Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_4_3_10_C0' defined ... done. Modality: Incremental Planner Number of actions : 208 Number of conditional actions : 0 Number of facts : 90 Analyzing Planning Problem: Temporal Planning Problem: NO Numeric Planning Problem: NO Problem with Timed Initial Litearals: NO Problem with Derived Predicates: NO Evaluation function weights: Action duration 0.00; Action cost 1.00 Computing mutex... done Preprocessing total time: 0.01 seconds Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Searching ('.' = every 50 search steps): ... solution found: Plan computed: Time: (ACTION) [action Duration; action Cost] 0.0000: (MOVE1 V3 V5 R9) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V2 V3 R4) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V5 V8 R9) [D:1.0000; C:1.0000] 2.0000: (MOVE1 V3 V5 R4) [D:1.0000; C:1.0000] 3.0000: (MOVE2 V9 V3 R5) [D:1.0000; C:1.0000] 4.0000: (MOVE2 V3 V2 R5) [D:1.0000; C:1.0000] 5.0000: (MOVE2 V4 V3 R3) [D:1.0000; C:1.0000] 6.0000: (MOVE1 V0 V4 R6) [D:1.0000; C:1.0000] 7.0000: (MOVE2 V4 V0 R6) [D:1.0000; C:1.0000] 8.0000: (MOVE1 V0 V4 R6) [D:1.0000; C:1.0000] 9.0000: (MOVE2 V4 V0 R6) [D:1.0000; C:1.0000] 10.0000: (MOVE1 V0 V4 R6) [D:1.0000; C:1.0000] 11.0000: (MOVE2 V4 V0 R6) [D:1.0000; C:1.0000] 12.0000: (MOVE1 V0 V4 R6) [D:1.0000; C:1.0000] 13.0000: (MOVE2 V4 V0 R6) [D:1.0000; C:1.0000] 14.0000: (MOVE1 V0 V4 R6) [D:1.0000; C:1.0000] 15.0000: (MOVE2 V4 V0 R6) [D:1.0000; C:1.0000] 16.0000: (MOVE1 V0 V4 R6) [D:1.0000; C:1.0000] 17.0000: (MOVE2 V4 V0 R6) [D:1.0000; C:1.0000] 18.0000: (MOVE1 V0 V4 R6) [D:1.0000; C:1.0000] 19.0000: (MOVE2 V4 V0 R6) [D:1.0000; C:1.0000] 20.0000: (MOVE1 V0 V4 R6) [D:1.0000; C:1.0000] 21.0000: (MOVE2 V4 V0 R6) [D:1.0000; C:1.0000] 22.0000: (MOVE1 V0 V4 R6) [D:1.0000; C:1.0000] 23.0000: (MOVE2 V4 V0 R6) [D:1.0000; C:1.0000] 24.0000: (MOVE1 V0 V4 R6) [D:1.0000; C:1.0000] 25.0000: (MOVE2 V4 V0 R6) [D:1.0000; C:1.0000] 26.0000: (MOVE1 V0 V4 R6) [D:1.0000; C:1.0000] 27.0000: (MOVE2 V4 V0 R6) [D:1.0000; C:1.0000] 28.0000: (MOVE1 V0 V4 R6) [D:1.0000; C:1.0000] 29.0000: (MOVE2 V4 V0 R6) [D:1.0000; C:1.0000] 30.0000: (MOVE1 V0 V4 R6) [D:1.0000; C:1.0000] 31.0000: (MOVE2 V4 V0 R6) [D:1.0000; C:1.0000] 32.0000: (MOVE1 V0 V4 R6) [D:1.0000; C:1.0000] 33.0000: (MOVE2 V4 V0 R6) [D:1.0000; C:1.0000] 34.0000: (MOVE1 V0 V4 R6) [D:1.0000; C:1.0000] 35.0000: (MOVE2 V4 V0 R6) [D:1.0000; C:1.0000] 36.0000: (MOVE1 V0 V4 R6) [D:1.0000; C:1.0000] 37.0000: (MOVE2 V4 V0 R6) [D:1.0000; C:1.0000] 38.0000: (MOVE1 V0 V4 R6) [D:1.0000; C:1.0000] 39.0000: (MOVE2 V4 V0 R6) [D:1.0000; C:1.0000] 40.0000: (MOVE1 V0 V4 R6) [D:1.0000; C:1.0000] 41.0000: (MOVE2 V4 V0 R6) [D:1.0000; C:1.0000] 42.0000: (MOVE1 V0 V4 R6) [D:1.0000; C:1.0000] 43.0000: (MOVE2 V4 V0 R6) [D:1.0000; C:1.0000] 44.0000: (MOVE1 V0 V4 R6) [D:1.0000; C:1.0000] 45.0000: (MOVE2 V4 V0 R6) [D:1.0000; C:1.0000] 46.0000: (MOVE1 V0 V4 R6) [D:1.0000; C:1.0000] 47.0000: (MOVE2 V4 V0 R6) [D:1.0000; C:1.0000] 48.0000: (MOVE1 V0 V4 R6) [D:1.0000; C:1.0000] 49.0000: (MOVE2 V4 V0 R6) [D:1.0000; C:1.0000] 50.0000: (MOVE1 V0 V4 R6) [D:1.0000; C:1.0000] 51.0000: (MOVE2 V4 V0 R6) [D:1.0000; C:1.0000] 52.0000: (MOVE1 V0 V4 R6) [D:1.0000; C:1.0000] 53.0000: (MOVE2 V4 V0 R6) [D:1.0000; C:1.0000] 54.0000: (MOVE1 V0 V4 R6) [D:1.0000; C:1.0000] 55.0000: (MOVE2 V4 V0 R6) [D:1.0000; C:1.0000] 56.0000: (MOVE1 V0 V4 R6) [D:1.0000; C:1.0000] 57.0000: (MOVE2 V4 V0 R6) [D:1.0000; C:1.0000] 58.0000: (MOVE1 V0 V4 R6) [D:1.0000; C:1.0000] 59.0000: (MOVE2 V4 V0 R6) [D:1.0000; C:1.0000] 60.0000: (MOVE1 V0 V4 R6) [D:1.0000; C:1.0000] 61.0000: (MOVE2 V4 V0 R6) [D:1.0000; C:1.0000] 62.0000: (MOVE1 V0 V4 R6) [D:1.0000; C:1.0000] 63.0000: (MOVE2 V1 V0 R2) [D:1.0000; C:1.0000] 64.0000: (MOVE2 V5 V1 R4) [D:1.0000; C:1.0000] 65.0000: (MOVE1 V3 V5 R3) [D:1.0000; C:1.0000] 66.0000: (MOVE2 V4 V3 R6) [D:1.0000; C:1.0000] 67.0000: (MOVE1 V0 V4 R2) [D:1.0000; C:1.0000] 68.0000: (MOVE2 V1 V0 R4) [D:1.0000; C:1.0000] 69.0000: (MOVE2 V6 V1 R8) [D:1.0000; C:1.0000] 70.0000: (MOVE1 V1 V9 R8) [D:1.0000; C:1.0000] 71.0000: (MOVE2 V5 V1 R3) [D:1.0000; C:1.0000] 72.0000: (MOVE1 V1 V6 R3) [D:1.0000; C:1.0000] 72.0000: (MOVE2 V8 V5 R9) [D:1.0000; C:1.0000] 73.0000: (MOVE2 V5 V1 R9) [D:1.0000; C:1.0000] 74.0000: (MOVE1 V3 V5 R6) [D:1.0000; C:1.0000] 75.0000: (MOVE1 V5 V8 R6) [D:1.0000; C:1.0000] 75.0000: (MOVE2 V9 V3 R8) [D:1.0000; C:1.0000] 76.0000: (MOVE1 V3 V5 R8) [D:1.0000; C:1.0000] Solution number: 1 Total time: 9.40 Search time: 9.39 Actions: 80 Execution cost: 80.00 Duration: 77.000 Plan quality: 80.000 Plan file: plan_multirobot_4_3_10_c0.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_4_3_10_C1' defined ... done. Modality: Incremental Planner Number of actions : 208 Number of conditional actions : 0 Number of facts : 90 Analyzing Planning Problem: Temporal Planning Problem: NO Numeric Planning Problem: NO Problem with Timed Initial Litearals: NO Problem with Derived Predicates: NO Evaluation function weights: Action duration 0.00; Action cost 1.00 Computing mutex... done Preprocessing total time: 0.01 seconds Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Switching to Best-first Search: ( code from J. Hoffmann's package FF-v2.3 ) advancing to distance : 22 19 18 17 16 15 14 13 11 10 9 8 7 6 5 4 3 2 1 0 improving the parallelism of the plan Solution number: 1 Total time: 25.22 Search time: 25.21 Actions: 83 Execution cost: 83.00 Duration: 59.000 Plan quality: 83.000 Plan file: plan_multirobot_4_3_10_c1.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_4_3_10_C2' defined ... done. Modality: Incremental Planner Number of actions : 208 Number of conditional actions : 0 Number of facts : 90 Analyzing Planning Problem: Temporal Planning Problem: NO Numeric Planning Problem: NO Problem with Timed Initial Litearals: NO Problem with Derived Predicates: NO Evaluation function weights: Action duration 0.00; Action cost 1.00 Computing mutex... done Preprocessing total time: 0.01 seconds Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Switching to Best-first Search: ( code from J. Hoffmann's package FF-v2.3 ) advancing to distance : 18 16 15 13 11 10 8 7 6 5 4 3 1 0 improving the parallelism of the plan Solution number: 1 Total time: 24.17 Search time: 24.16 Actions: 36 Execution cost: 36.00 Duration: 32.000 Plan quality: 36.000 Plan file: plan_multirobot_4_3_10_c2.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_4_3_10_C3' defined ... done. Modality: Incremental Planner Number of actions : 352 Number of conditional actions : 0 Number of facts : 156 Analyzing Planning Problem: Temporal Planning Problem: NO Numeric Planning Problem: NO Problem with Timed Initial Litearals: NO Problem with Derived Predicates: NO Evaluation function weights: Action duration 0.00; Action cost 1.00 Computing mutex... done Preprocessing total time: 0.01 seconds Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Switching to Best-first Search: ( code from J. Hoffmann's package FF-v2.3 ) advancing to distance : 30 29 28 25 24 21 20 19 17 16 15 14 12 11 9 8 7 6 5 3 2 1 0 improving the parallelism of the plan Solution number: 1 Total time: 38.00 Search time: 37.99 Actions: 170 Execution cost: 170.00 Duration: 117.000 Plan quality: 170.000 Plan file: plan_multirobot_4_3_10_c3.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_4_3_10_C4' defined ... done. Modality: Incremental Planner Number of actions : 132 Number of conditional actions : 0 Number of facts : 56 Analyzing Planning Problem: Temporal Planning Problem: NO Numeric Planning Problem: NO Problem with Timed Initial Litearals: NO Problem with Derived Predicates: NO Evaluation function weights: Action duration 0.00; Action cost 1.00 Computing mutex... done Preprocessing total time: 0.02 seconds Searching ('.' = every 50 search steps): ........ solution found: Plan computed: Time: (ACTION) [action Duration; action Cost] 0.0000: (MOVE1 V3 V4 R6) [D:1.0000; C:1.0000] 0.0000: (MOVE2 V7 V6 R4) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V2 V3 R3) [D:1.0000; C:1.0000] 2.0000: (MOVE1 V1 V2 R7) [D:1.0000; C:1.0000] 2.0000: (MOVE1 V3 V7 R3) [D:1.0000; C:1.0000] 3.0000: (MOVE2 V2 V1 R7) [D:1.0000; C:1.0000] 3.0000: (MOVE2 V4 V3 R6) [D:1.0000; C:1.0000] 4.0000: (MOVE1 V1 V2 R7) [D:1.0000; C:1.0000] 4.0000: (MOVE1 V0 V4 R2) [D:1.0000; C:1.0000] 5.0000: (MOVE2 V2 V1 R7) [D:1.0000; C:1.0000] 6.0000: (MOVE1 V1 V2 R7) [D:1.0000; C:1.0000] 7.0000: (MOVE2 V2 V1 R7) [D:1.0000; C:1.0000] 8.0000: (MOVE1 V1 V2 R7) [D:1.0000; C:1.0000] 9.0000: (MOVE2 V2 V1 R7) [D:1.0000; C:1.0000] 10.0000: (MOVE1 V1 V2 R7) [D:1.0000; C:1.0000] 11.0000: (MOVE2 V2 V1 R7) [D:1.0000; C:1.0000] 12.0000: (MOVE1 V1 V2 R7) [D:1.0000; C:1.0000] 13.0000: (MOVE2 V2 V1 R7) [D:1.0000; C:1.0000] 14.0000: (MOVE2 V3 V2 R6) [D:1.0000; C:1.0000] 14.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 15.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 16.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 17.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 18.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 19.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 20.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 21.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 22.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 23.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 24.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 25.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 26.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 27.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 28.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 29.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 30.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 31.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 32.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 33.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 34.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 35.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 36.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 37.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 38.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 39.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 40.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 41.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 42.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 43.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 44.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 45.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 46.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 47.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 48.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 49.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 50.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 51.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 52.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 53.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 54.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 55.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 56.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 57.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 58.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 59.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 60.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 61.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 62.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 63.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 64.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 65.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 66.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 67.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 68.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 69.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 70.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 71.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 72.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 73.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 74.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 75.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 76.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 77.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 78.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 79.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 80.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 81.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 82.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 83.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 84.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 85.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 86.0000: (MOVE2 V4 V0 R2) [D:1.0000; C:1.0000] 87.0000: (MOVE1 V0 V4 R2) [D:1.0000; C:1.0000] 88.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 88.0000: (MOVE2 V4 V3 R2) [D:1.0000; C:1.0000] 89.0000: (MOVE1 V0 V4 R7) [D:1.0000; C:1.0000] 90.0000: (MOVE2 V4 V0 R7) [D:1.0000; C:1.0000] 91.0000: (MOVE1 V3 V4 R2) [D:1.0000; C:1.0000] 91.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 92.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 93.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 94.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 95.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 96.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 97.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 98.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 99.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 100.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 101.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 102.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 103.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 104.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 105.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 106.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 107.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 108.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 109.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 110.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 111.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 112.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 113.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 114.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 115.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 116.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 117.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 118.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 119.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 120.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 121.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 122.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 123.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 124.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 125.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 126.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 127.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 128.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 129.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 130.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 131.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 132.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 133.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 134.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 135.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 136.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 137.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 138.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 139.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 140.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 141.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 142.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 143.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 144.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 145.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 146.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 147.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 148.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 149.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 150.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 151.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 152.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 153.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 154.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 155.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 156.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 157.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 158.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 159.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 160.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 161.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 162.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 163.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 164.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 165.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 166.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 167.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 168.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 169.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 170.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 171.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 172.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 173.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 174.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 175.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 176.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 177.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 178.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 179.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 180.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 181.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 182.0000: (MOVE2 V5 V0 R5) [D:1.0000; C:1.0000] 183.0000: (MOVE1 V0 V5 R5) [D:1.0000; C:1.0000] 184.0000: (MOVE2 V5 V0 R5) [D:1.0000; C:1.0000] 185.0000: (MOVE1 V0 V5 R5) [D:1.0000; C:1.0000] 186.0000: (MOVE2 V5 V0 R5) [D:1.0000; C:1.0000] 187.0000: (MOVE1 V0 V5 R5) [D:1.0000; C:1.0000] 188.0000: (MOVE2 V5 V0 R5) [D:1.0000; C:1.0000] 189.0000: (MOVE1 V0 V5 R5) [D:1.0000; C:1.0000] 190.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 190.0000: (MOVE2 V5 V3 R5) [D:1.0000; C:1.0000] 191.0000: (MOVE1 V0 V5 R7) [D:1.0000; C:1.0000] 192.0000: (MOVE2 V4 V0 R2) [D:1.0000; C:1.0000] 193.0000: (MOVE1 V0 V1 R2) [D:1.0000; C:1.0000] 193.0000: (MOVE2 V6 V4 R4) [D:1.0000; C:1.0000] 194.0000: (MOVE2 V5 V0 R7) [D:1.0000; C:1.0000] 194.0000: (MOVE2 V7 V6 R3) [D:1.0000; C:1.0000] 195.0000: (MOVE1 V3 V5 R5) [D:1.0000; C:1.0000] Solution number: 1 Total time: 0.15 Search time: 0.13 Actions: 206 Execution cost: 206.00 Duration: 196.000 Plan quality: 206.000 Plan file: plan_multirobot_4_3_10_c4.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_4_3_10_C5' defined ... done. Modality: Incremental Planner Number of actions : 132 Number of conditional actions : 0 Number of facts : 56 Analyzing Planning Problem: Temporal Planning Problem: NO Numeric Planning Problem: NO Problem with Timed Initial Litearals: NO Problem with Derived Predicates: NO Evaluation function weights: Action duration 0.00; Action cost 1.00 Computing mutex... done Preprocessing total time: 0.02 seconds Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan . solution found: Plan computed: Time: (ACTION) [action Duration; action Cost] 0.0000: (MOVE1 V5 V7 R5) [D:1.0000; C:1.0000] 0.0000: (MOVE1 V0 V1 R4) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V4 V5 R7) [D:1.0000; C:1.0000] 1.0000: (MOVE2 V1 V0 R4) [D:1.0000; C:1.0000] 2.0000: (MOVE2 V5 V4 R7) [D:1.0000; C:1.0000] 3.0000: (MOVE1 V4 V5 R7) [D:1.0000; C:1.0000] 4.0000: (MOVE2 V5 V4 R7) [D:1.0000; C:1.0000] 5.0000: (MOVE1 V4 V5 R7) [D:1.0000; C:1.0000] 6.0000: (MOVE1 V3 V4 R6) [D:1.0000; C:1.0000] 6.0000: (MOVE2 V5 V1 R7) [D:1.0000; C:1.0000] 7.0000: (MOVE1 V1 V5 R7) [D:1.0000; C:1.0000] 7.0000: (MOVE1 V2 V3 R3) [D:1.0000; C:1.0000] 8.0000: (MOVE2 V5 V1 R7) [D:1.0000; C:1.0000] 9.0000: (MOVE1 V1 V5 R7) [D:1.0000; C:1.0000] 10.0000: (MOVE2 V5 V1 R7) [D:1.0000; C:1.0000] 11.0000: (MOVE1 V1 V5 R7) [D:1.0000; C:1.0000] 12.0000: (MOVE2 V5 V1 R7) [D:1.0000; C:1.0000] 13.0000: (MOVE1 V1 V5 R7) [D:1.0000; C:1.0000] 14.0000: (MOVE2 V5 V1 R7) [D:1.0000; C:1.0000] 15.0000: (MOVE1 V1 V5 R7) [D:1.0000; C:1.0000] 16.0000: (MOVE2 V5 V1 R7) [D:1.0000; C:1.0000] 17.0000: (MOVE1 V1 V5 R7) [D:1.0000; C:1.0000] 18.0000: (MOVE2 V5 V1 R7) [D:1.0000; C:1.0000] 19.0000: (MOVE1 V1 V5 R7) [D:1.0000; C:1.0000] 20.0000: (MOVE2 V5 V1 R7) [D:1.0000; C:1.0000] 21.0000: (MOVE1 V1 V5 R7) [D:1.0000; C:1.0000] 22.0000: (MOVE2 V5 V1 R7) [D:1.0000; C:1.0000] 23.0000: (MOVE1 V1 V5 R7) [D:1.0000; C:1.0000] 24.0000: (MOVE2 V5 V1 R7) [D:1.0000; C:1.0000] 25.0000: (MOVE1 V1 V5 R7) [D:1.0000; C:1.0000] 26.0000: (MOVE2 V5 V1 R7) [D:1.0000; C:1.0000] 27.0000: (MOVE1 V1 V5 R7) [D:1.0000; C:1.0000] 28.0000: (MOVE2 V5 V1 R7) [D:1.0000; C:1.0000] 29.0000: (MOVE1 V1 V2 R7) [D:1.0000; C:1.0000] 30.0000: (MOVE1 V0 V1 R4) [D:1.0000; C:1.0000] 31.0000: (MOVE1 V1 V5 R4) [D:1.0000; C:1.0000] 31.0000: (MOVE2 V4 V0 R6) [D:1.0000; C:1.0000] 32.0000: (MOVE2 V2 V1 R7) [D:1.0000; C:1.0000] 33.0000: (MOVE2 V3 V2 R3) [D:1.0000; C:1.0000] Solution number: 1 Total time: 1.23 Search time: 1.21 Actions: 39 Execution cost: 39.00 Duration: 34.000 Plan quality: 39.000 Plan file: plan_multirobot_4_3_10_c5.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_4_3_10_C6' defined ... done. Modality: Incremental Planner Number of actions : 208 Number of conditional actions : 0 Number of facts : 90 Analyzing Planning Problem: Temporal Planning Problem: NO Numeric Planning Problem: NO Problem with Timed Initial Litearals: NO Problem with Derived Predicates: NO Evaluation function weights: Action duration 0.00; Action cost 1.00 Computing mutex... done Preprocessing total time: 0.00 seconds Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Switching to Best-first Search: ( code from J. Hoffmann's package FF-v2.3 ) advancing to distance : 17 16 15 14 12 11 10 9 7 6 5 4 3 2 1 0 improving the parallelism of the plan Solution number: 1 Total time: 25.13 Search time: 25.13 Actions: 43 Execution cost: 43.00 Duration: 32.000 Plan quality: 43.000 Plan file: plan_multirobot_4_3_10_c6.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_4_3_10_C7' defined ... done. Modality: Incremental Planner Number of actions : 208 Number of conditional actions : 0 Number of facts : 90 Analyzing Planning Problem: Temporal Planning Problem: NO Numeric Planning Problem: NO Problem with Timed Initial Litearals: NO Problem with Derived Predicates: NO Evaluation function weights: Action duration 0.00; Action cost 1.00 Computing mutex... done Preprocessing total time: 0.01 seconds Searching ('.' = every 50 search steps): . solution found: Plan computed: Time: (ACTION) [action Duration; action Cost] 0.0000: (MOVE2 V9 V0 R2) [D:1.0000; C:1.0000] 0.0000: (MOVE1 V2 V3 R9) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V1 V2 R7) [D:1.0000; C:1.0000] 2.0000: (MOVE2 V2 V1 R7) [D:1.0000; C:1.0000] 3.0000: (MOVE1 V1 V2 R7) [D:1.0000; C:1.0000] 4.0000: (MOVE2 V2 V1 R7) [D:1.0000; C:1.0000] 5.0000: (MOVE1 V1 V2 R7) [D:1.0000; C:1.0000] 6.0000: (MOVE1 V0 V1 R2) [D:1.0000; C:1.0000] 7.0000: (MOVE2 V4 V0 R5) [D:1.0000; C:1.0000] 8.0000: (MOVE1 V3 V4 R9) [D:1.0000; C:1.0000] 9.0000: (MOVE2 V4 V3 R9) [D:1.0000; C:1.0000] 10.0000: (MOVE1 V3 V4 R9) [D:1.0000; C:1.0000] 11.0000: (MOVE2 V4 V3 R9) [D:1.0000; C:1.0000] 12.0000: (MOVE1 V3 V4 R9) [D:1.0000; C:1.0000] 13.0000: (MOVE2 V4 V3 R9) [D:1.0000; C:1.0000] 14.0000: (MOVE1 V3 V4 R9) [D:1.0000; C:1.0000] 15.0000: (MOVE1 V2 V3 R7) [D:1.0000; C:1.0000] 16.0000: (MOVE1 V1 V2 R2) [D:1.0000; C:1.0000] 17.0000: (MOVE2 V5 V1 R4) [D:1.0000; C:1.0000] 18.0000: (MOVE1 V1 V5 R4) [D:1.0000; C:1.0000] 19.0000: (MOVE1 V0 V1 R5) [D:1.0000; C:1.0000] 20.0000: (MOVE2 V4 V0 R9) [D:1.0000; C:1.0000] 21.0000: (MOVE1 V0 V4 R9) [D:1.0000; C:1.0000] 22.0000: (MOVE2 V4 V0 R9) [D:1.0000; C:1.0000] 23.0000: (MOVE1 V0 V9 R9) [D:1.0000; C:1.0000] 24.0000: (MOVE2 V6 V0 R3) [D:1.0000; C:1.0000] 25.0000: (MOVE1 V0 V4 R3) [D:1.0000; C:1.0000] 26.0000: (MOVE2 V5 V0 R4) [D:1.0000; C:1.0000] 27.0000: (MOVE1 V0 V6 R4) [D:1.0000; C:1.0000] 28.0000: (MOVE2 V9 V0 R9) [D:1.0000; C:1.0000] 29.0000: (MOVE1 V0 V5 R9) [D:1.0000; C:1.0000] 29.0000: (MOVE1 V6 V9 R4) [D:1.0000; C:1.0000] 30.0000: (MOVE2 V1 V0 R5) [D:1.0000; C:1.0000] 31.0000: (MOVE1 V0 V6 R5) [D:1.0000; C:1.0000] 32.0000: (MOVE2 V9 V0 R4) [D:1.0000; C:1.0000] 33.0000: (MOVE1 V0 V1 R4) [D:1.0000; C:1.0000] 33.0000: (MOVE1 V6 V9 R5) [D:1.0000; C:1.0000] 34.0000: (MOVE2 V7 V6 R8) [D:1.0000; C:1.0000] 35.0000: (MOVE2 V6 V0 R8) [D:1.0000; C:1.0000] 36.0000: (MOVE2 V9 V6 R5) [D:1.0000; C:1.0000] Solution number: 1 Total time: 0.04 Search time: 0.03 Actions: 40 Execution cost: 40.00 Duration: 37.000 Plan quality: 40.000 Plan file: plan_multirobot_4_3_10_c7.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_4_3_10_C8' defined ... done. Modality: Incremental Planner Number of actions : 300 Number of conditional actions : 0 Number of facts : 132 Analyzing Planning Problem: Temporal Planning Problem: NO Numeric Planning Problem: NO Problem with Timed Initial Litearals: NO Problem with Derived Predicates: NO Evaluation function weights: Action duration 0.00; Action cost 1.00 Computing mutex... done Preprocessing total time: 0.02 seconds Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Switching to Best-first Search: ( code from J. Hoffmann's package FF-v2.3 ) advancing to distance : 24 21 20 18 15 14 13 11 10 9 7 6 3 2 1 0 improving the parallelism of the plan Solution number: 1 Total time: 32.61 Search time: 32.59 Actions: 98 Execution cost: 98.00 Duration: 71.000 Plan quality: 98.000 Plan file: plan_multirobot_4_3_10_c8.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_4_3_10_C9' defined ... done. Modality: Incremental Planner Number of actions : 208 Number of conditional actions : 0 Number of facts : 90 Analyzing Planning Problem: Temporal Planning Problem: NO Numeric Planning Problem: NO Problem with Timed Initial Litearals: NO Problem with Derived Predicates: NO Evaluation function weights: Action duration 0.00; Action cost 1.00 Computing mutex... done Preprocessing total time: 0.01 seconds Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Searching ('.' = every 50 search steps): ........... search limit exceeded. Restart using null plan ............. search limit exceeded. Restart using null plan ............... search limit exceeded. Restart using null plan .................. search limit exceeded. Restart using null plan ..................... search limit exceeded. Restart using null plan ........................ search limit exceeded. Restart using null plan ............................ search limit exceeded. Restart using null plan ................................. search limit exceeded. Restart using null plan ...................................... search limit exceeded. Switching to Best-first Search: ( code from J. Hoffmann's package FF-v2.3 ) advancing to distance : 22 21 20 19 18 17 16 15 13 12 10 9 8 7 6 5 3 2 0 improving the parallelism of the plan Solution number: 1 Total time: 24.20 Search time: 24.19 Actions: 44 Execution cost: 44.00 Duration: 29.000 Plan quality: 44.000 Plan file: plan_multirobot_4_3_10_c9.pddl_1.SOL