0 1 1 0 0 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 0 1 0 1 0 0 0 0 0 0 1 0 1 1 1 0 0 1 0 0 0 1 0 0 0 0 1 1 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 1 1 1 0 1 0 0 0 0 0 0 1 1 0 1 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 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 1 1 1 1 1 0 1 0 0 0 0 0 0 1 1 0 1 1 1 0 1 0 0 1 0 0 0 0 0 0 1 0 1 1 0 0 1 1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 0 0 1 0 0 0 1 1 0 1 1 0 1 1 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 1 1 0 1 1 0 1 1 0 0 1 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 1 1 0 1 0 0 0 0 1 0 1 1 0 1 1 0 1 1 0 0 1 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 1 1 0 0 0 0 1 0 Occupation table complementary for group 9 1 0 0 0 0 1 1 0 0 0 0 1 1 0 1 1 0 0 0 0 0 0 1 0 0 1 1 0 0 0 1 0 1 0 0 0 1 0 1 0 0 0 1 2 0 1 0 0 1 1 0 3 1 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 1 0 1 1 1 1 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 1 0 0 2 1 1 0 0 0 1 3 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 1 1 0 1 1 0 0 1 1 1 0 0 0 1 1 1 1 0 1 1 0 0 1 1 1 0 0 0 0 3 0 0 0 0 0 1 0 0 2 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 1 1 0 0 1 0 0 0 0 0 1 1 1 0 1 0 1 1 0 0 0 0 1 0 1 0 0 3 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 2 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 1 1 0 1 0 0 1 0 0 1 0 0 0 1 0 1 0 1 0 1 0 1 3 0 1 1 1 1 0 0 0 1 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 2 0 0 0 0 0 0 1 1 0 1 1 0 1 0 1 0 0 0 1 0 0 0 1 3 1 0 0 0 1 0 1 0 0 1 0 0 1 1 0 0 1 0 1 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 1 0 1 2 0 0 0 0 0 0 1 1 1 1 0 0 1 1 0 3 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 1 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 1 0 1 2 0 0 0 0 0 1 0 1 1 1 0 0 1 0 0 0 1 0 0 0 0 1 1 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 2 0 0 0 0 0 1 1 3 1 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 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 0 1 1 1 0 1 2 0 0 0 0 0 1 1 3 1 1 1 0 1 0 0 1 0 0 0 0 0 0 1 0 1 1 0 0 1 1 0 0 0 0 0 0 1 1 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 2 0 0 0 0 0 1 1 3 1 1 0 1 1 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 2 0 0 0 0 0 1 1 3 1 1 0 1 1 0 0 1 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 1 1 0 1 2 0 0 0 0 0 1 1 3 1 1 0 1 1 0 0 1 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 1 1 2 0 0 0 0 0 Alternative solution of group 9 Mulirobot solution: (|moves| = 11, paralellism = 1.000) [ Step 0: 1#41->33 Step 1: 1#33->41 Step 2: 1#41->49 Step 3: 1#49->41 Step 4: 1#41->42 Step 5: 1#42->43 Step 6: 1#43->44 Step 7: 1#44->52 Step 8: 1#52->60 Step 9: 1#60->61 Step 10: 1#61->62 ] 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 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 3 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 0 0 0 0 3 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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0 0 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 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 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 3 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 0 0 0 0 3 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 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 1 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 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 1 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 Groups 1 and 12 collide. Solution of group 1 Mulirobot solution: (|moves| = 13, paralellism = 1.857) [ Step 0: 1#36->35 3#51->50 Step 1: 2#43->51 3#50->42 Step 2: 2#51->50 3#42->34 Step 3: 2#50->58 3#34->26 Step 4: 3#26->18 Step 5: 1#35->34 3#18->10 Step 6: 1#34->33 3#10->2 ] Solution of group 12 Mulirobot solution: (|moves| = 8, paralellism = 1.000) [ Step 0: 1#30->22 Step 1: 1#22->14 Step 2: 1#14->6 Step 3: 1#6->5 Step 4: 1#5->4 Step 5: 1#4->3 Step 6: 1#3->2 Step 7: 1#2->1 ] Occupation table complementary for group 1 1 0 0 0 0 1 1 0 0 0 0 1 1 0 1 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 0 0 1 0 0 1 1 0 0 1 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 1 0 1 1 1 1 0 0 1 0 0 1 0 0 1 1 0 0 1 0 0 1 0 0 0 1 1 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 1 1 0 1 1 0 0 1 1 1 0 0 0 1 1 1 1 0 1 1 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 1 1 0 0 1 0 0 0 0 0 1 1 1 0 1 0 1 1 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 1 1 0 1 0 0 1 0 0 1 0 0 0 1 0 1 0 1 0 1 0 1 0 0 1 1 1 1 0 0 0 0 0 1 0 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 1 1 0 1 1 0 1 0 1 0 0 0 1 0 0 0 1 0 1 0 0 0 1 0 1 0 0 1 0 0 1 1 0 0 0 0 1 1 0 0 0 1 0 0 1 0 0 0 0 0 1 0 0 0 1 0 1 0 0 0 0 0 0 0 1 1 1 1 0 0 1 1 0 0 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 0 1 0 1 0 0 0 0 0 0 1 0 1 1 1 0 0 1 0 0 0 1 0 0 0 0 1 1 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 1 1 1 0 1 0 0 0 0 0 0 1 1 0 1 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 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 1 1 1 1 1 0 1 0 0 0 0 0 0 1 1 0 1 1 1 0 1 0 0 1 0 0 0 0 0 0 1 0 1 1 0 0 1 1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 0 0 1 0 0 0 1 1 0 1 1 0 1 1 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 1 1 0 1 1 0 1 1 0 0 1 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 1 1 0 1 0 0 0 0 1 0 1 1 0 1 1 0 1 1 0 0 1 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 1 1 0 0 0 0 1 0 Occupation table complementary for group 12 1 0 0 0 0 1 1 0 0 0 0 1 1 0 1 1 0 0 0 0 0 0 1 0 0 1 1 0 0 0 0 0 1 0 0 0 1 0 1 0 0 1 1 2 0 1 0 0 1 1 0 3 1 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 1 0 1 0 1 1 0 0 1 0 0 1 0 0 1 1 1 0 1 0 0 1 0 0 2 1 1 0 0 0 1 3 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 1 0 0 1 1 0 0 1 1 1 0 0 0 1 1 1 1 0 1 1 0 0 1 1 1 0 0 0 1 3 0 0 0 0 0 1 0 0 2 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 1 0 0 0 0 0 1 1 1 0 1 0 1 1 0 0 0 0 1 0 1 0 0 3 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 2 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 0 1 0 1 0 1 0 1 0 1 3 0 1 1 1 1 0 0 0 1 0 1 0 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 2 0 0 0 0 0 0 1 1 0 1 1 0 1 0 1 0 0 0 1 0 0 0 1 3 1 0 0 0 1 0 1 0 0 1 0 0 1 1 0 0 1 0 1 1 0 0 0 1 0 0 1 0 0 0 0 0 1 0 0 0 1 0 1 2 0 0 0 0 0 0 1 1 0 1 0 0 1 1 0 3 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 1 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 0 1 0 1 2 0 0 0 0 0 1 0 3 1 1 0 0 1 0 0 0 1 0 0 0 0 1 1 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 1 1 1 0 1 2 0 0 0 0 0 1 0 3 1 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 1 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 1 1 1 0 1 2 0 0 0 0 0 1 0 3 1 1 1 0 1 0 0 1 0 0 0 0 0 0 1 0 1 1 0 0 1 1 0 0 0 0 0 0 1 1 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 2 0 1 0 0 0 1 0 3 1 1 0 1 1 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 1 2 0 0 1 0 0 1 0 3 1 1 0 1 1 0 0 1 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 1 1 0 1 2 0 0 0 1 0 1 0 3 1 1 0 1 1 0 0 1 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 1 1 2 0 0 0 1 0 Unable to resolve collision between groups 1 and 12. Merging groups 1 and 12. Searching solution for merged group 1+12. Open/close/exp size (steps): 90735/50021/90735 (1579125) Open/close/exp size (steps): 467162/365871/467162 (1894975) 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 = [ 24 ] 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) = 3.674 CPU/machine TIME (seconds) = 3.670 ] 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 = 7866955 Produced CNF variables = 0 Produced CNF clauses = 0 Search steps = 0 Wall clock TIME (seconds) = 64.014 CPU/machine TIME (seconds) = 64.010 ] } ] ----------------------------------------------------------------