================================================================ 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| = 32, |V| = 64) [ robot locations: {1#11 2#13 3#44 4#52 5#26 6#35 7#0 8#8 9#9 10#32 11#7 12#23 13#37 14#33 15#38 16#47 17#2 18#61 19#20 20#3 21#5 22#19 23#17 24#21 25#39 26#22 27#40 28#58 29#45 30#16 31#50 32#28 } vertex occupancy: {7#0 0#1 17#2 20#3 0#4 21#5 0#6 11#7 8#8 9#9 0#10 1#11 0#12 2#13 0#14 0#15 30#16 23#17 0#18 22#19 19#20 24#21 26#22 12#23 0#24 0#25 5#26 0#27 32#28 0#29 0#30 0#31 10#32 14#33 0#34 6#35 0#36 13#37 15#38 25#39 27#40 0#41 0#42 0#43 3#44 29#45 0#46 16#47 0#48 0#49 31#50 0#51 4#52 0#53 0#54 0#55 0#56 0#57 28#58 0#59 0#60 18#61 0#62 0#63 } ] Robot arrangement: (|R| = -1, |V| = 0) [ robot locations: {} vertex occupancy: {} ] Robot goal: (|R| = 32, |V| = 64) [ robot goals: { 1#{44} 2#{23} 3#{62} 4#{60} 5#{61} 6#{24} 7#{39} 8#{48} 9#{29} 10#{43} 11#{6} 12#{57} 13#{37} 14#{2} 15#{49} 16#{19} 17#{46} 18#{52} 19#{7} 20#{4} 21#{5} 22#{21} 23#{53} 24#{51} 25#{9} 26#{3} 27#{36} 28#{25} 29#{26} 30#{14} 31#{27} 32#{28} } vertex compatibilities: { 0@{} 1@{} 2@{14} 3@{26} 4@{20} 5@{21} 6@{11} 7@{19} 8@{} 9@{25} 10@{} 11@{} 12@{} 13@{} 14@{30} 15@{} 16@{} 17@{} 18@{} 19@{16} 20@{} 21@{22} 22@{} 23@{2} 24@{6} 25@{28} 26@{29} 27@{31} 28@{32} 29@{9} 30@{} 31@{} 32@{} 33@{} 34@{} 35@{} 36@{27} 37@{13} 38@{} 39@{7} 40@{} 41@{} 42@{} 43@{10} 44@{1} 45@{} 46@{17} 47@{} 48@{8} 49@{15} 50@{} 51@{24} 52@{18} 53@{23} 54@{} 55@{} 56@{} 57@{12} 58@{} 59@{} 60@{4} 61@{5} 62@{3} 63@{} } ] Open/close/exp size (steps): 5/1/5 (2) Open/close/exp size (steps): 17/4/17 (5) Open/close/exp size (steps): 23/8/23 (9) Open/close/exp size (steps): 13/3/13 (14) Open/close/exp size (steps): 21/5/21 (20) Open/close/exp size (steps): 17/4/17 (28) Open/close/exp size (steps): 42/14/42 (38) Open/close/exp size (steps): 58/26/58 (50) Open/close/exp size (steps): 18/7/18 (65) Open/close/exp size (steps): 55/25/55 (83) Open/close/exp size (steps): 90/47/90 (105) Open/close/exp size (steps): 20/6/20 (132) Open/close/exp size (steps): 34/13/34 (165) Open/close/exp size (steps): 104/53/104 (205) Open/close/exp size (steps): 55/21/55 (253) Open/close/exp size (steps): 62/29/62 (311) Open/close/exp size (steps): 73/33/73 (381) Open/close/exp size (steps): 25/9/25 (465) 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 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| = 5, paralellism = 1.000) [ Step 0: 1#11->12 Step 1: 1#12->20 Step 2: 1#20->28 Step 3: 1#28->36 Step 4: 1#36->44 ] Solution of group 4 Mulirobot solution: (|moves| = 7, paralellism = 1.000) [ Step 0: 1#26->27 Step 1: 1#27->28 Step 2: 1#28->29 Step 3: 1#29->37 Step 4: 1#37->45 Step 5: 1#45->53 Step 6: 1#53->61 ] Occupation table complementary for group 0 1 0 1 1 0 1 0 1 1 1 0 0 0 1 0 0 1 1 0 1 1 1 1 1 0 0 1 0 1 0 0 0 1 1 0 1 0 1 1 1 1 0 0 0 1 1 0 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 1 0 1 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 0 1 0 1 0 1 0 0 1 1 0 0 0 1 1 0 0 0 1 0 0 1 1 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 0 1 0 1 0 0 0 1 0 1 0 1 0 1 0 0 1 0 1 0 1 1 1 0 0 1 1 0 1 1 1 0 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 1 1 0 0 1 1 0 1 0 0 0 0 0 0 0 1 1 1 1 0 1 1 1 1 1 1 0 1 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 0 0 0 1 0 1 1 0 0 0 0 1 0 1 1 1 1 0 1 1 1 0 0 0 0 0 1 1 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 1 1 1 1 0 0 0 0 1 1 1 0 0 0 1 0 0 1 0 1 1 1 1 1 1 1 0 0 0 1 0 0 1 1 0 0 0 0 0 1 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 1 1 1 1 0 0 0 0 1 1 0 0 0 1 0 0 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 1 1 0 0 0 1 0 1 0 0 0 0 1 0 0 1 1 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 1 1 1 1 0 0 0 1 0 0 1 0 0 0 0 1 0 1 0 1 1 1 1 1 1 1 1 0 0 0 0 0 1 1 0 0 0 0 0 1 0 1 0 0 1 1 0 1 1 0 0 0 0 0 0 0 1 1 1 0 0 0 1 1 1 1 1 1 0 0 1 0 0 0 1 1 0 0 0 1 0 1 0 1 1 1 1 1 1 1 0 0 0 1 0 0 1 1 1 0 0 0 0 1 0 0 0 0 1 1 0 1 1 1 0 0 0 0 0 0 1 1 1 0 0 0 1 1 1 1 1 1 0 1 0 0 0 0 1 0 0 0 0 1 0 1 0 1 1 1 1 1 1 1 0 0 0 0 0 0 1 1 0 0 0 1 0 1 0 0 1 0 1 1 0 1 1 1 0 0 0 0 0 0 1 1 1 0 0 0 1 1 1 1 1 1 0 1 0 0 0 0 1 0 0 0 0 1 0 1 0 1 1 1 1 1 1 1 0 1 0 0 0 0 1 1 0 0 0 0 0 1 0 0 1 0 1 1 0 1 1 1 0 0 0 0 0 0 1 1 1 0 0 0 1 1 1 1 1 1 0 1 0 0 0 0 1 0 0 0 0 1 0 1 0 1 1 1 1 1 1 1 0 0 0 0 0 0 1 1 0 1 0 0 0 1 0 0 1 0 1 1 0 1 1 1 0 0 0 1 0 0 1 1 1 0 Occupation table complementary for group 4 1 0 1 1 0 1 0 1 1 1 0 1 0 1 0 0 1 1 0 1 1 1 1 1 0 0 0 0 1 0 0 0 1 1 0 1 0 1 1 1 1 0 0 0 1 1 0 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 1 0 1 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 0 1 0 1 0 1 0 0 1 1 0 0 0 1 1 0 0 0 1 0 0 1 1 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 0 1 0 1 0 0 0 1 0 1 0 1 1 1 0 0 1 0 1 0 1 1 1 0 0 1 1 0 1 1 1 0 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 1 1 0 0 1 1 0 1 0 0 0 0 0 0 0 1 1 1 1 0 1 1 1 1 0 1 0 1 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 0 0 0 1 0 1 1 0 0 0 0 1 0 1 1 1 1 0 1 1 1 0 0 0 0 0 1 1 1 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 1 1 1 1 0 0 0 0 1 1 1 0 0 0 1 0 0 1 0 1 1 1 1 1 1 1 0 0 0 1 0 0 1 1 0 0 0 0 0 1 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 1 1 1 1 0 0 0 0 1 1 0 0 0 1 0 0 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 1 1 0 0 0 1 0 1 1 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 1 1 1 1 0 0 0 1 0 0 1 0 0 0 0 1 0 1 0 1 1 1 1 1 1 1 1 0 0 0 0 0 1 1 0 0 0 0 0 1 1 1 0 0 1 1 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 1 1 1 1 0 0 1 0 0 0 1 1 0 0 0 1 0 1 0 1 1 1 1 1 1 1 0 0 0 1 0 0 1 1 1 0 0 0 0 1 1 0 0 0 1 1 0 1 1 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 1 1 1 1 0 1 0 0 0 0 1 0 0 0 0 1 0 1 0 1 1 1 1 1 1 1 0 0 0 0 0 0 1 1 0 0 0 1 0 1 1 0 1 0 1 1 0 1 1 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 1 1 1 1 0 1 0 0 0 0 1 0 0 0 0 1 0 1 0 1 1 1 1 1 1 1 0 1 0 0 0 0 1 1 0 0 0 0 0 1 1 0 1 0 1 1 0 1 1 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 1 1 1 1 0 1 0 0 0 0 1 0 0 0 0 1 0 1 0 1 1 1 1 1 1 1 0 0 0 0 0 0 1 1 0 1 0 0 0 1 1 0 1 0 1 1 0 1 1 1 0 0 0 1 0 0 1 0 1 0 ** Open/close/exp size (steps): 1/0/1 (2) 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): 137/51/137 (566) Open/close/exp size (steps): 303/173/303 (688) Open/close/exp size (steps): 491/320/491 (835) Open/close/exp size (steps): 570/497/570 (1012) Open/close/exp size (steps): 793/710/793 (1225) Open/close/exp size (steps): 923/966/923 (1481) Open/close/exp size (steps): 1259/1274/1259 (1789) Open/close/exp size (steps): 1066/1644/1066 (2159) Open/close/exp size (steps): 1196/2088/1196 (2603) Open/close/exp size (steps): 968/2621/968 (3136) 0 0 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 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 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 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 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 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 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 1 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 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 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 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 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 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 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 1 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 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 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 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 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 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 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 1 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 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 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 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 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 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 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 Groups 0 and 4 collide. Solution of group 0 Mulirobot solution: (|moves| = 12, paralellism = 1.714) [ Step 0: 1#11->12 2#26->27 Step 1: 1#12->20 2#27->35 Step 2: 1#20->28 2#35->43 Step 3: 1#28->36 2#43->51 Step 4: 1#36->44 2#51->52 Step 5: 2#52->53 Step 6: 2#53->61 ] Solution of group 4 Mulirobot solution: (|moves| = 2, paralellism = 1.000) [ Step 0: 1#28->20 Step 1: 1#20->28 ] Occupation table complementary for group 0 1 0 1 1 0 1 0 1 1 1 0 0 0 1 0 0 1 1 0 1 1 1 1 1 0 0 0 0 1 0 0 0 1 1 0 1 0 1 1 1 1 0 0 0 1 1 0 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 1 0 1 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 0 1 0 1 0 1 0 0 1 1 0 0 0 1 1 0 0 0 1 0 0 1 1 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 0 1 0 1 0 0 0 1 0 1 0 1 0 1 0 0 1 0 1 0 1 1 1 0 0 1 1 0 1 1 1 0 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 1 1 0 0 1 1 0 1 0 0 0 0 0 0 0 1 1 1 1 0 1 1 1 1 0 1 0 1 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 0 0 0 1 0 1 1 0 0 0 0 1 0 1 1 1 1 0 1 1 1 0 0 0 0 0 1 1 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 1 1 1 1 0 0 0 0 1 1 1 0 0 0 1 0 0 1 0 1 1 1 1 1 1 1 0 0 0 1 0 0 1 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 1 1 1 1 0 0 0 0 1 1 0 0 0 1 0 0 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 1 1 0 0 0 1 0 1 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 1 1 1 1 0 0 0 1 0 0 1 0 0 0 0 1 0 1 0 1 1 1 1 1 1 1 1 0 0 0 0 0 1 1 0 0 0 0 0 1 0 1 0 0 1 1 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 1 1 1 1 0 0 1 0 0 0 1 1 0 0 0 1 0 1 0 1 1 1 1 1 1 1 0 0 0 1 0 0 1 1 1 0 0 0 0 1 0 0 0 0 1 1 0 1 1 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 1 1 1 1 0 1 0 0 0 0 1 0 0 0 0 1 0 1 0 1 1 1 1 1 1 1 0 0 0 0 0 0 1 1 0 0 0 1 0 1 0 0 1 0 1 1 0 1 1 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 1 1 1 1 0 1 0 0 0 0 1 0 0 0 0 1 0 1 0 1 1 1 1 1 1 1 0 1 0 0 0 0 1 1 0 0 0 0 0 1 0 0 1 0 1 1 0 1 1 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 1 1 1 1 0 1 0 0 0 0 1 0 0 0 0 1 0 1 0 1 1 1 1 1 1 1 0 0 0 0 0 0 1 1 0 1 0 0 0 1 0 0 1 0 1 1 0 1 1 1 0 0 0 1 0 0 1 0 1 0 Occupation table complementary for group 4 1 0 1 1 0 1 0 1 1 1 0 1 0 1 0 0 1 1 0 1 1 1 1 1 0 0 2 0 0 0 0 0 1 1 0 1 0 1 1 1 1 0 0 0 1 1 0 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 1 0 1 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 0 1 0 1 0 1 0 0 1 1 0 0 0 1 1 0 0 0 1 0 0 1 1 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 0 1 0 1 0 0 0 1 0 1 0 1 1 1 0 0 1 0 1 0 0 1 1 0 0 1 1 2 1 1 1 0 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 1 1 0 0 1 1 0 1 0 0 0 0 0 0 0 1 1 1 1 0 1 1 1 1 0 1 0 1 0 1 1 0 1 0 0 0 0 0 2 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 0 0 0 1 0 1 1 0 0 0 0 1 0 1 1 1 1 0 1 1 0 0 0 0 0 0 1 1 1 1 0 0 1 0 0 1 0 0 0 0 0 0 0 2 1 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 1 1 1 1 0 0 0 0 1 1 1 0 0 0 1 0 0 1 0 1 1 1 1 1 0 1 0 0 0 1 0 0 1 1 0 0 0 0 0 1 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 1 1 1 1 0 0 0 0 1 1 0 0 0 1 0 0 1 1 1 1 1 1 1 1 0 1 0 0 0 0 0 0 1 1 0 0 0 1 0 1 1 0 0 0 1 0 0 1 1 2 0 0 0 0 0 0 1 0 1 0 0 0 1 1 1 1 1 1 0 0 0 1 0 0 1 0 0 0 0 1 0 1 0 1 1 1 1 1 0 1 1 0 0 0 0 0 1 1 0 0 0 0 0 1 1 1 0 0 1 1 0 1 1 0 0 0 0 0 0 0 1 2 1 0 0 0 1 1 1 1 1 1 0 0 1 0 0 0 1 1 0 0 0 1 0 1 0 1 1 1 1 1 0 1 0 0 0 1 0 0 1 1 1 0 0 0 0 1 1 0 0 0 1 1 0 1 1 1 0 0 0 0 0 0 1 2 1 0 0 0 1 1 1 1 1 1 0 1 0 0 0 0 1 0 0 0 0 1 0 1 0 1 1 1 1 1 0 1 0 0 0 0 0 0 1 1 0 0 0 1 0 1 1 0 1 0 1 1 0 1 1 1 0 0 0 0 0 0 1 2 1 0 0 0 1 1 1 1 1 1 0 1 0 0 0 0 1 0 0 0 0 1 0 1 0 1 1 1 1 1 0 1 0 1 0 0 0 0 1 1 0 0 0 0 0 1 1 0 1 0 1 1 0 1 1 1 0 0 0 0 0 0 1 2 1 0 0 0 1 1 1 1 1 1 0 1 0 0 0 0 1 0 0 0 0 1 0 1 0 1 1 1 1 1 0 1 0 0 0 0 0 0 1 1 0 1 0 0 0 1 1 0 1 0 1 1 0 1 1 1 0 0 0 1 0 0 1 2 1 0 ** Open/close/exp size (steps): 1/1/1 (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): 169/46/169 (3776) Open/close/exp size (steps): 2899/814/2899 (4544) Open/close/exp size (steps): 4469/1736/4469 (5466) Open/close/exp size (steps): 4704/2843/4704 (6573) Open/close/exp size (steps): 6357/4172/6357 (7902) Open/close/exp size (steps): 8629/5767/8629 (9497) Open/close/exp size (steps): 11265/7681/11265 (11411) Open/close/exp size (steps): 18683/9978/18683 (13708) Open/close/exp size (steps): 18417/12735/18417 (16465) Open/close/exp size (steps): 21819/16044/21819 (19774) Open/close/exp size (steps): 24698/20015/24698 (23745) Open/close/exp size (steps): 22901/24781/22901 (28511) Open/close/exp size (steps): 19903/30501/19903 (34231) Open/close/exp size (steps): 31683/37365/31683 (41095) Open/close/exp size (steps): 43409/45602/43409 (49332) Open/close/exp size (steps): 70830/55487/70830 (59217) Open/close/exp size (steps): 61012/67349/61012 (71079) Open/close/exp size (steps): 92873/81584/92873 (85314) Open/close/exp size (steps): 82690/98666/82690 (102396) Open/close/exp size (steps): 70378/119165/70378 (122895) Open/close/exp size (steps): 89797/143764/89797 (147494) Open/close/exp size (steps): 118582/173283/118582 (177013) Open/close/exp size (steps): 166459/208706/166459 (212436) Open/close/exp size (steps): 221632/251214/221632 (254944) Open/close/exp size (steps): 195531/302224/195531 (305954) Open/close/exp size (steps): 205661/363436/205661 (367166) Open/close/exp size (steps): 239549/436891/239549 (440621) Open/close/exp size (steps): 174846/525037/174846 (528767) Open/close/exp size (steps): 260798/630813/260798 (634543) Open/close/exp size (steps): 444204/757745/444204 (761475) Open/close/exp size (steps): 447261/910064/447261 (913794) Open/close/exp size (steps): 370542/1092847/370542 (1096577) Open/close/exp size (steps): 482180/1312187/482180 (1315917) 0 0 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 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 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 0 3 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 1 3 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 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 3 0 0 0 0 0 0 0 1 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 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 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 2 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 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 0 3 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 1 3 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 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 3 0 0 0 0 0 0 0 1 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 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 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 2 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 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 0 3 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 1 3 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 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 3 0 0 0 0 0 0 0 1 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 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 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 2 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 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 0 3 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 1 3 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 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 3 0 0 0 0 0 0 0 1 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 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 Groups 0 and 4 collide. Solution of group 0 Mulirobot solution: (|moves| = 12, paralellism = 1.714) [ Step 0: 2#26->27 Step 1: 2#27->35 Step 2: 1#11->19 2#35->36 Step 3: 1#19->27 2#36->37 Step 4: 1#27->35 2#37->45 Step 5: 1#35->36 2#45->53 Step 6: 1#36->44 2#53->61 ] Solution of group 4 Mulirobot solution: (|moves| = 4, paralellism = 1.000) [ Step 0: 1#50->42 Step 1: 1#42->34 Step 2: 1#34->26 Step 3: 1#26->27 ] Occupation table complementary for group 0 1 0 1 1 0 1 0 1 1 1 0 0 0 1 0 0 1 1 0 1 1 1 1 1 0 0 0 0 0 0 0 0 1 1 0 1 0 1 1 1 1 0 0 0 1 1 0 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 0 1 0 1 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 0 1 0 1 0 1 0 0 1 1 0 0 0 1 1 0 0 0 1 0 0 1 1 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 0 1 0 1 0 0 0 1 0 1 0 1 0 1 0 0 1 0 1 0 0 1 1 0 0 1 1 0 1 1 1 0 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 1 1 0 0 1 1 0 1 0 0 0 0 0 0 0 1 1 1 1 0 1 1 1 1 0 1 0 1 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 0 0 0 1 0 1 1 0 0 0 0 1 0 1 1 1 1 0 1 1 0 0 0 0 0 0 1 1 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 1 1 1 1 0 0 0 0 1 1 1 0 0 0 1 0 0 1 0 1 1 1 1 1 0 1 0 0 0 1 0 0 1 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 1 1 1 1 0 0 0 0 1 1 0 0 0 1 0 0 1 1 1 1 1 1 1 1 0 1 0 0 0 0 0 0 1 1 0 0 0 1 0 1 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 1 1 1 1 0 0 0 1 0 0 1 0 0 0 0 1 0 1 0 1 1 1 1 1 0 1 1 0 0 0 0 0 1 1 0 0 0 0 0 1 0 1 0 0 1 1 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 1 1 1 1 0 0 1 0 0 0 1 1 0 0 0 1 0 1 0 1 1 1 1 1 0 1 0 0 0 1 0 0 1 1 1 0 0 0 0 1 0 0 0 0 1 1 0 1 1 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 1 1 1 1 0 1 0 0 0 0 1 0 0 0 0 1 0 1 0 1 1 1 1 1 0 1 0 0 0 0 0 0 1 1 0 0 0 1 0 1 0 0 1 0 1 1 0 1 1 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 1 1 1 1 0 1 0 0 0 0 1 0 0 0 0 1 0 1 0 1 1 1 1 1 0 1 0 1 0 0 0 0 1 1 0 0 0 0 0 1 0 0 1 0 1 1 0 1 1 1 0 0 0 0 0 0 1 0 1 0 0 0 1 1 1 1 1 1 0 1 0 0 0 0 1 0 0 0 0 1 0 1 0 1 1 1 1 1 0 1 0 0 0 0 0 0 1 1 0 1 0 0 0 1 0 0 1 0 1 1 0 1 1 1 0 0 0 1 0 0 1 0 1 0 Occupation table complementary for group 4 1 0 1 1 0 1 0 1 1 1 0 1 0 1 0 0 1 1 0 1 1 1 1 1 0 0 2 0 3 0 0 0 1 1 0 1 0 1 1 1 1 0 0 0 1 1 0 1 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 0 1 0 1 1 0 1 0 1 0 1 1 1 0 1 0 1 0 1 0 1 0 1 0 0 1 0 1 3 1 0 0 1 1 0 0 0 1 1 0 0 0 0 0 0 1 1 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 1 1 0 0 1 0 1 0 0 0 1 0 1 0 1 0 1 0 0 1 0 1 0 3 1 1 0 0 1 1 2 1 1 1 0 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 1 1 0 0 1 1 0 1 0 0 0 0 0 0 1 1 1 1 1 0 1 0 1 1 0 1 0 1 0 1 1 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 0 0 0 1 0 1 1 0 0 0 0 1 0 1 1 1 1 0 1 1 3 0 0 0 0 0 1 1 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 1 1 1 1 0 0 0 0 1 1 1 0 0 0 1 0 0 1 0 1 1 1 1 0 3 1 0 0 0 1 0 1 1 1 0 0 0 0 0 1 0 2 0 0 1 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 1 1 1 1 0 0 0 0 1 1 0 0 0 1 0 0 1 1 1 1 1 1 1 0 3 1 0 0 0 0 0 0 1 1 0 0 0 1 0 1 0 0 0 0 1 0 0 1 1 2 0 0 0 0 0 0 1 0 1 0 0 0 1 1 1 1 1 1 0 0 0 1 0 0 1 0 0 0 0 1 0 1 0 1 1 1 1 0 3 1 1 0 0 0 0 0 1 1 0 0 0 0 0 1 1 1 0 0 1 1 0 1 1 0 0 0 0 0 0 0 1 2 1 0 0 0 1 1 1 1 1 1 0 0 1 0 0 0 1 1 0 0 0 1 0 1 0 1 1 1 1 0 3 1 0 0 0 1 0 0 1 1 1 0 0 0 0 1 1 0 0 0 1 1 0 1 1 1 0 0 0 0 0 0 1 2 1 0 0 0 1 1 1 1 1 1 0 1 0 0 0 0 1 0 0 0 0 1 0 1 0 1 1 1 1 0 3 1 0 0 0 0 0 0 1 1 0 0 0 1 0 1 1 0 1 0 1 1 0 1 1 1 0 0 0 0 0 0 1 2 1 0 0 0 1 1 1 1 1 1 0 1 0 0 0 0 1 0 0 0 0 1 0 1 0 1 1 1 1 0 3 1 0 1 0 0 0 0 1 1 0 0 0 0 0 1 1 0 1 0 1 1 0 1 1 1 0 0 0 0 0 0 1 2 1 0 0 0 1 1 1 1 1 1 0 1 0 0 0 0 1 0 0 0 0 1 0 1 0 1 1 1 1 0 3 1 0 0 0 0 0 0 1 1 0 1 0 0 0 1 1 0 1 0 1 1 0 1 1 1 0 0 0 1 0 0 1 2 1 0 Unable to resolve collision between groups 0 and 4. Merging groups 0 and 4. Searching solution for merged group 0+4. Open/close/exp size (steps): 180039/116367/180039 (1579125) Open/close/exp size (steps): 778665/432217/778665 (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 = [ 31 ] 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) = 2.981 CPU/machine TIME (seconds) = 2.980 ] 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 = 7287796 Produced CNF variables = 0 Produced CNF clauses = 0 Search steps = 0 Wall clock TIME (seconds) = 64.014 CPU/machine TIME (seconds) = 64.010 ] } ] ----------------------------------------------------------------