================================================================ 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| = 29, |V| = 64) [ robot locations: {1#51 2#33 3#19 4#5 5#14 6#21 7#13 8#6 9#62 10#52 11#17 12#4 13#48 14#23 15#40 16#58 17#46 18#37 19#38 20#8 21#61 22#28 23#27 24#47 25#35 26#11 27#22 28#18 29#57 } vertex occupancy: {0#0 0#1 0#2 0#3 12#4 4#5 8#6 0#7 20#8 0#9 0#10 26#11 0#12 7#13 5#14 0#15 0#16 11#17 28#18 3#19 0#20 6#21 27#22 14#23 0#24 0#25 0#26 23#27 22#28 0#29 0#30 0#31 0#32 2#33 0#34 25#35 0#36 18#37 19#38 0#39 15#40 0#41 0#42 0#43 0#44 0#45 17#46 24#47 13#48 0#49 0#50 1#51 10#52 0#53 0#54 0#55 0#56 29#57 16#58 0#59 0#60 21#61 9#62 0#63 } ] Robot arrangement: (|R| = -1, |V| = 0) [ robot locations: {} vertex occupancy: {} ] Robot goal: (|R| = 29, |V| = 64) [ robot goals: { 1#{13} 2#{2} 3#{54} 4#{18} 5#{29} 6#{31} 7#{52} 8#{41} 9#{15} 10#{27} 11#{55} 12#{4} 13#{40} 14#{11} 15#{56} 16#{36} 17#{48} 18#{33} 19#{53} 20#{44} 21#{25} 22#{59} 23#{35} 24#{14} 25#{17} 26#{58} 27#{61} 28#{19} 29#{6} } vertex compatibilities: { 0@{} 1@{} 2@{2} 3@{} 4@{12} 5@{} 6@{29} 7@{} 8@{} 9@{} 10@{} 11@{14} 12@{} 13@{1} 14@{24} 15@{9} 16@{} 17@{25} 18@{4} 19@{28} 20@{} 21@{} 22@{} 23@{} 24@{} 25@{21} 26@{} 27@{10} 28@{} 29@{5} 30@{} 31@{6} 32@{} 33@{18} 34@{} 35@{23} 36@{16} 37@{} 38@{} 39@{} 40@{13} 41@{8} 42@{} 43@{} 44@{20} 45@{} 46@{} 47@{} 48@{17} 49@{} 50@{} 51@{} 52@{7} 53@{19} 54@{3} 55@{11} 56@{15} 57@{} 58@{26} 59@{22} 60@{} 61@{27} 62@{} 63@{} } ] Open/close/exp size (steps): 5/1/5 (2) Open/close/exp size (steps): 17/4/17 (5) Open/close/exp size (steps): 28/8/28 (9) Open/close/exp size (steps): 38/13/38 (14) Open/close/exp size (steps): 52/19/52 (20) Open/close/exp size (steps): 17/4/17 (28) Open/close/exp size (steps): 17/4/17 (38) Open/close/exp size (steps): 45/16/45 (50) Open/close/exp size (steps): 14/4/14 (65) Open/close/exp size (steps): 5/1/5 (83) Open/close/exp size (steps): 27/10/27 (105) Open/close/exp size (steps): 78/37/78 (132) Open/close/exp size (steps): 35/14/35 (165) Open/close/exp size (steps): 74/31/74 (205) Open/close/exp size (steps): 29/9/29 (253) Open/close/exp size (steps): 66/30/66 (311) Open/close/exp size (steps): 24/7/24 (381) Open/close/exp size (steps): 106/53/106 (465) 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 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 0 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->12 Step 6: 1#12->13 ] Solution of group 9 Mulirobot solution: (|moves| = 4, paralellism = 1.000) [ Step 0: 1#52->44 Step 1: 1#44->36 Step 2: 1#36->28 Step 3: 1#28->27 ] Occupation table complementary for group 0 0 0 0 0 1 1 1 0 1 0 0 1 0 1 1 0 0 1 1 1 0 1 1 1 0 0 0 1 1 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 0 1 1 1 0 0 0 1 0 0 0 0 1 1 0 0 1 1 0 0 0 0 1 1 1 0 0 0 1 1 0 1 1 0 0 0 0 1 1 1 1 1 0 0 1 0 1 0 0 0 0 0 0 0 1 1 1 0 0 1 0 0 0 1 1 1 0 1 1 1 0 0 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 0 1 1 1 1 1 0 1 0 0 0 0 0 1 0 0 0 0 0 1 1 0 1 0 1 1 1 0 1 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 1 0 1 0 1 0 0 0 0 1 1 1 0 1 0 0 0 1 0 1 1 1 1 0 1 1 1 0 1 1 0 1 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 1 1 0 0 1 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 0 1 0 0 1 0 0 0 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 1 0 1 0 0 0 0 1 1 1 0 1 0 1 0 1 1 0 1 0 1 1 1 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 0 1 0 0 1 1 1 0 0 0 1 0 0 0 1 1 1 0 1 0 1 0 1 1 0 0 0 1 0 0 0 0 0 1 0 0 0 1 0 1 1 0 0 1 0 0 1 0 1 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 0 1 1 0 1 1 1 0 0 0 0 0 0 1 1 0 1 0 1 0 1 0 1 1 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 1 1 1 0 1 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 1 1 0 1 1 1 0 0 0 0 0 1 0 1 0 1 0 1 0 1 0 1 1 0 0 1 1 0 0 0 1 0 0 0 1 0 0 0 1 1 1 0 1 0 1 1 0 1 0 0 0 0 1 1 1 0 0 0 0 0 0 1 0 0 1 1 0 1 1 1 0 0 0 0 0 1 0 1 0 1 0 1 0 1 0 1 1 0 0 0 1 0 0 0 1 0 0 1 1 0 0 0 1 1 1 0 1 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 1 1 0 1 1 1 0 0 0 0 0 1 0 1 0 1 0 1 0 1 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 1 1 1 1 1 0 1 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 0 1 0 0 1 1 0 1 1 1 0 0 0 0 0 1 0 1 0 1 0 1 0 1 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 1 1 1 1 1 0 1 1 0 1 0 0 0 0 1 0 1 0 1 0 0 0 0 1 0 0 1 1 0 1 1 1 0 0 0 0 0 1 0 1 0 1 0 1 0 1 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 1 1 1 1 1 0 1 1 0 1 0 0 ** Open/close/exp size (steps): 3/1/3 (2) ** Open/close/exp size (steps): 4/4/4 (5) ** Open/close/exp size (steps): 5/8/5 (9) ** Open/close/exp size (steps): 7/13/7 (14) ** Open/close/exp size (steps): 8/19/8 (20) ** Open/close/exp size (steps): 8/27/8 (28) ** Open/close/exp size (steps): 9/37/9 (38) ** Open/close/exp size (steps): 18/49/18 (50) ** Open/close/exp size (steps): 8/64/8 (65) ** Open/close/exp size (steps): 7/82/7 (83) Occupation table complementary for group 9 0 0 0 0 1 1 1 0 1 0 0 1 0 1 1 0 0 1 1 1 0 1 1 1 0 0 0 1 1 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 0 1 1 1 0 0 1 0 0 0 0 0 1 1 0 0 1 1 0 0 0 0 1 1 1 0 0 0 1 1 0 1 1 0 0 0 0 1 1 1 1 1 0 0 1 0 1 0 0 0 0 0 0 0 1 1 1 0 0 1 0 0 1 0 1 1 0 1 1 1 0 0 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 0 1 1 1 1 1 0 1 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 1 1 1 0 1 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 1 0 1 0 1 0 0 0 0 1 1 1 0 1 0 0 0 1 1 1 1 1 1 0 1 1 1 0 1 1 0 1 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 1 1 0 0 1 0 0 0 1 1 1 0 1 1 1 1 0 0 0 1 0 1 0 0 1 0 0 0 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 1 0 1 0 0 0 0 0 1 1 0 1 0 1 0 1 1 0 1 0 1 1 1 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 1 0 1 1 0 1 0 0 1 1 1 0 0 0 1 0 0 0 1 1 1 0 1 0 1 0 1 1 0 0 0 1 0 0 0 0 0 1 0 0 0 1 0 1 1 0 0 1 0 0 1 0 1 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 1 1 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 1 0 1 0 1 1 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 1 1 1 0 1 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 1 1 1 0 1 1 1 0 0 0 0 0 1 0 0 0 1 0 1 0 1 0 1 1 0 0 1 1 0 0 0 1 0 0 0 1 0 0 0 1 1 1 0 1 0 1 1 0 1 0 0 0 0 1 1 1 0 0 0 0 0 0 1 0 1 1 1 0 1 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 0 1 0 0 1 1 0 0 0 1 1 1 0 1 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 1 1 1 0 1 1 1 0 0 0 0 0 1 0 0 0 1 0 1 0 1 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 1 1 1 1 1 0 1 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 0 1 0 1 1 1 0 1 1 1 0 0 0 0 0 1 0 0 0 1 0 1 0 1 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 1 1 1 1 1 0 1 1 0 1 0 0 0 0 1 0 1 0 1 0 0 0 0 1 0 1 1 1 0 1 1 1 0 0 0 0 0 1 0 0 0 1 0 1 0 1 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 1 1 1 1 1 0 1 1 0 1 0 0 ** Open/close/exp size (steps): 8/12/8 (105) Alternative solution of group 9 Mulirobot solution: (|moves| = 10, paralellism = 0.909) [ Step 0: Step 1: 1#52->51 Step 2: 1#51->50 Step 3: 1#50->49 Step 4: 1#49->48 Step 5: 1#48->49 Step 6: 1#49->41 Step 7: 1#41->42 Step 8: 1#42->34 Step 9: 1#34->26 Step 10: 1#26->27 ] 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 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 0 0 Collision between groups 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 13 collide. Solution of group 0 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->12 Step 6: 1#12->13 ] Solution of group 13 Mulirobot solution: (|moves| = 5, paralellism = 1.000) [ Step 0: 1#23->22 Step 1: 1#22->14 Step 2: 1#14->13 Step 3: 1#13->12 Step 4: 1#12->11 ] Occupation table complementary for group 0 0 0 0 0 1 1 1 0 1 0 0 1 0 1 1 0 0 1 1 1 0 1 1 1 0 0 0 1 1 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 0 1 1 1 0 0 0 1 0 0 0 0 1 1 0 0 1 1 0 0 0 0 1 1 1 0 0 0 1 1 0 1 1 0 0 0 0 1 1 1 1 1 0 0 1 0 1 0 0 0 0 0 0 0 1 1 1 0 0 1 0 0 0 0 1 1 0 1 1 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 0 1 1 1 1 1 0 1 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 1 1 1 0 1 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 1 0 1 0 1 0 0 0 0 1 1 1 0 1 0 0 0 1 0 1 1 1 1 0 1 1 1 0 1 1 0 1 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 1 1 0 0 1 0 0 0 1 1 1 0 1 1 1 1 0 0 0 1 0 1 0 0 1 0 0 0 1 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 1 0 1 0 0 0 0 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 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 0 1 0 0 1 1 1 0 0 0 1 0 0 0 1 1 1 0 1 0 1 0 1 1 0 0 0 1 0 0 0 0 0 1 0 0 1 1 0 1 1 0 0 1 0 0 1 0 1 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 0 1 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 1 0 1 0 1 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 1 1 0 1 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 1 1 0 1 1 1 0 0 0 0 0 1 0 0 0 1 0 1 0 1 0 1 1 0 0 1 1 0 1 0 1 0 0 0 1 0 0 0 1 1 1 0 1 0 1 1 0 1 0 0 0 0 1 1 1 0 0 0 0 0 0 1 0 0 1 1 0 1 1 1 0 0 0 0 0 1 0 0 0 1 0 1 0 1 1 1 1 0 0 0 1 0 0 0 1 0 0 1 1 0 0 0 1 1 1 0 1 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 1 1 0 1 1 1 0 0 0 0 0 1 1 0 0 1 0 1 0 1 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 1 1 1 1 1 0 1 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 0 1 0 0 1 1 0 1 1 1 0 0 0 0 0 1 0 1 0 1 0 1 0 1 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 1 1 1 1 1 0 1 1 0 1 0 0 0 0 1 0 1 0 1 0 0 0 0 1 0 0 1 1 0 1 1 1 0 0 0 0 0 1 0 1 0 1 0 1 0 1 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 1 1 1 1 1 0 1 1 0 1 0 0 ** Open/close/exp size (steps): 1/0/1 (132) ** Open/close/exp size (steps): 17/33/17 (165) Occupation table complementary for group 13 0 0 0 0 1 1 1 0 1 0 0 1 0 1 1 0 0 1 1 1 0 1 1 0 0 0 0 1 1 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 0 1 1 1 0 0 1 1 0 0 0 0 1 1 0 0 1 1 0 0 0 0 1 1 1 0 0 0 1 1 0 1 1 0 0 0 0 1 1 1 1 1 0 0 1 0 1 0 0 0 0 0 0 0 1 1 1 0 0 1 0 0 1 0 1 1 0 1 1 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 0 0 0 1 1 1 1 1 0 1 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 1 1 1 0 1 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 1 0 1 0 0 0 0 0 0 1 1 1 0 1 0 0 0 1 1 1 1 1 1 0 1 1 1 0 1 1 0 1 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 1 1 0 0 1 0 0 0 1 1 1 0 1 1 1 1 0 0 0 1 0 1 0 0 1 0 0 0 1 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 1 0 1 0 0 0 0 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 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 1 0 0 1 0 1 0 0 1 1 1 0 0 0 1 0 0 0 1 1 1 0 1 0 1 0 1 1 0 0 0 1 0 0 0 0 0 1 0 0 1 1 0 1 1 0 0 1 0 0 1 0 1 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 1 1 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 1 0 1 0 1 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 1 1 0 1 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 1 1 0 1 1 1 0 0 0 0 0 1 0 0 0 1 0 1 0 1 0 1 1 0 0 1 1 0 1 0 1 0 0 0 1 0 0 0 1 1 1 0 1 0 1 1 0 1 0 0 0 0 1 1 1 0 0 0 0 0 0 0 0 1 1 1 0 1 1 1 0 0 0 0 0 1 0 0 0 1 0 1 0 1 1 1 1 0 0 0 1 0 0 0 1 0 0 1 1 0 0 0 1 1 1 0 1 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 1 1 0 1 1 1 0 0 0 0 0 1 1 0 0 1 0 1 0 1 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 1 1 1 1 1 0 1 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 1 1 1 0 1 1 1 0 0 0 0 0 1 0 1 0 1 0 1 0 1 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 1 1 1 1 1 0 1 1 0 1 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 1 1 1 0 1 1 1 0 0 0 0 0 1 0 1 0 1 0 1 0 1 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 1 1 1 1 1 0 1 1 0 1 0 0 ** Open/close/exp size (steps): 10/13/10 (205) Alternative solution of group 13 Mulirobot solution: (|moves| = 9, paralellism = 1.000) [ Step 0: 1#23->15 Step 1: 1#15->14 Step 2: 1#14->13 Step 3: 1#13->5 Step 4: 1#5->13 Step 5: 1#13->21 Step 6: 1#21->20 Step 7: 1#20->12 Step 8: 1#12->11 ] 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 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->12 Step 6: 1#12->13 ] Solution of group 17 Mulirobot solution: (|moves| = 4, paralellism = 1.000) [ Step 0: 1#37->36 Step 1: 1#36->35 Step 2: 1#35->34 Step 3: 1#34->33 ] Occupation table complementary for group 0 0 0 0 0 1 1 1 0 1 0 0 1 0 1 1 0 0 1 1 1 0 1 1 1 0 0 0 1 1 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 0 1 1 1 0 0 0 1 0 0 0 0 1 1 0 0 1 1 0 0 0 0 1 1 1 0 0 0 1 1 0 1 1 0 1 0 0 1 1 1 1 1 0 0 1 0 1 0 0 0 0 0 0 0 1 1 1 0 0 1 0 0 0 0 1 1 0 1 1 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 0 1 1 1 1 1 0 1 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 1 1 1 0 1 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 1 0 1 0 1 0 0 0 0 1 1 1 0 1 0 0 0 1 0 1 1 1 1 0 1 1 1 0 1 1 0 1 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 1 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 1 1 0 0 1 0 0 0 1 1 1 0 1 1 1 1 0 0 0 1 0 1 0 0 1 0 0 0 1 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 1 1 0 0 1 1 1 1 0 1 0 0 0 0 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 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 1 0 1 0 0 0 1 1 1 0 1 0 1 0 1 1 0 0 0 1 0 0 0 0 0 1 0 0 1 1 0 1 1 0 0 1 0 0 1 0 1 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 0 1 1 0 1 1 1 1 0 0 0 0 0 1 0 0 1 0 1 0 1 0 1 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 1 1 0 1 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 1 0 1 1 0 1 1 1 0 0 0 0 0 1 0 0 0 1 0 1 0 1 0 1 1 0 0 1 1 0 1 0 1 0 0 0 1 0 0 0 1 1 1 0 1 0 1 1 0 1 0 0 0 0 1 1 1 0 0 0 0 0 0 1 0 0 1 1 0 1 1 1 0 0 0 0 0 1 0 0 0 1 0 1 0 1 1 1 1 0 0 0 1 0 0 0 1 0 0 1 1 0 0 0 1 1 1 0 1 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 1 1 0 1 1 1 0 0 0 0 0 1 1 0 0 1 0 1 0 1 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 1 1 1 1 1 0 1 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 0 1 0 0 1 1 0 1 1 1 0 0 0 0 0 1 0 1 0 1 0 1 0 1 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 1 1 1 1 1 0 1 1 0 1 0 0 0 0 1 0 1 0 1 0 0 0 0 1 0 0 1 1 0 1 1 1 0 0 0 0 0 1 0 1 0 1 0 1 0 1 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 1 1 1 1 1 0 1 1 0 1 0 0 ** Open/close/exp size (steps): 19/35/19 (253) Occupation table complementary for group 17 0 0 0 0 1 1 1 0 1 0 0 1 0 1 1 0 0 1 1 1 0 1 1 1 0 0 0 1 1 0 0 0 0 1 0 1 0 0 1 0 1 0 0 0 0 0 1 1 1 0 0 1 1 0 0 0 0 1 1 0 0 1 1 0 0 0 0 1 1 1 0 0 0 1 1 0 1 1 0 1 0 0 1 1 1 1 1 0 0 1 0 1 0 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 1 1 0 1 1 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 0 1 1 1 1 1 0 1 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 1 1 1 0 1 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 1 0 1 0 1 0 0 0 0 1 1 1 0 1 0 0 0 1 1 1 1 1 1 0 1 1 1 0 1 1 0 1 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 1 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 1 1 0 0 1 0 0 0 1 1 1 0 0 1 1 1 0 0 0 1 0 1 0 0 1 0 0 0 1 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 1 1 0 0 1 1 1 1 0 1 0 0 0 0 0 1 1 0 1 0 0 0 1 1 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 1 0 0 1 0 1 0 0 1 1 1 0 1 0 1 0 0 0 1 1 1 0 1 0 0 0 1 1 0 0 0 1 0 0 0 0 0 1 0 0 1 1 0 1 1 0 0 1 0 0 1 0 1 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 1 1 1 0 1 1 1 1 0 0 0 0 0 1 0 0 1 0 1 0 0 0 1 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 1 1 0 1 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 1 1 1 1 0 1 1 1 0 0 0 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 0 1 1 0 1 0 1 0 0 0 1 0 0 0 1 1 1 0 1 0 1 1 0 1 0 0 0 0 1 1 1 0 0 0 0 0 0 1 0 1 1 1 0 1 1 1 0 0 0 0 0 1 0 0 0 1 0 1 0 1 1 1 1 0 0 0 1 0 0 0 1 0 0 1 1 0 0 0 1 1 1 0 1 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 1 1 1 0 1 1 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 1 1 1 1 1 0 1 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 0 1 0 1 1 1 0 1 1 1 0 0 0 0 0 1 0 1 0 1 0 1 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 1 1 1 1 1 0 1 1 0 1 0 0 0 0 1 0 1 0 1 0 0 0 0 1 0 1 1 1 0 1 1 1 0 0 0 0 0 1 0 1 0 1 0 1 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 1 1 1 1 1 0 1 1 0 1 0 0 Unable to resolve collision between groups 0 and 17. Merging groups 0 and 17. Searching solution for merged group 0+17. Open/close/exp size (steps): 218/76/218 (566) Open/close/exp size (steps): 449/198/449 (688) Open/close/exp size (steps): 682/345/682 (835) Open/close/exp size (steps): 1029/522/1029 (1012) Open/close/exp size (steps): 1137/735/1137 (1225) Open/close/exp size (steps): 1404/991/1404 (1481) Open/close/exp size (steps): 1538/1299/1538 (1789) Open/close/exp size (steps): 1610/1669/1610 (2159) 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 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 0 0 0 0 0 0 0 0 0 1 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 0 1 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 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 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 0 0 0 0 0 0 0 0 0 1 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 0 1 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 Groups 0 and 6 collide. Solution of group 0 Mulirobot solution: (|moves| = 11, paralellism = 1.571) [ Step 0: 1#51->43 2#37->36 Step 1: 1#43->44 2#36->35 Step 2: 1#44->36 2#35->34 Step 3: 1#36->28 2#34->33 Step 4: 1#28->20 Step 5: 1#20->12 Step 6: 1#12->13 ] Solution of group 6 Mulirobot solution: (|moves| = 6, paralellism = 1.000) [ Step 0: 1#13->12 Step 1: 1#12->20 Step 2: 1#20->28 Step 3: 1#28->36 Step 4: 1#36->44 Step 5: 1#44->52 ] Occupation table complementary for group 0 0 0 0 0 1 1 1 0 1 0 0 1 0 1 1 0 0 1 1 1 0 1 1 1 0 0 0 1 1 0 0 0 0 1 0 1 0 0 1 0 1 0 0 0 0 0 1 1 1 0 0 0 1 0 0 0 0 1 1 0 0 1 1 0 0 0 0 1 1 1 0 0 0 1 1 0 1 1 0 1 0 0 1 1 1 1 1 0 0 1 0 1 0 0 0 0 0 0 0 1 0 1 0 0 1 0 0 0 0 1 1 0 1 1 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 0 1 1 1 1 1 0 1 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 1 1 1 0 1 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 1 0 1 0 1 0 0 0 0 1 1 1 0 1 0 0 0 1 0 1 1 1 1 0 1 1 1 0 1 1 0 1 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 1 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 1 1 0 0 1 0 0 0 1 1 1 0 0 1 1 1 0 0 0 1 0 1 0 0 1 0 0 0 1 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 1 1 0 0 1 1 1 1 0 1 0 0 0 0 0 1 1 0 1 0 0 0 1 1 0 1 0 1 1 1 0 1 0 0 0 1 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 1 0 1 0 0 0 1 1 1 0 1 0 0 0 1 1 0 0 0 1 0 0 0 0 0 1 0 0 1 1 0 1 1 0 0 1 0 0 1 0 1 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 0 1 1 0 1 1 1 1 0 0 0 0 0 1 0 0 1 0 1 0 0 0 1 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 1 1 0 1 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 1 0 1 1 0 1 1 1 0 0 0 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 0 1 1 0 1 0 1 0 0 0 1 0 0 0 1 1 1 0 1 0 1 1 0 1 0 0 0 0 1 1 1 0 0 0 0 0 0 1 0 0 1 1 0 1 1 1 0 0 0 0 0 1 0 0 0 1 0 1 0 1 1 1 1 0 0 0 1 0 0 0 1 0 0 1 1 0 0 0 1 1 1 0 1 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 1 1 0 1 1 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 1 1 1 1 1 0 1 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 0 1 0 0 1 1 0 1 1 1 0 0 0 0 0 1 0 1 0 1 0 1 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 1 1 1 1 1 0 1 1 0 1 0 0 0 0 1 0 1 0 1 0 0 0 0 1 0 0 1 1 0 1 1 1 0 0 0 0 0 1 0 1 0 1 0 1 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 1 1 1 1 1 0 1 1 0 1 0 0 Occupation table complementary for group 6 0 0 0 0 1 1 1 0 1 0 0 1 0 0 1 0 0 1 1 1 0 1 1 1 0 0 0 1 1 0 0 0 0 1 0 1 0 2 1 0 1 0 0 0 0 0 1 1 1 0 0 1 1 0 0 0 0 1 1 0 0 1 1 0 0 0 0 1 1 1 0 0 0 1 1 0 0 1 0 1 0 0 1 1 1 1 1 0 0 1 0 1 0 0 0 0 0 0 0 1 2 1 0 0 1 0 0 1 0 1 1 0 1 1 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 0 1 1 1 0 1 0 1 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 1 1 1 0 1 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 1 0 1 0 1 0 0 0 0 1 1 1 0 1 0 0 0 1 0 0 1 1 1 0 1 1 1 1 1 1 0 1 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 1 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 1 1 0 0 1 0 0 1 1 1 1 0 2 1 1 0 0 0 0 1 0 1 0 0 1 0 0 0 1 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 1 1 0 0 1 1 1 1 0 1 0 0 0 0 0 1 1 0 1 0 2 0 1 1 0 1 0 1 1 1 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 1 0 0 1 0 1 0 0 1 1 1 0 1 0 1 0 0 0 1 1 1 0 1 0 2 0 1 1 0 0 0 1 0 0 0 0 0 1 0 0 1 1 0 0 1 0 0 1 0 0 1 0 1 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 1 1 1 0 1 1 1 1 0 0 0 0 0 1 0 0 1 0 1 0 2 0 1 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 1 1 0 1 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 1 1 1 1 0 1 1 1 0 0 0 0 0 1 0 0 0 1 0 1 0 2 0 1 1 0 0 1 1 0 1 0 1 0 0 0 1 0 0 0 0 1 1 0 1 0 1 1 0 1 0 0 0 0 1 1 1 0 0 0 0 0 0 1 0 1 1 1 0 1 1 1 0 0 0 0 0 1 0 0 0 1 0 1 0 1 1 1 1 0 0 0 1 0 0 0 1 0 0 1 1 0 0 0 0 1 1 0 1 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 1 1 1 0 1 1 1 0 0 0 0 0 1 1 0 0 1 0 1 0 2 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 0 1 1 1 1 0 1 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 0 1 0 1 1 1 0 1 1 1 0 0 0 0 0 1 0 1 0 1 0 1 0 2 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 0 1 1 1 1 0 1 1 0 1 0 0 0 0 1 0 1 0 1 0 0 0 0 1 0 1 1 1 0 1 1 1 0 0 0 0 0 1 0 1 0 1 0 1 0 2 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 0 1 1 1 1 0 1 1 0 1 0 0 Unable to resolve collision between groups 0 and 6. Merging groups 0 and 6. Searching solution for merged group 0+6. Open/close/exp size (steps): 235/61/235 (2603) Open/close/exp size (steps): 1745/594/1745 (3136) Open/close/exp size (steps): 2918/1234/2918 (3776) Open/close/exp size (steps): 4687/2002/4687 (4544) Open/close/exp size (steps): 6158/2924/6158 (5466) Open/close/exp size (steps): 8126/4031/8126 (6573) Open/close/exp size (steps): 10385/5360/10385 (7902) Open/close/exp size (steps): 13020/6955/13020 (9497) Open/close/exp size (steps): 16427/8869/16427 (11411) Open/close/exp size (steps): 18612/11166/18612 (13708) Open/close/exp size (steps): 21754/13923/21754 (16465) Open/close/exp size (steps): 27232/17232/27232 (19774) Open/close/exp size (steps): 33726/21203/33726 (23745) Open/close/exp size (steps): 41499/25969/41499 (28511) Open/close/exp size (steps): 47857/31689/47857 (34231) Open/close/exp size (steps): 50262/38553/50262 (41095) Open/close/exp size (steps): 82079/46790/82079 (49332) Open/close/exp size (steps): 106025/56675/106025 (59217) Open/close/exp size (steps): 96213/68537/96213 (71079) Open/close/exp size (steps): 98443/82772/98443 (85314) Open/close/exp size (steps): 87299/99854/87299 (102396) Open/close/exp size (steps): 82259/120353/82259 (122895) Open/close/exp size (steps): 64635/144952/64635 (147494) Open/close/exp size (steps): 73376/174471/73376 (177013) Open/close/exp size (steps): 137685/209894/137685 (212436) 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 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 1 0 0 0 3 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 1 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 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 1 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 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 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 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 1 0 0 0 3 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 1 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 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 1 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 2 0 0 0 0 0 0 0 0 0 0 0 Groups 0 and 2 collide. Solution of group 0 Mulirobot solution: (|moves| = 17, paralellism = 2.429) [ Step 0: 1#51->43 2#13->12 3#37->36 Step 1: 1#43->44 2#12->20 3#36->35 Step 2: 1#44->45 2#20->28 3#35->34 Step 3: 1#45->37 2#28->36 3#34->33 Step 4: 1#37->29 2#36->44 Step 5: 1#29->21 2#44->52 Step 6: 1#21->13 ] Solution of group 2 Mulirobot solution: (|moves| = 7, paralellism = 1.000) [ Step 0: 1#19->20 Step 1: 1#20->21 Step 2: 1#21->22 Step 3: 1#22->30 Step 4: 1#30->38 Step 5: 1#38->46 Step 6: 1#46->54 ] Occupation table complementary for group 0 0 0 0 0 1 1 1 0 1 0 0 1 0 0 1 0 0 1 1 1 0 1 1 1 0 0 0 1 1 0 0 0 0 1 0 1 0 0 1 0 1 0 0 0 0 0 1 1 1 0 0 0 1 0 0 0 0 1 1 0 0 1 1 0 0 0 0 1 1 1 0 0 0 1 1 0 0 1 0 1 0 0 1 1 1 1 1 0 0 1 0 1 0 0 0 0 0 0 0 1 0 1 0 0 1 0 0 0 0 1 1 0 1 1 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 0 1 1 1 0 1 0 1 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 1 1 1 0 1 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 1 0 1 0 1 0 0 0 0 1 1 1 0 1 0 0 0 1 0 0 1 1 1 0 1 1 1 0 1 1 0 1 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 1 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 1 1 0 0 1 0 0 0 1 1 1 0 0 1 1 0 0 0 0 1 0 1 0 0 1 0 0 0 1 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 1 1 0 0 1 1 1 1 0 1 0 0 0 0 0 1 1 0 1 0 0 0 1 1 0 1 0 1 1 1 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 1 0 1 0 0 0 1 1 1 0 1 0 0 0 1 1 0 0 0 1 0 0 0 0 0 1 0 0 1 1 0 0 1 0 0 1 0 0 1 0 1 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 0 1 1 0 1 1 1 1 0 0 0 0 0 1 0 0 1 0 1 0 0 0 1 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 1 1 0 1 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 1 0 1 1 0 1 1 1 0 0 0 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 0 1 1 0 1 0 1 0 0 0 1 0 0 0 0 1 1 0 1 0 1 1 0 1 0 0 0 0 1 1 1 0 0 0 0 0 0 1 0 0 1 1 0 1 1 1 0 0 0 0 0 1 0 0 0 1 0 1 0 1 1 1 1 0 0 0 1 0 0 0 1 0 0 1 1 0 0 0 0 1 1 0 1 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 1 1 0 1 1 1 0 0 0 0 0 1 1 0 0 1 0 1 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 0 1 1 1 1 0 1 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 0 1 0 0 1 1 0 1 1 1 0 0 0 0 0 1 0 1 0 1 0 1 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 0 1 1 1 1 0 1 1 0 1 0 0 0 0 1 0 1 0 1 0 0 0 0 1 0 0 1 1 0 1 1 1 0 0 0 0 0 1 0 1 0 1 0 1 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 0 1 1 1 1 0 1 1 0 1 0 0 Occupation table complementary for group 2 0 0 0 0 1 1 1 0 1 0 0 1 0 2 1 0 0 1 1 0 0 1 1 1 0 0 0 1 1 0 0 0 0 1 0 1 0 3 1 0 1 0 0 0 0 0 1 1 1 0 0 1 1 0 0 0 0 1 1 0 0 1 1 0 0 0 0 1 1 1 0 0 0 1 1 0 2 1 0 1 0 0 1 1 0 1 1 0 0 1 0 1 0 0 0 0 0 0 0 1 3 1 0 0 1 0 0 1 0 1 1 0 1 1 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 0 1 1 1 2 1 0 1 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 1 1 1 0 1 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 1 0 1 0 1 0 0 0 0 1 1 1 0 0 0 0 0 1 0 2 1 1 1 0 1 1 1 0 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 1 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 1 1 0 0 1 0 0 0 1 1 1 0 3 1 1 2 1 0 0 1 0 1 0 0 1 0 0 0 1 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 1 1 0 0 1 1 1 1 0 1 0 0 0 0 0 1 1 0 1 0 3 0 1 1 0 0 0 1 1 1 0 2 0 0 0 1 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 1 0 1 0 0 0 1 1 1 0 1 0 3 0 1 1 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 2 1 0 0 1 0 0 1 0 1 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 1 1 1 0 1 1 1 1 0 0 0 0 0 1 0 0 1 0 1 0 3 0 1 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 2 1 0 0 1 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 1 1 1 1 0 1 1 1 0 0 0 0 0 1 0 0 0 1 0 1 0 3 0 1 1 0 0 1 1 0 1 0 1 0 0 0 1 0 0 0 2 1 0 0 1 0 1 1 0 1 0 0 0 0 1 1 1 0 0 0 0 0 0 1 0 1 1 1 0 1 1 1 0 0 0 0 0 1 0 0 0 1 0 1 0 1 1 1 1 0 0 0 1 0 0 0 1 0 0 1 1 0 0 0 2 1 0 0 1 0 1 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 1 1 1 0 1 1 1 0 0 0 0 0 1 1 0 0 1 0 1 0 3 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 2 1 0 1 1 0 1 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 0 1 0 1 1 1 0 1 1 1 0 0 0 0 0 1 0 1 0 1 0 1 0 3 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 2 1 0 1 1 0 1 1 0 1 0 0 0 0 1 0 1 0 1 0 0 0 0 1 0 1 1 1 0 1 1 1 0 0 0 0 0 1 0 1 0 1 0 1 0 3 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 2 1 0 1 1 0 1 1 0 1 0 0 Unable to resolve collision between groups 0 and 2. Merging groups 0 and 2. Searching solution for merged group 0+2. Open/close/exp size (steps): 44394/19975/44394 (254944) Open/close/exp size (steps): 150778/70985/150778 (305954) Open/close/exp size (steps): 266525/132197/266525 (367166) Open/close/exp size (steps): 375744/205652/375744 (440621) Open/close/exp size (steps): 504268/293798/504268 (528767) Open/close/exp size (steps): 638424/399574/638424 (634543) Open/close/exp size (steps): 631031/526506/631031 (761475) Open/close/exp size (steps): 1056850/678825/1056850 (913794) Open/close/exp size (steps): 1375088/861608/1375088 (1096577) Open/close/exp size (steps): 1692323/1080948/1692323 (1315917) Open/close/exp size (steps): 2082385/1344156/2082385 (1579125) 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 = [ 28 ] 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) = 8.801 CPU/machine TIME (seconds) = 8.800 ] 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 = 6251365 Produced CNF variables = 0 Produced CNF clauses = 0 Search steps = 0 Wall clock TIME (seconds) = 64.014 CPU/machine TIME (seconds) = 64.010 ] } ] ----------------------------------------------------------------