---SatPlan Version: 1.1 bb: parsing domain file domain 'MULTIROBOT' defined ... done. bb: parsing problem file problem 'MULTIROBOT_INSTANCE' defined ... done. time: 0, 54 facts and 0 exclusive pairs 57 ops and 3 exclusive pairs time: 1, 58 facts and 3 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, 54 facts and 0 exclusive pairs 57 ops and 3 exclusive pairs time: 1, 58 facts and 3 exclusive pairs 72 ops and 53 exclusive pairs time: 2, 64 facts and 6 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, 54 facts and 0 exclusive pairs 57 ops and 3 exclusive pairs time: 1, 58 facts and 3 exclusive pairs 72 ops and 53 exclusive pairs time: 2, 64 facts and 6 exclusive pairs 98 ops and 158 exclusive pairs time: 3, 72 facts and 8 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... exclusion constraints layer 0... exclusion constraints layer 1... exclusion constraints layer 2... exclusion constraints layer 3... DECISION LAYER 3, WRITING THIN GP-BASED ENCODING WITH 475 VARS, 698 CLAUSES. time spent: 0.00 seconds instantiating 9296 action templates 0.00 seconds reachability analysis, yielding 110 facts and 166 actions 0.00 seconds collecting 109 relevant facts 0.00 seconds building connectivity graph 0.00 seconds building (std) graph 0.00 seconds CNF output time 0.00 seconds total planner time (solving not included) ***Solving*** [ filemap ] [ extract ] variables : 475 pure lits : 71 1-clauses : 55 2-clauses : 610 3-clauses : 13 n-clauses : 20 discarded : 0 [ solve ] satisfiable [ stats ] decisions : 23 conflicts : 4 time : ~0.01 bb: parsing domain file domain 'MULTIROBOT' defined ... done. bb: parsing problem file problem 'MULTIROBOT_INSTANCE' defined ... done. time: 0, 54 facts and 0 exclusive pairs 57 ops and 3 exclusive pairs time: 1, 58 facts and 3 exclusive pairs 72 ops and 53 exclusive pairs time: 2, 64 facts and 6 exclusive pairs 98 ops and 158 exclusive pairs time: 3, 72 facts and 8 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... exclusion constraints layer 0... exclusion constraints layer 1... exclusion constraints layer 2... exclusion constraints layer 3... DECISION LAYER 3, WRITING THIN GP-BASED ENCODING WITH 475 VARS, 698 CLAUSES. time spent: 0.00 seconds instantiating 9296 action templates 0.00 seconds reachability analysis, yielding 110 facts and 166 actions 0.00 seconds collecting 109 relevant facts 0.00 seconds building connectivity graph 0.00 seconds building (std) graph 0.00 seconds CNF output time 0.00 seconds total planner time (solving not included) Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] Pruned: 0: (MOVE R1 V40 V48) [1] ---SatPlan Version: 1.1 ***SAT!*** Solved in 3 layers Real Time: = 0.03 User Time: = 0.05 Syst Time: = 0.01