---SatPlan Version: 1.1 bb: parsing domain file domain 'MULTIROBOT' defined ... done. bb: parsing problem file problem 'MULTIROBOT_INSTANCE' defined ... done. time: 0, 50 facts and 0 exclusive pairs 76 ops and 27 exclusive pairs time: 1, 86 facts and 28 exclusive pairs creating thin gp-based encoding... plan graph layer 0... plan graph layer 1... goal constraints... goal fact not coded - level too low?? bb: parsing domain file domain 'MULTIROBOT' defined ... done. bb: parsing problem file problem 'MULTIROBOT_INSTANCE' defined ... done. time: 0, 50 facts and 0 exclusive pairs 76 ops and 27 exclusive pairs time: 1, 86 facts and 28 exclusive pairs 205 ops and 657 exclusive pairs time: 2, 138 facts and 121 exclusive pairs creating thin gp-based encoding... plan graph layer 0... plan graph layer 1... plan graph layer 2... goal constraints... goal fact not coded - level too low?? bb: parsing domain file domain 'MULTIROBOT' defined ... done. bb: parsing problem file problem 'MULTIROBOT_INSTANCE' defined ... done. time: 0, 50 facts and 0 exclusive pairs 76 ops and 27 exclusive pairs time: 1, 86 facts and 28 exclusive pairs 205 ops and 657 exclusive pairs time: 2, 138 facts and 121 exclusive pairs 433 ops and 4043 exclusive pairs time: 3, 205 facts and 295 exclusive pairs creating thin gp-based encoding... plan graph layer 0... plan graph layer 1... plan graph layer 2... plan graph layer 3... goal constraints... goal fact not coded - level too low?? bb: parsing domain file domain 'MULTIROBOT' defined ... done. bb: parsing problem file problem 'MULTIROBOT_INSTANCE' defined ... done. time: 0, 50 facts and 0 exclusive pairs 76 ops and 27 exclusive pairs time: 1, 86 facts and 28 exclusive pairs 205 ops and 657 exclusive pairs time: 2, 138 facts and 121 exclusive pairs 433 ops and 4043 exclusive pairs time: 3, 205 facts and 295 exclusive pairs 727 ops and 12311 exclusive pairs time: 4, 286 facts and 575 exclusive pairs creating thin gp-based encoding... plan graph layer 0... plan graph layer 1... plan graph layer 2... plan graph layer 3... plan graph layer 4... goal constraints... goal fact not coded - level too low?? bb: parsing domain file domain 'MULTIROBOT' defined ... done. bb: parsing problem file problem 'MULTIROBOT_INSTANCE' defined ... done. time: 0, 50 facts and 0 exclusive pairs 76 ops and 27 exclusive pairs time: 1, 86 facts and 28 exclusive pairs 205 ops and 657 exclusive pairs time: 2, 138 facts and 121 exclusive pairs 433 ops and 4043 exclusive pairs time: 3, 205 facts and 295 exclusive pairs 727 ops and 12311 exclusive pairs time: 4, 286 facts and 575 exclusive pairs 1080 ops and 26428 exclusive pairs time: 5, 372 facts and 742 exclusive pairs creating thin gp-based encoding... plan graph layer 0... plan graph layer 1... plan graph layer 2... plan graph layer 3... plan graph layer 4... plan graph layer 5... goal constraints... goal fact not coded - level too low?? bb: parsing domain file domain 'MULTIROBOT' defined ... done. bb: parsing problem file problem 'MULTIROBOT_INSTANCE' defined ... done. time: 0, 50 facts and 0 exclusive pairs 76 ops and 27 exclusive pairs time: 1, 86 facts and 28 exclusive pairs 205 ops and 657 exclusive pairs time: 2, 138 facts and 121 exclusive pairs 433 ops and 4043 exclusive pairs time: 3, 205 facts and 295 exclusive pairs 727 ops and 12311 exclusive pairs time: 4, 286 facts and 575 exclusive pairs 1080 ops and 26428 exclusive pairs time: 5, 372 facts and 742 exclusive pairs 1446 ops and 42290 exclusive pairs time: 6, 450 facts and 667 exclusive pairs creating thin gp-based encoding... plan graph layer 0... plan graph layer 1... plan graph layer 2... plan graph layer 3... plan graph layer 4... plan graph layer 5... plan graph layer 6... goal constraints... goal fact not coded - level too low?? bb: parsing domain file domain 'MULTIROBOT' defined ... done. bb: parsing problem file problem 'MULTIROBOT_INSTANCE' defined ... done. time: 0, 50 facts and 0 exclusive pairs 76 ops and 27 exclusive pairs time: 1, 86 facts and 28 exclusive pairs 205 ops and 657 exclusive pairs time: 2, 138 facts and 121 exclusive pairs 433 ops and 4043 exclusive pairs time: 3, 205 facts and 295 exclusive pairs 727 ops and 12311 exclusive pairs time: 4, 286 facts and 575 exclusive pairs 1080 ops and 26428 exclusive pairs time: 5, 372 facts and 742 exclusive pairs 1446 ops and 42290 exclusive pairs time: 6, 450 facts and 667 exclusive pairs 1777 ops and 55657 exclusive pairs time: 7, 516 facts and 459 exclusive pairs creating thin gp-based encoding... plan graph layer 0... plan graph layer 1... plan graph layer 2... plan graph layer 3... plan graph layer 4... plan graph layer 5... plan graph layer 6... plan graph layer 7... goal constraints... goal fact not coded - level too low?? bb: parsing domain file domain 'MULTIROBOT' defined ... done. bb: parsing problem file problem 'MULTIROBOT_INSTANCE' defined ... done. time: 0, 50 facts and 0 exclusive pairs 76 ops and 27 exclusive pairs time: 1, 86 facts and 28 exclusive pairs 205 ops and 657 exclusive pairs time: 2, 138 facts and 121 exclusive pairs 433 ops and 4043 exclusive pairs time: 3, 205 facts and 295 exclusive pairs 727 ops and 12311 exclusive pairs time: 4, 286 facts and 575 exclusive pairs 1080 ops and 26428 exclusive pairs time: 5, 372 facts and 742 exclusive pairs 1446 ops and 42290 exclusive pairs time: 6, 450 facts and 667 exclusive pairs 1777 ops and 55657 exclusive pairs time: 7, 516 facts and 459 exclusive pairs 2057 ops and 67048 exclusive pairs time: 8, 569 facts and 309 exclusive pairs creating thin gp-based encoding... plan graph layer 0... plan graph layer 1... plan graph layer 2... plan graph layer 3... plan graph layer 4... plan graph layer 5... plan graph layer 6... plan graph layer 7... plan graph layer 8... goal constraints... goal fact not coded - level too low?? bb: parsing domain file domain 'MULTIROBOT' defined ... done. bb: parsing problem file problem 'MULTIROBOT_INSTANCE' defined ... done. time: 0, 50 facts and 0 exclusive pairs 76 ops and 27 exclusive pairs time: 1, 86 facts and 28 exclusive pairs 205 ops and 657 exclusive pairs time: 2, 138 facts and 121 exclusive pairs 433 ops and 4043 exclusive pairs time: 3, 205 facts and 295 exclusive pairs 727 ops and 12311 exclusive pairs time: 4, 286 facts and 575 exclusive pairs 1080 ops and 26428 exclusive pairs time: 5, 372 facts and 742 exclusive pairs 1446 ops and 42290 exclusive pairs time: 6, 450 facts and 667 exclusive pairs 1777 ops and 55657 exclusive pairs time: 7, 516 facts and 459 exclusive pairs 2057 ops and 67048 exclusive pairs time: 8, 569 facts and 309 exclusive pairs 2273 ops and 76492 exclusive pairs time: 9, 603 facts and 155 exclusive pairs creating thin gp-based encoding... plan graph layer 0... plan graph layer 1... plan graph layer 2... plan graph layer 3... plan graph layer 4... plan graph layer 5... plan graph layer 6... plan graph layer 7... plan graph layer 8... plan graph layer 9... goal constraints... goal fact not coded - level too low?? bb: parsing domain file domain 'MULTIROBOT' defined ... done. bb: parsing problem file problem 'MULTIROBOT_INSTANCE' defined ... done. time: 0, 50 facts and 0 exclusive pairs 76 ops and 27 exclusive pairs time: 1, 86 facts and 28 exclusive pairs 205 ops and 657 exclusive pairs time: 2, 138 facts and 121 exclusive pairs 433 ops and 4043 exclusive pairs time: 3, 205 facts and 295 exclusive pairs 727 ops and 12311 exclusive pairs time: 4, 286 facts and 575 exclusive pairs 1080 ops and 26428 exclusive pairs time: 5, 372 facts and 742 exclusive pairs 1446 ops and 42290 exclusive pairs time: 6, 450 facts and 667 exclusive pairs 1777 ops and 55657 exclusive pairs time: 7, 516 facts and 459 exclusive pairs 2057 ops and 67048 exclusive pairs time: 8, 569 facts and 309 exclusive pairs 2273 ops and 76492 exclusive pairs time: 9, 603 facts and 155 exclusive pairs 2412 ops and 82354 exclusive pairs time: 10, 624 facts and 63 exclusive pairs creating thin gp-based encoding... plan graph layer 0... plan graph layer 1... plan graph layer 2... plan graph layer 3... plan graph layer 4... plan graph layer 5... plan graph layer 6... plan graph layer 7... plan graph layer 8... plan graph layer 9... plan graph layer 10... goal constraints... goal fact not coded - level too low?? bb: parsing domain file domain 'MULTIROBOT' defined ... done. bb: parsing problem file problem 'MULTIROBOT_INSTANCE' defined ... done. time: 0, 50 facts and 0 exclusive pairs 76 ops and 27 exclusive pairs time: 1, 86 facts and 28 exclusive pairs 205 ops and 657 exclusive pairs time: 2, 138 facts and 121 exclusive pairs 433 ops and 4043 exclusive pairs time: 3, 205 facts and 295 exclusive pairs 727 ops and 12311 exclusive pairs time: 4, 286 facts and 575 exclusive pairs 1080 ops and 26428 exclusive pairs time: 5, 372 facts and 742 exclusive pairs 1446 ops and 42290 exclusive pairs time: 6, 450 facts and 667 exclusive pairs 1777 ops and 55657 exclusive pairs time: 7, 516 facts and 459 exclusive pairs 2057 ops and 67048 exclusive pairs time: 8, 569 facts and 309 exclusive pairs 2273 ops and 76492 exclusive pairs time: 9, 603 facts and 155 exclusive pairs 2412 ops and 82354 exclusive pairs time: 10, 624 facts and 63 exclusive pairs 2496 ops and 85711 exclusive pairs time: 11, 638 facts and 38 exclusive pairs creating thin gp-based encoding... plan graph layer 0... plan graph layer 1... plan graph layer 2... plan graph layer 3... plan graph layer 4... plan graph layer 5... plan graph layer 6... plan graph layer 7... plan graph layer 8... plan graph layer 9... plan graph layer 10... plan graph layer 11... goal constraints... goal fact not coded - level too low?? bb: parsing domain file domain 'MULTIROBOT' defined ... done. bb: parsing problem file problem 'MULTIROBOT_INSTANCE' defined ... done. time: 0, 50 facts and 0 exclusive pairs 76 ops and 27 exclusive pairs time: 1, 86 facts and 28 exclusive pairs 205 ops and 657 exclusive pairs time: 2, 138 facts and 121 exclusive pairs 433 ops and 4043 exclusive pairs time: 3, 205 facts and 295 exclusive pairs 727 ops and 12311 exclusive pairs time: 4, 286 facts and 575 exclusive pairs 1080 ops and 26428 exclusive pairs time: 5, 372 facts and 742 exclusive pairs 1446 ops and 42290 exclusive pairs time: 6, 450 facts and 667 exclusive pairs 1777 ops and 55657 exclusive pairs time: 7, 516 facts and 459 exclusive pairs 2057 ops and 67048 exclusive pairs time: 8, 569 facts and 309 exclusive pairs 2273 ops and 76492 exclusive pairs time: 9, 603 facts and 155 exclusive pairs 2412 ops and 82354 exclusive pairs time: 10, 624 facts and 63 exclusive pairs 2496 ops and 85711 exclusive pairs time: 11, 638 facts and 38 exclusive pairs 2547 ops and 87878 exclusive pairs time: 12, 645 facts and 15 exclusive pairs creating thin gp-based encoding... plan graph layer 0... plan graph layer 1... plan graph layer 2... plan graph layer 3... plan graph layer 4... plan graph layer 5... plan graph layer 6... plan graph layer 7... plan graph layer 8... plan graph layer 9... plan graph layer 10... plan graph layer 11... plan graph layer 12... goal constraints... exclusion constraints layer 0... exclusion constraints layer 1... exclusion constraints layer 2... exclusion constraints layer 3... exclusion constraints layer 4... exclusion constraints layer 5... exclusion constraints layer 6... exclusion constraints layer 7... exclusion constraints layer 8... exclusion constraints layer 9... exclusion constraints layer 10... exclusion constraints layer 11... exclusion constraints layer 12... DECISION LAYER 12, WRITING THIN GP-BASED ENCODING WITH 22711 VARS, 523634 CLAUSES. time spent: 0.01 seconds instantiating 13580 action templates 0.00 seconds reachability analysis, yielding 660 facts and 1940 actions 0.00 seconds collecting 650 relevant facts 0.01 seconds building connectivity graph 0.00 seconds building (std) graph 3.68 seconds CNF output time 3.70 seconds total planner time (solving not included) ***Solving*** [ filemap ] [ extract ] variables : 22711 pure lits : 635 1-clauses : 60 2-clauses : 518760 3-clauses : 549 n-clauses : 4265 discarded : 0 [ solve ]