================================================================ 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| = 26, |V| = 64) [ robot locations: {1#5 2#45 3#12 4#58 5#8 6#11 7#32 8#25 9#22 10#44 11#6 12#55 13#31 14#61 15#7 16#26 17#13 18#48 19#30 20#33 21#46 22#56 23#35 24#62 25#10 26#18 } vertex occupancy: {0#0 0#1 0#2 0#3 0#4 1#5 11#6 15#7 5#8 0#9 25#10 6#11 3#12 17#13 0#14 0#15 0#16 0#17 26#18 0#19 0#20 0#21 9#22 0#23 0#24 8#25 16#26 0#27 0#28 0#29 19#30 13#31 7#32 20#33 0#34 23#35 0#36 0#37 0#38 0#39 0#40 0#41 0#42 0#43 10#44 2#45 21#46 0#47 18#48 0#49 0#50 0#51 0#52 0#53 0#54 12#55 22#56 0#57 4#58 0#59 0#60 14#61 24#62 0#63 } ] Robot arrangement: (|R| = -1, |V| = 0) [ robot locations: {} vertex occupancy: {} ] Robot goal: (|R| = 26, |V| = 64) [ robot goals: { 1#{17} 2#{9} 3#{30} 4#{56} 5#{15} 6#{0} 7#{7} 8#{32} 9#{36} 10#{53} 11#{26} 12#{54} 13#{1} 14#{16} 15#{40} 16#{2} 17#{29} 18#{62} 19#{21} 20#{3} 21#{23} 22#{22} 23#{19} 24#{55} 25#{28} 26#{14} } vertex compatibilities: { 0@{6} 1@{13} 2@{16} 3@{20} 4@{} 5@{} 6@{} 7@{7} 8@{} 9@{2} 10@{} 11@{} 12@{} 13@{} 14@{26} 15@{5} 16@{14} 17@{1} 18@{} 19@{23} 20@{} 21@{19} 22@{22} 23@{21} 24@{} 25@{} 26@{11} 27@{} 28@{25} 29@{17} 30@{3} 31@{} 32@{8} 33@{} 34@{} 35@{} 36@{9} 37@{} 38@{} 39@{} 40@{15} 41@{} 42@{} 43@{} 44@{} 45@{} 46@{} 47@{} 48@{} 49@{} 50@{} 51@{} 52@{} 53@{10} 54@{12} 55@{24} 56@{4} 57@{} 58@{} 59@{} 60@{} 61@{} 62@{18} 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): 33/13/33 (14) Open/close/exp size (steps): 5/1/5 (20) Open/close/exp size (steps): 32/9/32 (28) Open/close/exp size (steps): 52/19/52 (38) Open/close/exp size (steps): 70/31/70 (50) Open/close/exp size (steps): 1/0/1 (65) Open/close/exp size (steps): 14/4/14 (83) Open/close/exp size (steps): 58/26/58 (105) Open/close/exp size (steps): 102/53/102 (132) Open/close/exp size (steps): 31/11/31 (165) Open/close/exp size (steps): 51/23/51 (205) Open/close/exp size (steps): 66/30/66 (253) Open/close/exp size (steps): 66/32/66 (311) Open/close/exp size (steps): 5/1/5 (381) Open/close/exp size (steps): 108/60/108 (465) 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 5 collide. Solution of group 0 Mulirobot solution: (|moves| = 6, paralellism = 1.000) [ Step 0: 1#5->4 Step 1: 1#4->3 Step 2: 1#3->2 Step 3: 1#2->1 Step 4: 1#1->9 Step 5: 1#9->17 ] Solution of group 5 Mulirobot solution: (|moves| = 4, paralellism = 1.000) [ Step 0: 1#11->3 Step 1: 1#3->2 Step 2: 1#2->1 Step 3: 1#1->0 ] Occupation table complementary for group 0 0 0 0 0 0 0 1 1 1 0 1 1 1 1 0 0 0 0 1 0 0 0 1 0 0 1 1 0 0 0 1 1 1 1 0 1 0 0 0 0 0 0 0 0 1 1 1 0 1 0 0 0 0 0 0 1 1 0 1 0 0 1 1 0 0 0 0 1 0 1 1 0 0 1 1 1 0 1 0 0 0 0 1 0 0 1 1 0 1 1 0 1 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 1 1 1 0 1 0 1 1 0 1 1 1 1 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 1 1 0 1 1 0 1 0 0 0 0 1 1 1 1 0 0 0 0 0 1 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 1 1 1 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 1 0 1 0 1 1 0 0 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 0 0 0 0 0 0 0 1 1 1 0 0 1 0 0 0 0 1 0 1 1 1 0 1 0 0 1 0 1 0 1 0 0 0 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 0 0 1 1 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 1 1 0 1 0 0 0 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 0 0 0 1 1 0 0 1 1 0 1 0 1 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 1 0 1 1 1 0 0 0 1 1 0 0 0 0 1 1 0 0 1 1 0 1 0 1 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 1 1 1 1 0 1 0 0 0 1 0 0 0 0 1 1 1 1 0 1 1 1 0 1 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 1 1 1 1 0 0 1 0 0 1 0 0 0 0 1 1 1 0 0 1 0 1 0 1 1 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 1 1 1 1 0 0 0 1 0 1 0 0 0 0 1 1 1 0 0 1 0 1 1 1 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 1 1 1 1 0 0 0 1 0 1 0 0 0 0 1 1 1 0 0 1 0 1 1 1 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 Occupation table complementary for group 5 0 0 0 0 0 1 1 1 1 0 1 0 1 1 0 0 0 0 1 0 0 0 1 0 0 1 1 0 0 0 1 1 1 1 0 1 0 0 0 0 0 0 0 0 1 1 1 0 1 0 0 0 0 0 0 1 1 0 1 0 0 1 1 0 0 0 0 0 1 1 1 0 0 1 1 1 0 1 0 0 0 0 1 0 0 1 1 0 1 1 0 1 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 1 1 1 0 1 0 1 1 0 1 1 1 1 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 1 1 0 1 1 0 1 0 0 0 0 1 1 1 1 0 0 0 0 0 1 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 1 1 1 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 1 0 1 0 1 1 0 0 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 0 1 1 0 1 1 1 0 1 0 0 1 0 1 0 1 0 0 0 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 1 1 0 1 0 0 0 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 0 0 0 1 1 0 1 1 1 0 1 0 1 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 0 0 1 1 1 0 0 0 1 1 0 0 0 0 1 1 0 1 1 1 0 1 0 1 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 0 1 1 1 0 1 0 0 0 1 0 0 0 0 1 1 1 1 0 1 1 1 0 1 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 0 1 1 1 0 0 1 0 0 1 0 0 0 0 1 1 1 1 0 1 0 1 0 1 1 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 0 1 1 1 0 0 0 1 0 1 0 0 0 0 1 1 1 1 0 1 0 1 1 1 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 0 1 1 1 0 0 0 1 0 1 0 0 0 0 1 1 1 1 0 1 0 1 1 1 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 Unable to resolve collision between groups 0 and 5. Merging groups 0 and 5. Searching solution for merged group 0+5. Open/close/exp size (steps): 156/72/156 (566) Open/close/exp size (steps): 329/194/329 (688) Open/close/exp size (steps): 516/341/516 (835) Open/close/exp size (steps): 668/518/668 (1012) Open/close/exp size (steps): 883/731/883 (1225) 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 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Groups 0 and 4 collide. Solution of group 0 Mulirobot solution: (|moves| = 10, paralellism = 1.667) [ Step 0: 1#5->4 2#11->3 Step 1: 1#4->12 2#3->2 Step 2: 1#12->11 2#2->1 Step 3: 1#11->10 2#1->0 Step 4: 1#10->9 Step 5: 1#9->17 ] Solution of group 4 Mulirobot solution: (|moves| = 7, paralellism = 1.000) [ Step 0: 1#8->9 Step 1: 1#9->10 Step 2: 1#10->11 Step 3: 1#11->12 Step 4: 1#12->13 Step 5: 1#13->14 Step 6: 1#14->15 ] Occupation table complementary for group 0 0 0 0 0 0 0 1 1 1 0 1 0 1 1 0 0 0 0 1 0 0 0 1 0 0 1 1 0 0 0 1 1 1 1 0 1 0 0 0 0 0 0 0 0 1 1 1 0 1 0 0 0 0 0 0 1 1 0 1 0 0 1 1 0 0 0 0 0 0 1 1 0 0 1 1 1 0 1 0 0 0 0 1 0 0 1 1 0 1 1 0 1 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 1 1 0 1 0 1 1 0 1 1 1 1 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 1 1 0 1 1 0 1 0 0 0 0 1 1 1 1 0 0 0 0 0 1 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 1 1 1 1 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 1 0 1 0 1 1 0 0 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 1 0 1 1 1 0 1 0 0 1 0 1 0 1 0 0 0 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 1 1 0 1 0 0 0 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 0 0 0 1 1 0 0 1 1 0 1 0 1 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 0 0 1 1 1 0 0 0 1 1 0 0 0 0 1 1 0 0 1 1 0 1 0 1 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 0 1 1 1 0 1 0 0 0 1 0 0 0 0 1 1 1 1 0 1 1 1 0 1 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 0 1 1 1 0 0 1 0 0 1 0 0 0 0 1 1 1 0 0 1 0 1 0 1 1 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 0 1 1 1 0 0 0 1 0 1 0 0 0 0 1 1 1 0 0 1 0 1 1 1 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 0 1 1 1 0 0 0 1 0 1 0 0 0 0 1 1 1 0 0 1 0 1 1 1 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 Occupation table complementary for group 4 0 0 0 0 0 1 1 1 0 0 1 2 1 1 0 0 0 0 1 0 0 0 1 0 0 1 1 0 0 0 1 1 1 1 0 1 0 0 0 0 0 0 0 0 1 1 1 0 1 0 0 0 0 0 0 1 1 0 1 0 0 1 1 0 0 0 0 2 1 1 1 0 0 0 1 1 0 1 0 0 0 0 1 0 0 1 1 0 1 1 0 1 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 2 0 1 1 0 0 0 0 1 1 1 0 1 0 1 1 0 1 1 1 1 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0 2 1 1 1 0 0 0 1 1 0 1 1 0 1 0 0 0 0 1 1 1 1 0 0 0 0 0 1 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 1 1 1 1 0 0 1 0 0 0 1 0 0 1 0 0 0 0 0 1 0 1 0 1 1 0 0 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 0 0 0 0 0 0 0 2 1 1 0 0 1 0 0 0 1 1 0 1 0 1 0 1 0 0 1 0 1 0 1 0 0 0 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 0 0 2 1 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 1 1 0 1 0 0 0 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 1 1 1 0 1 0 1 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 2 0 1 1 1 0 0 0 1 1 0 0 0 0 1 0 0 1 1 1 0 1 0 1 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 2 1 1 1 0 1 0 0 0 1 0 0 0 0 1 0 1 1 0 1 1 1 0 1 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 2 1 1 1 0 0 1 0 0 1 0 0 0 0 1 0 1 1 0 1 0 1 0 1 1 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 2 1 1 1 0 0 0 1 0 1 0 0 0 0 1 0 1 1 0 1 0 1 1 1 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 2 1 1 1 0 0 0 1 0 1 0 0 0 0 1 0 1 1 0 1 0 1 1 1 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 ** Open/close/exp size (steps): 3/1/3 (2) ** Open/close/exp size (steps): 1/4/1 (5) Unable to resolve collision between groups 0 and 4. Merging groups 0 and 4. Searching solution for merged group 0+4. Open/close/exp size (steps): 60/18/60 (1481) Open/close/exp size (steps): 856/326/856 (1789) Open/close/exp size (steps): 1303/696/1303 (2159) Open/close/exp size (steps): 1847/1140/1847 (2603) Open/close/exp size (steps): 2599/1673/2599 (3136) Open/close/exp size (steps): 3464/2313/3464 (3776) Open/close/exp size (steps): 4467/3081/4467 (4544) Open/close/exp size (steps): 5541/4003/5541 (5466) Open/close/exp size (steps): 6611/5110/6611 (6573) Open/close/exp size (steps): 7963/6439/7963 (7902) Open/close/exp size (steps): 9615/8034/9615 (9497) Open/close/exp size (steps): 11166/9948/11166 (11411) Open/close/exp size (steps): 13755/12245/13755 (13708) Open/close/exp size (steps): 16636/15002/16636 (16465) Open/close/exp size (steps): 20046/18311/20046 (19774) Open/close/exp size (steps): 23599/22282/23599 (23745) Open/close/exp size (steps): 24469/27048/24469 (28511) Open/close/exp size (steps): 34246/32768/34246 (34231) Open/close/exp size (steps): 33388/39632/33388 (41095) Open/close/exp size (steps): 33820/47869/33820 (49332) Open/close/exp size (steps): 30207/57754/30207 (59217) Open/close/exp size (steps): 25585/69616/25585 (71079) Open/close/exp size (steps): 36897/83851/36897 (85314) Open/close/exp size (steps): 52114/100933/52114 (102396) Open/close/exp size (steps): 61217/121432/61217 (122895) Open/close/exp size (steps): 60710/146031/60710 (147494) Open/close/exp size (steps): 70092/175550/70092 (177013) Open/close/exp size (steps): 71393/210973/71393 (212436) Open/close/exp size (steps): 84772/253481/84772 (254944) 0 0 0 0 0 1 0 0 2 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 0 0 0 0 0 0 3 0 1 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 3 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 0 0 0 0 0 0 0 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 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 3 0 1 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 1 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 0 3 0 0 0 0 0 0 0 0 1 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 2 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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| = 17, paralellism = 2.429) [ Step 0: 2#8->9 3#11->3 Step 1: 1#5->4 2#9->10 3#3->2 Step 2: 1#4->3 2#10->11 3#2->1 Step 3: 1#3->2 2#11->12 3#1->0 Step 4: 1#2->1 2#12->13 Step 5: 1#1->9 2#13->14 Step 6: 1#9->17 2#14->15 ] Solution of group 1 Mulirobot solution: (|moves| = 8, paralellism = 1.000) [ Step 0: 1#45->37 Step 1: 1#37->29 Step 2: 1#29->21 Step 3: 1#21->13 Step 4: 1#13->12 Step 5: 1#12->11 Step 6: 1#11->10 Step 7: 1#10->9 ] Occupation table complementary for group 0 0 0 0 0 0 0 1 1 0 0 1 0 1 1 0 0 0 0 1 0 0 0 1 0 0 1 1 0 0 0 1 1 1 1 0 1 0 0 0 0 0 0 0 0 1 1 1 0 1 0 0 0 0 0 0 1 1 0 1 0 0 1 1 0 0 0 0 0 0 1 1 0 0 0 1 1 0 1 0 0 0 0 1 0 0 1 1 0 1 1 0 1 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 1 1 0 1 0 1 1 0 1 1 1 1 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 1 1 0 0 1 0 1 0 0 0 0 1 1 1 1 0 0 0 0 0 1 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 1 1 1 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 0 1 1 0 0 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 1 0 1 0 1 0 1 0 0 1 0 1 0 1 0 0 0 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 1 1 0 1 0 0 0 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 1 1 0 1 0 1 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 0 0 1 1 1 0 0 0 1 1 0 0 0 0 1 0 0 0 1 1 0 1 0 1 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 0 1 1 1 0 1 0 0 0 1 0 0 0 0 1 0 1 1 0 1 1 1 0 1 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 0 1 1 1 0 0 1 0 0 1 0 0 0 0 1 0 1 0 0 1 0 1 0 1 1 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 0 1 1 1 0 0 0 1 0 1 0 0 0 0 1 0 1 0 0 1 0 1 1 1 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 0 1 1 1 0 0 0 1 0 1 0 0 0 0 1 0 1 0 0 1 0 1 1 1 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 Occupation table complementary for group 1 0 0 0 0 0 1 1 1 2 0 1 3 1 1 0 0 0 0 1 0 0 0 1 0 0 1 1 0 0 0 1 1 1 1 0 1 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 1 1 0 1 0 0 1 1 0 0 0 0 3 0 1 1 0 0 2 1 1 0 1 0 0 0 0 1 0 0 1 1 0 1 1 0 1 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 3 0 1 1 0 0 0 0 1 1 1 0 1 0 1 1 0 1 1 1 1 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0 3 1 1 1 0 0 0 1 1 0 2 1 0 1 0 0 0 0 1 1 1 1 0 0 0 0 0 1 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 0 1 1 1 1 0 0 1 0 0 0 0 0 2 1 0 0 0 0 0 1 0 1 0 1 1 0 0 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 0 0 0 0 0 0 0 3 1 1 0 0 1 0 0 0 0 1 0 0 2 1 0 1 0 0 1 0 1 0 1 0 0 0 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 0 0 3 1 1 1 1 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 1 1 0 1 0 0 0 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 2 0 1 1 1 0 1 0 1 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 3 0 1 1 1 0 0 0 1 0 0 0 0 0 1 2 0 1 1 1 0 1 0 1 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 3 1 1 1 0 1 0 0 0 0 0 0 0 0 1 2 1 1 0 1 1 1 0 1 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 3 1 1 1 0 0 1 0 0 0 0 0 0 0 1 2 1 1 0 1 0 1 0 1 1 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 3 1 1 1 0 0 0 1 0 0 0 0 0 0 1 2 1 1 0 1 0 1 1 1 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 3 1 1 1 0 0 0 1 0 0 0 0 0 0 1 2 1 1 0 1 0 1 1 1 0 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 Unable to resolve collision between groups 0 and 1. Merging groups 0 and 1. Searching solution for merged group 0+1. Open/close/exp size (steps): 36338/25838/36338 (305954) Open/close/exp size (steps): 156690/87050/156690 (367166) Open/close/exp size (steps): 231625/160505/231625 (440621) Open/close/exp size (steps): 309604/248651/309604 (528767) Open/close/exp size (steps): 404873/354427/404873 (634543) Open/close/exp size (steps): 429881/481359/429881 (761475) Open/close/exp size (steps): 786853/633678/786853 (913794) Open/close/exp size (steps): 995722/816461/995722 (1096577) Open/close/exp size (steps): 1214634/1035801/1214634 (1315917) Open/close/exp size (steps): 1471112/1299009/1471112 (1579125) Open/close/exp size (steps): 1771447/1614859/1771447 (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 = [ 25 ] 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) = 8.302 CPU/machine TIME (seconds) = 8.300 ] 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 = 6272264 Produced CNF variables = 0 Produced CNF clauses = 0 Search steps = 0 Wall clock TIME (seconds) = 64.010 CPU/machine TIME (seconds) = 64.010 ] } ] ----------------------------------------------------------------