---SatPlan Version: 1.1 bb: parsing domain file domain 'MULTIROBOT' defined ... done. bb: parsing problem file problem 'MULTIROBOT_INSTANCE' defined ... done. time: 0, 51 facts and 0 exclusive pairs 63 ops and 13 exclusive pairs time: 1, 67 facts and 13 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, 51 facts and 0 exclusive pairs 63 ops and 13 exclusive pairs time: 1, 67 facts and 13 exclusive pairs 117 ops and 234 exclusive pairs time: 2, 86 facts and 27 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, 51 facts and 0 exclusive pairs 63 ops and 13 exclusive pairs time: 1, 67 facts and 13 exclusive pairs 117 ops and 234 exclusive pairs time: 2, 86 facts and 27 exclusive pairs 195 ops and 809 exclusive pairs time: 3, 110 facts and 44 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, 51 facts and 0 exclusive pairs 63 ops and 13 exclusive pairs time: 1, 67 facts and 13 exclusive pairs 117 ops and 234 exclusive pairs time: 2, 86 facts and 27 exclusive pairs 195 ops and 809 exclusive pairs time: 3, 110 facts and 44 exclusive pairs 296 ops and 1830 exclusive pairs time: 4, 142 facts and 88 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... exclusion constraints layer 0... exclusion constraints layer 1... exclusion constraints layer 2... exclusion constraints layer 3... exclusion constraints layer 4... DECISION LAYER 4, WRITING THIN GP-BASED ENCODING WITH 1127 VARS, 3707 CLAUSES. time spent: 0.00 seconds instantiating 9794 action templates 0.01 seconds reachability analysis, yielding 275 facts and 664 actions 0.00 seconds collecting 271 relevant facts 0.00 seconds building connectivity graph 0.00 seconds building (std) graph 0.01 seconds CNF output time 0.02 seconds total planner time (solving not included) ***Solving*** [ filemap ] [ extract ] variables : 1127 pure lits : 138 1-clauses : 55 2-clauses : 3440 3-clauses : 67 n-clauses : 145 discarded : 0 [ solve ] satisfiable [ stats ] decisions : 1745 conflicts : 71 time : ~0.01 bb: parsing domain file domain 'MULTIROBOT' defined ... done. bb: parsing problem file problem 'MULTIROBOT_INSTANCE' defined ... done. time: 0, 51 facts and 0 exclusive pairs 63 ops and 13 exclusive pairs time: 1, 67 facts and 13 exclusive pairs 117 ops and 234 exclusive pairs time: 2, 86 facts and 27 exclusive pairs 195 ops and 809 exclusive pairs time: 3, 110 facts and 44 exclusive pairs 296 ops and 1830 exclusive pairs time: 4, 142 facts and 88 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... exclusion constraints layer 0... exclusion constraints layer 1... exclusion constraints layer 2... exclusion constraints layer 3... exclusion constraints layer 4... DECISION LAYER 4, WRITING THIN GP-BASED ENCODING WITH 1127 VARS, 3707 CLAUSES. time spent: 0.00 seconds instantiating 9794 action templates 0.00 seconds reachability analysis, yielding 275 facts and 664 actions 0.00 seconds collecting 271 relevant facts 0.00 seconds building connectivity graph 0.00 seconds building (std) graph 0.01 seconds CNF output time 0.01 seconds total planner time (solving not included) Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] Pruned: 0: (MOVE R3 V47 V39) [1] ---SatPlan Version: 1.1 ***SAT!*** Solved in 4 layers Real Time: = 0.09 User Time: = 0.06 Syst Time: = 0.04