Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_3_3_50_C0' defined ... done. Modality: Incremental Planner Number of actions : 60 Number of conditional actions : 0 Number of facts : 28 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: (MOVE2 V5 V0 R6) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V0 V6 R6) [D:1.0000; C:1.0000] 2.0000: (MOVE2 V1 V0 R5) [D:1.0000; C:1.0000] 3.0000: (MOVE2 V4 V1 R4) [D:1.0000; C:1.0000] 4.0000: (MOVE1 V1 V2 R4) [D:1.0000; C:1.0000] Solution number: 1 Total time: 0.02 Search time: 0.00 Actions: 5 Execution cost: 5.00 Duration: 5.000 Plan quality: 5.000 Plan file: plan_multirobot_3_3_50_c0.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_3_3_50_C1' defined ... done. Modality: Incremental Planner Number of actions : 156 Number of conditional actions : 0 Number of facts : 70 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 ... solution found: Plan computed: Time: (ACTION) [action Duration; action Cost] 0.0000: (MOVE1 V0 V5 R5) [D:1.0000; C:1.0000] 0.0000: (MOVE2 V4 V1 R6) [D:1.0000; C:1.0000] 0.0000: (MOVE1 V2 V7 R7) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V5 V6 R5) [D:1.0000; C:1.0000] 1.0000: (MOVE2 V3 V2 R8) [D:1.0000; C:1.0000] 2.0000: (MOVE2 V9 V5 R4) [D:1.0000; C:1.0000] 2.0000: (MOVE1 V2 V3 R8) [D:1.0000; C:1.0000] 3.0000: (MOVE2 V5 V0 R4) [D:1.0000; C:1.0000] 3.0000: (MOVE2 V3 V2 R8) [D:1.0000; C:1.0000] 4.0000: (MOVE1 V2 V3 R8) [D:1.0000; C:1.0000] 5.0000: (MOVE1 V1 V2 R6) [D:1.0000; C:1.0000] 6.0000: (MOVE1 V0 V1 R4) [D:1.0000; C:1.0000] 7.0000: (MOVE2 V3 V0 R8) [D:1.0000; C:1.0000] 8.0000: (MOVE1 V2 V3 R6) [D:1.0000; C:1.0000] 8.0000: (MOVE1 V0 V5 R8) [D:1.0000; C:1.0000] 9.0000: (MOVE2 V8 V0 R9) [D:1.0000; C:1.0000] 9.0000: (MOVE2 V7 V2 R7) [D:1.0000; C:1.0000] 10.0000: (MOVE1 V0 V8 R9) [D:1.0000; C:1.0000] 10.0000: (MOVE1 V6 V7 R5) [D:1.0000; C:1.0000] 11.0000: (MOVE2 V8 V0 R9) [D:1.0000; C:1.0000] 12.0000: (MOVE1 V0 V8 R9) [D:1.0000; C:1.0000] 13.0000: (MOVE2 V3 V0 R6) [D:1.0000; C:1.0000] 13.0000: (MOVE1 V8 V9 R9) [D:1.0000; C:1.0000] 14.0000: (MOVE1 V2 V3 R7) [D:1.0000; C:1.0000] 14.0000: (MOVE1 V0 V8 R6) [D:1.0000; C:1.0000] 15.0000: (MOVE2 V3 V2 R7) [D:1.0000; C:1.0000] 16.0000: (MOVE1 V2 V3 R7) [D:1.0000; C:1.0000] 17.0000: (MOVE2 V7 V2 R5) [D:1.0000; C:1.0000] 17.0000: (MOVE1 V3 V4 R7) [D:1.0000; C:1.0000] 18.0000: (MOVE2 V4 V3 R7) [D:1.0000; C:1.0000] 19.0000: (MOVE1 V3 V4 R7) [D:1.0000; C:1.0000] 20.0000: (MOVE2 V4 V3 R7) [D:1.0000; C:1.0000] 21.0000: (MOVE1 V3 V4 R7) [D:1.0000; C:1.0000] 22.0000: (MOVE1 V2 V3 R5) [D:1.0000; C:1.0000] 23.0000: (MOVE1 V1 V2 R4) [D:1.0000; C:1.0000] 24.0000: (MOVE2 V4 V1 R7) [D:1.0000; C:1.0000] 25.0000: (MOVE1 V1 V4 R7) [D:1.0000; C:1.0000] 26.0000: (MOVE2 V4 V1 R7) [D:1.0000; C:1.0000] 27.0000: (MOVE1 V1 V4 R7) [D:1.0000; C:1.0000] 28.0000: (MOVE2 V4 V1 R7) [D:1.0000; C:1.0000] 29.0000: (MOVE1 V1 V4 R7) [D:1.0000; C:1.0000] 30.0000: (MOVE2 V4 V1 R7) [D:1.0000; C:1.0000] 31.0000: (MOVE1 V1 V4 R7) [D:1.0000; C:1.0000] 32.0000: (MOVE2 V4 V1 R7) [D:1.0000; C:1.0000] 33.0000: (MOVE1 V1 V4 R7) [D:1.0000; C:1.0000] 34.0000: (MOVE2 V4 V1 R7) [D:1.0000; C:1.0000] 35.0000: (MOVE1 V1 V4 R7) [D:1.0000; C:1.0000] 36.0000: (MOVE2 V4 V1 R7) [D:1.0000; C:1.0000] 37.0000: (MOVE1 V1 V4 R7) [D:1.0000; C:1.0000] 38.0000: (MOVE2 V4 V1 R7) [D:1.0000; C:1.0000] 39.0000: (MOVE1 V1 V4 R7) [D:1.0000; C:1.0000] 40.0000: (MOVE2 V4 V1 R7) [D:1.0000; C:1.0000] 41.0000: (MOVE1 V1 V4 R7) [D:1.0000; C:1.0000] 42.0000: (MOVE2 V4 V1 R7) [D:1.0000; C:1.0000] 43.0000: (MOVE1 V1 V4 R7) [D:1.0000; C:1.0000] 44.0000: (MOVE2 V4 V1 R7) [D:1.0000; C:1.0000] 45.0000: (MOVE1 V1 V4 R7) [D:1.0000; C:1.0000] 46.0000: (MOVE2 V4 V1 R7) [D:1.0000; C:1.0000] 47.0000: (MOVE1 V1 V4 R7) [D:1.0000; C:1.0000] 48.0000: (MOVE2 V4 V1 R7) [D:1.0000; C:1.0000] 49.0000: (MOVE1 V1 V4 R7) [D:1.0000; C:1.0000] 50.0000: (MOVE2 V4 V1 R7) [D:1.0000; C:1.0000] 51.0000: (MOVE1 V1 V4 R7) [D:1.0000; C:1.0000] 52.0000: (MOVE2 V4 V1 R7) [D:1.0000; C:1.0000] 53.0000: (MOVE1 V1 V4 R7) [D:1.0000; C:1.0000] 54.0000: (MOVE2 V4 V1 R7) [D:1.0000; C:1.0000] 55.0000: (MOVE1 V1 V4 R7) [D:1.0000; C:1.0000] 56.0000: (MOVE2 V4 V1 R7) [D:1.0000; C:1.0000] 57.0000: (MOVE1 V1 V4 R7) [D:1.0000; C:1.0000] 58.0000: (MOVE2 V4 V1 R7) [D:1.0000; C:1.0000] 59.0000: (MOVE1 V1 V4 R7) [D:1.0000; C:1.0000] 60.0000: (MOVE2 V4 V1 R7) [D:1.0000; C:1.0000] 61.0000: (MOVE1 V1 V4 R7) [D:1.0000; C:1.0000] 62.0000: (MOVE2 V2 V1 R4) [D:1.0000; C:1.0000] 63.0000: (MOVE2 V3 V2 R5) [D:1.0000; C:1.0000] 64.0000: (MOVE2 V4 V3 R7) [D:1.0000; C:1.0000] 65.0000: (MOVE1 V1 V4 R4) [D:1.0000; C:1.0000] 66.0000: (MOVE2 V2 V1 R5) [D:1.0000; C:1.0000] 67.0000: (MOVE2 V3 V2 R7) [D:1.0000; C:1.0000] 67.0000: (MOVE2 V1 V0 R5) [D:1.0000; C:1.0000] 68.0000: (MOVE1 V2 V7 R7) [D:1.0000; C:1.0000] 68.0000: (MOVE1 V0 V3 R5) [D:1.0000; C:1.0000] 69.0000: (MOVE2 V5 V0 R8) [D:1.0000; C:1.0000] 69.0000: (MOVE2 V3 V2 R5) [D:1.0000; C:1.0000] 70.0000: (MOVE1 V0 V1 R8) [D:1.0000; C:1.0000] 70.0000: (MOVE1 V2 V3 R5) [D:1.0000; C:1.0000] 70.0000: (MOVE2 V9 V5 R9) [D:1.0000; C:1.0000] 71.0000: (MOVE2 V3 V2 R5) [D:1.0000; C:1.0000] 72.0000: (MOVE1 V2 V3 R5) [D:1.0000; C:1.0000] 73.0000: (MOVE2 V3 V2 R5) [D:1.0000; C:1.0000] 74.0000: (MOVE1 V2 V3 R5) [D:1.0000; C:1.0000] 75.0000: (MOVE2 V3 V2 R5) [D:1.0000; C:1.0000] 76.0000: (MOVE1 V2 V3 R5) [D:1.0000; C:1.0000] 77.0000: (MOVE2 V3 V2 R5) [D:1.0000; C:1.0000] 78.0000: (MOVE1 V2 V3 R5) [D:1.0000; C:1.0000] 79.0000: (MOVE2 V3 V2 R5) [D:1.0000; C:1.0000] 80.0000: (MOVE1 V2 V3 R5) [D:1.0000; C:1.0000] 81.0000: (MOVE1 V1 V2 R8) [D:1.0000; C:1.0000] 81.0000: (MOVE2 V3 V0 R5) [D:1.0000; C:1.0000] 82.0000: (MOVE1 V2 V3 R8) [D:1.0000; C:1.0000] 83.0000: (MOVE2 V3 V2 R8) [D:1.0000; C:1.0000] 84.0000: (MOVE1 V0 V3 R5) [D:1.0000; C:1.0000] Solution number: 1 Total time: 0.18 Search time: 0.18 Actions: 102 Execution cost: 102.00 Duration: 85.000 Plan quality: 102.000 Plan file: plan_multirobot_3_3_50_c1.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_3_3_50_C2' defined ... done. Modality: Incremental Planner Number of actions : 120 Number of conditional actions : 0 Number of facts : 54 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: (MOVE1 V3 V4 R4) [D:1.0000; C:1.0000] 0.0000: (MOVE1 V6 V7 R8) [D:1.0000; C:1.0000] 0.0000: (MOVE1 V0 V1 R6) [D:1.0000; C:1.0000] 1.0000: (MOVE2 V4 V3 R4) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V2 V6 R7) [D:1.0000; C:1.0000] 1.0000: (MOVE2 V1 V0 R6) [D:1.0000; C:1.0000] 2.0000: (MOVE1 V3 V4 R4) [D:1.0000; C:1.0000] 3.0000: (MOVE2 V8 V3 R5) [D:1.0000; C:1.0000] 3.0000: (MOVE1 V4 V5 R4) [D:1.0000; C:1.0000] 4.0000: (MOVE2 V5 V4 R4) [D:1.0000; C:1.0000] 5.0000: (MOVE1 V4 V5 R4) [D:1.0000; C:1.0000] 6.0000: (MOVE2 V5 V4 R4) [D:1.0000; C:1.0000] 7.0000: (MOVE1 V4 V5 R4) [D:1.0000; C:1.0000] 8.0000: (MOVE2 V5 V4 R4) [D:1.0000; C:1.0000] 9.0000: (MOVE1 V4 V5 R4) [D:1.0000; C:1.0000] 10.0000: (MOVE2 V5 V2 R4) [D:1.0000; C:1.0000] 11.0000: (MOVE2 V2 V1 R4) [D:1.0000; C:1.0000] 12.0000: (MOVE2 V3 V2 R5) [D:1.0000; C:1.0000] 13.0000: (MOVE1 V2 V5 R5) [D:1.0000; C:1.0000] 14.0000: (MOVE2 V6 V2 R7) [D:1.0000; C:1.0000] 14.0000: (MOVE2 V5 V4 R5) [D:1.0000; C:1.0000] 15.0000: (MOVE1 V0 V6 R6) [D:1.0000; C:1.0000] 15.0000: (MOVE1 V2 V5 R7) [D:1.0000; C:1.0000] 16.0000: (MOVE2 V6 V0 R6) [D:1.0000; C:1.0000] 17.0000: (MOVE1 V0 V6 R6) [D:1.0000; C:1.0000] 18.0000: (MOVE2 V6 V0 R6) [D:1.0000; C:1.0000] 19.0000: (MOVE1 V0 V6 R6) [D:1.0000; C:1.0000] 20.0000: (MOVE2 V6 V0 R6) [D:1.0000; C:1.0000] 21.0000: (MOVE1 V0 V6 R6) [D:1.0000; C:1.0000] 22.0000: (MOVE2 V6 V0 R6) [D:1.0000; C:1.0000] 23.0000: (MOVE1 V0 V6 R6) [D:1.0000; C:1.0000] 24.0000: (MOVE2 V6 V0 R6) [D:1.0000; C:1.0000] 25.0000: (MOVE1 V0 V6 R6) [D:1.0000; C:1.0000] 26.0000: (MOVE2 V6 V0 R6) [D:1.0000; C:1.0000] 27.0000: (MOVE1 V0 V6 R6) [D:1.0000; C:1.0000] 28.0000: (MOVE2 V6 V0 R6) [D:1.0000; C:1.0000] 29.0000: (MOVE1 V0 V6 R6) [D:1.0000; C:1.0000] 30.0000: (MOVE2 V6 V0 R6) [D:1.0000; C:1.0000] 31.0000: (MOVE1 V0 V6 R6) [D:1.0000; C:1.0000] 32.0000: (MOVE2 V6 V0 R6) [D:1.0000; C:1.0000] 33.0000: (MOVE1 V0 V6 R6) [D:1.0000; C:1.0000] 34.0000: (MOVE2 V6 V0 R6) [D:1.0000; C:1.0000] 35.0000: (MOVE1 V0 V6 R6) [D:1.0000; C:1.0000] 36.0000: (MOVE2 V6 V0 R6) [D:1.0000; C:1.0000] 37.0000: (MOVE1 V0 V6 R6) [D:1.0000; C:1.0000] 38.0000: (MOVE2 V6 V0 R6) [D:1.0000; C:1.0000] 39.0000: (MOVE1 V0 V6 R6) [D:1.0000; C:1.0000] 40.0000: (MOVE2 V6 V0 R6) [D:1.0000; C:1.0000] 41.0000: (MOVE1 V0 V6 R6) [D:1.0000; C:1.0000] 42.0000: (MOVE2 V6 V0 R6) [D:1.0000; C:1.0000] 43.0000: (MOVE1 V0 V3 R6) [D:1.0000; C:1.0000] 43.0000: (MOVE2 V7 V6 R8) [D:1.0000; C:1.0000] 44.0000: (MOVE2 V1 V0 R4) [D:1.0000; C:1.0000] 44.0000: (MOVE1 V6 V7 R8) [D:1.0000; C:1.0000] 45.0000: (MOVE2 V7 V6 R8) [D:1.0000; C:1.0000] 46.0000: (MOVE1 V6 V7 R8) [D:1.0000; C:1.0000] 47.0000: (MOVE2 V7 V6 R8) [D:1.0000; C:1.0000] 48.0000: (MOVE1 V6 V7 R8) [D:1.0000; C:1.0000] 49.0000: (MOVE2 V7 V6 R8) [D:1.0000; C:1.0000] 50.0000: (MOVE1 V6 V7 R8) [D:1.0000; C:1.0000] 51.0000: (MOVE1 V0 V6 R4) [D:1.0000; C:1.0000] 51.0000: (MOVE1 V7 V8 R8) [D:1.0000; C:1.0000] 52.0000: (MOVE2 V3 V0 R6) [D:1.0000; C:1.0000] 52.0000: (MOVE1 V6 V7 R4) [D:1.0000; C:1.0000] 53.0000: (MOVE2 V4 V3 R5) [D:1.0000; C:1.0000] 53.0000: (MOVE1 V0 V1 R6) [D:1.0000; C:1.0000] 54.0000: (MOVE2 V5 V4 R7) [D:1.0000; C:1.0000] 55.0000: (MOVE1 V4 V5 R7) [D:1.0000; C:1.0000] 56.0000: (MOVE1 V3 V4 R5) [D:1.0000; C:1.0000] 56.0000: (MOVE2 V5 V2 R7) [D:1.0000; C:1.0000] 57.0000: (MOVE1 V4 V5 R5) [D:1.0000; C:1.0000] 57.0000: (MOVE2 V8 V3 R8) [D:1.0000; C:1.0000] 58.0000: (MOVE2 V5 V4 R5) [D:1.0000; C:1.0000] 58.0000: (MOVE2 V3 V0 R8) [D:1.0000; C:1.0000] 59.0000: (MOVE1 V2 V5 R7) [D:1.0000; C:1.0000] 60.0000: (MOVE2 V5 V2 R7) [D:1.0000; C:1.0000] 61.0000: (MOVE1 V4 V5 R5) [D:1.0000; C:1.0000] 61.0000: (MOVE1 V2 V6 R7) [D:1.0000; C:1.0000] 62.0000: (MOVE1 V1 V2 R6) [D:1.0000; C:1.0000] 63.0000: (MOVE1 V2 V3 R6) [D:1.0000; C:1.0000] 64.0000: (MOVE2 V6 V2 R7) [D:1.0000; C:1.0000] Solution number: 1 Total time: 0.09 Search time: 0.08 Actions: 81 Execution cost: 81.00 Duration: 65.000 Plan quality: 81.000 Plan file: plan_multirobot_3_3_50_c2.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_3_3_50_C3' defined ... done. Modality: Incremental Planner Number of actions : 120 Number of conditional actions : 0 Number of facts : 54 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): . solution found: Plan computed: Time: (ACTION) [action Duration; action Cost] 0.0000: (MOVE2 V6 V5 R8) [D:1.0000; C:1.0000] 0.0000: (MOVE1 V0 V3 R4) [D:1.0000; C:1.0000] 1.0000: (MOVE2 V5 V4 R8) [D:1.0000; C:1.0000] 1.0000: (MOVE2 V3 V0 R4) [D:1.0000; C:1.0000] 2.0000: (MOVE2 V8 V5 R5) [D:1.0000; C:1.0000] 2.0000: (MOVE1 V0 V3 R4) [D:1.0000; C:1.0000] 3.0000: (MOVE1 V5 V6 R5) [D:1.0000; C:1.0000] 3.0000: (MOVE2 V3 V0 R4) [D:1.0000; C:1.0000] 4.0000: (MOVE1 V0 V3 R4) [D:1.0000; C:1.0000] 4.0000: (MOVE1 V4 V5 R8) [D:1.0000; C:1.0000] 5.0000: (MOVE2 V3 V0 R4) [D:1.0000; C:1.0000] 6.0000: (MOVE1 V0 V3 R4) [D:1.0000; C:1.0000] 7.0000: (MOVE2 V3 V0 R4) [D:1.0000; C:1.0000] 8.0000: (MOVE1 V0 V3 R4) [D:1.0000; C:1.0000] 9.0000: (MOVE2 V3 V0 R4) [D:1.0000; C:1.0000] 10.0000: (MOVE1 V0 V3 R4) [D:1.0000; C:1.0000] 11.0000: (MOVE2 V1 V0 R6) [D:1.0000; C:1.0000] 12.0000: (MOVE1 V0 V1 R6) [D:1.0000; C:1.0000] 13.0000: (MOVE2 V3 V0 R4) [D:1.0000; C:1.0000] 13.0000: (MOVE1 V1 V7 R6) [D:1.0000; C:1.0000] 14.0000: (MOVE2 V6 V3 R5) [D:1.0000; C:1.0000] 14.0000: (MOVE1 V0 V1 R4) [D:1.0000; C:1.0000] 15.0000: (MOVE2 V3 V0 R5) [D:1.0000; C:1.0000] 15.0000: (MOVE2 V7 V6 R6) [D:1.0000; C:1.0000] 16.0000: (MOVE1 V1 V7 R4) [D:1.0000; C:1.0000] 16.0000: (MOVE1 V2 V3 R7) [D:1.0000; C:1.0000] 17.0000: (MOVE1 V7 V8 R4) [D:1.0000; C:1.0000] 18.0000: (MOVE1 V6 V7 R6) [D:1.0000; C:1.0000] 19.0000: (MOVE2 V7 V1 R6) [D:1.0000; C:1.0000] 20.0000: (MOVE1 V1 V2 R6) [D:1.0000; C:1.0000] 21.0000: (MOVE2 V2 V1 R6) [D:1.0000; C:1.0000] Solution number: 1 Total time: 0.03 Search time: 0.03 Actions: 31 Execution cost: 31.00 Duration: 22.000 Plan quality: 31.000 Plan file: plan_multirobot_3_3_50_c3.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_3_3_50_C4' defined ... done. Modality: Incremental Planner Number of actions : 120 Number of conditional actions : 0 Number of facts : 54 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 ...... solution found: Plan computed: Time: (ACTION) [action Duration; action Cost] 0.0000: (MOVE2 V6 V5 R8) [D:1.0000; C:1.0000] 0.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 1.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 2.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 3.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 4.0000: (MOVE1 V7 V8 R5) [D:1.0000; C:1.0000] 5.0000: (MOVE2 V8 V7 R5) [D:1.0000; C:1.0000] 6.0000: (MOVE1 V7 V8 R5) [D:1.0000; C:1.0000] 7.0000: (MOVE2 V8 V7 R5) [D:1.0000; C:1.0000] 8.0000: (MOVE1 V7 V8 R5) [D:1.0000; C:1.0000] 9.0000: (MOVE2 V8 V7 R5) [D:1.0000; C:1.0000] 10.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 10.0000: (MOVE2 V7 V4 R5) [D:1.0000; C:1.0000] 11.0000: (MOVE2 V8 V7 R4) [D:1.0000; C:1.0000] 12.0000: (MOVE1 V7 V8 R4) [D:1.0000; C:1.0000] 13.0000: (MOVE2 V8 V7 R4) [D:1.0000; C:1.0000] 14.0000: (MOVE1 V7 V8 R4) [D:1.0000; C:1.0000] 15.0000: (MOVE1 V4 V7 R5) [D:1.0000; C:1.0000] 15.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 16.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 17.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 18.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 19.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 20.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 21.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 22.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 23.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 24.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 25.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 26.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 27.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 28.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 29.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 30.0000: (MOVE1 V7 V8 R5) [D:1.0000; C:1.0000] 31.0000: (MOVE2 V8 V7 R5) [D:1.0000; C:1.0000] 32.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 32.0000: (MOVE2 V7 V4 R5) [D:1.0000; C:1.0000] 33.0000: (MOVE2 V8 V7 R4) [D:1.0000; C:1.0000] 34.0000: (MOVE1 V7 V8 R4) [D:1.0000; C:1.0000] 35.0000: (MOVE2 V8 V7 R4) [D:1.0000; C:1.0000] 36.0000: (MOVE1 V7 V8 R4) [D:1.0000; C:1.0000] 37.0000: (MOVE1 V4 V7 R5) [D:1.0000; C:1.0000] 37.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 38.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 39.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 40.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 41.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 42.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 43.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 44.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 45.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 46.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 47.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 48.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 49.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 50.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 51.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 52.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 53.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 54.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 55.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 56.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 57.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 58.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 59.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 60.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 61.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 62.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 63.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 64.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 65.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 66.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 67.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 68.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 69.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 70.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 71.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 72.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 73.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 74.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 75.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 76.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 77.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 78.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 79.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 80.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 81.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 82.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 83.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 84.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 85.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 86.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 87.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 88.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 89.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 90.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 91.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 92.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 93.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 94.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 95.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 96.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 97.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 98.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 99.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 100.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 101.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 102.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 103.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 104.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 105.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 106.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 107.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 108.0000: (MOVE1 V3 V8 R4) [D:1.0000; C:1.0000] 109.0000: (MOVE1 V0 V3 R7) [D:1.0000; C:1.0000] 110.0000: (MOVE2 V3 V0 R7) [D:1.0000; C:1.0000] 111.0000: (MOVE2 V8 V3 R4) [D:1.0000; C:1.0000] 111.0000: (MOVE1 V0 V4 R7) [D:1.0000; C:1.0000] 112.0000: (MOVE1 V7 V8 R5) [D:1.0000; C:1.0000] 112.0000: (MOVE2 V3 V0 R4) [D:1.0000; C:1.0000] 113.0000: (MOVE2 V8 V3 R5) [D:1.0000; C:1.0000] 113.0000: (MOVE1 V4 V7 R7) [D:1.0000; C:1.0000] 114.0000: (MOVE1 V3 V8 R5) [D:1.0000; C:1.0000] 115.0000: (MOVE1 V2 V3 R6) [D:1.0000; C:1.0000] 116.0000: (MOVE2 V3 V2 R6) [D:1.0000; C:1.0000] 117.0000: (MOVE2 V8 V3 R5) [D:1.0000; C:1.0000] 117.0000: (MOVE1 V2 V6 R6) [D:1.0000; C:1.0000] 118.0000: (MOVE2 V6 V2 R6) [D:1.0000; C:1.0000] 118.0000: (MOVE1 V7 V8 R7) [D:1.0000; C:1.0000] 119.0000: (MOVE2 V2 V1 R6) [D:1.0000; C:1.0000] 120.0000: (MOVE2 V3 V2 R5) [D:1.0000; C:1.0000] 120.0000: (MOVE1 V1 V4 R6) [D:1.0000; C:1.0000] 121.0000: (MOVE1 V2 V6 R5) [D:1.0000; C:1.0000] 121.0000: (MOVE1 V4 V7 R6) [D:1.0000; C:1.0000] 121.0000: (MOVE2 V8 V3 R7) [D:1.0000; C:1.0000] 122.0000: (MOVE2 V3 V2 R7) [D:1.0000; C:1.0000] Solution number: 1 Total time: 0.22 Search time: 0.21 Actions: 136 Execution cost: 136.00 Duration: 123.000 Plan quality: 136.000 Plan file: plan_multirobot_3_3_50_c4.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_3_3_50_C5' defined ... done. Modality: Incremental Planner Number of actions : 130 Number of conditional actions : 0 Number of facts : 60 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: (MOVE2 V5 V4 R5) [D:1.0000; C:1.0000] 0.0000: (MOVE2 V9 V1 R8) [D:1.0000; C:1.0000] 0.0000: (MOVE1 V6 V7 R6) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V3 V9 R7) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V7 V8 R6) [D:1.0000; C:1.0000] 2.0000: (MOVE1 V2 V3 R9) [D:1.0000; C:1.0000] 2.0000: (MOVE2 V8 V0 R6) [D:1.0000; C:1.0000] 3.0000: (MOVE1 V1 V2 R8) [D:1.0000; C:1.0000] 4.0000: (MOVE1 V2 V6 R8) [D:1.0000; C:1.0000] 4.0000: (MOVE2 V9 V1 R7) [D:1.0000; C:1.0000] 5.0000: (MOVE1 V6 V7 R8) [D:1.0000; C:1.0000] 5.0000: (MOVE1 V1 V9 R7) [D:1.0000; C:1.0000] 6.0000: (MOVE1 V0 V1 R6) [D:1.0000; C:1.0000] 7.0000: (MOVE2 V3 V0 R9) [D:1.0000; C:1.0000] 8.0000: (MOVE2 V9 V3 R7) [D:1.0000; C:1.0000] 9.0000: (MOVE1 V1 V9 R6) [D:1.0000; C:1.0000] 10.0000: (MOVE1 V0 V1 R9) [D:1.0000; C:1.0000] 11.0000: (MOVE2 V3 V0 R7) [D:1.0000; C:1.0000] Solution number: 1 Total time: 0.03 Search time: 0.01 Actions: 18 Execution cost: 18.00 Duration: 12.000 Plan quality: 18.000 Plan file: plan_multirobot_3_3_50_c5.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_3_3_50_C6' defined ... done. Modality: Incremental Planner Number of actions : 130 Number of conditional actions : 0 Number of facts : 60 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): . solution found: Plan computed: Time: (ACTION) [action Duration; action Cost] 0.0000: (MOVE1 V6 V7 R5) [D:1.0000; C:1.0000] 0.0000: (MOVE2 V9 V2 R9) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V3 V6 R6) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V2 V9 R9) [D:1.0000; C:1.0000] 2.0000: (MOVE2 V6 V3 R6) [D:1.0000; C:1.0000] 2.0000: (MOVE2 V9 V2 R9) [D:1.0000; C:1.0000] 3.0000: (MOVE2 V7 V6 R5) [D:1.0000; C:1.0000] 3.0000: (MOVE2 V3 V0 R6) [D:1.0000; C:1.0000] 3.0000: (MOVE1 V2 V9 R9) [D:1.0000; C:1.0000] 4.0000: (MOVE2 V6 V3 R5) [D:1.0000; C:1.0000] 4.0000: (MOVE1 V0 V1 R6) [D:1.0000; C:1.0000] 5.0000: (MOVE1 V4 V6 R7) [D:1.0000; C:1.0000] 5.0000: (MOVE1 V1 V2 R6) [D:1.0000; C:1.0000] 6.0000: (MOVE1 V6 V7 R7) [D:1.0000; C:1.0000] 7.0000: (MOVE2 V7 V6 R7) [D:1.0000; C:1.0000] 8.0000: (MOVE2 V8 V7 R8) [D:1.0000; C:1.0000] 8.0000: (MOVE2 V6 V4 R7) [D:1.0000; C:1.0000] 9.0000: (MOVE2 V9 V8 R9) [D:1.0000; C:1.0000] 9.0000: (MOVE1 V3 V6 R5) [D:1.0000; C:1.0000] 10.0000: (MOVE1 V8 V9 R9) [D:1.0000; C:1.0000] 10.0000: (MOVE2 V6 V3 R5) [D:1.0000; C:1.0000] 11.0000: (MOVE2 V9 V8 R9) [D:1.0000; C:1.0000] 11.0000: (MOVE2 V7 V6 R8) [D:1.0000; C:1.0000] 11.0000: (MOVE1 V3 V5 R5) [D:1.0000; C:1.0000] 12.0000: (MOVE1 V2 V9 R6) [D:1.0000; C:1.0000] 12.0000: (MOVE2 V6 V3 R8) [D:1.0000; C:1.0000] 13.0000: (MOVE1 V4 V6 R7) [D:1.0000; C:1.0000] 14.0000: (MOVE2 V5 V4 R5) [D:1.0000; C:1.0000] 14.0000: (MOVE1 V6 V7 R7) [D:1.0000; C:1.0000] 15.0000: (MOVE1 V3 V5 R8) [D:1.0000; C:1.0000] 15.0000: (MOVE2 V7 V6 R7) [D:1.0000; C:1.0000] 15.0000: (MOVE2 V4 V0 R5) [D:1.0000; C:1.0000] 16.0000: (MOVE1 V6 V7 R7) [D:1.0000; C:1.0000] 17.0000: (MOVE2 V7 V6 R7) [D:1.0000; C:1.0000] 18.0000: (MOVE2 V8 V7 R9) [D:1.0000; C:1.0000] 18.0000: (MOVE2 V6 V3 R7) [D:1.0000; C:1.0000] 19.0000: (MOVE2 V9 V8 R6) [D:1.0000; C:1.0000] 19.0000: (MOVE2 V7 V6 R9) [D:1.0000; C:1.0000] 19.0000: (MOVE2 V3 V2 R7) [D:1.0000; C:1.0000] 20.0000: (MOVE2 V6 V3 R9) [D:1.0000; C:1.0000] 21.0000: (MOVE1 V3 V6 R9) [D:1.0000; C:1.0000] 22.0000: (MOVE1 V2 V3 R7) [D:1.0000; C:1.0000] 22.0000: (MOVE1 V6 V7 R9) [D:1.0000; C:1.0000] 23.0000: (MOVE1 V3 V6 R7) [D:1.0000; C:1.0000] 24.0000: (MOVE2 V6 V4 R7) [D:1.0000; C:1.0000] 25.0000: (MOVE2 V7 V6 R9) [D:1.0000; C:1.0000] 26.0000: (MOVE2 V6 V3 R9) [D:1.0000; C:1.0000] 27.0000: (MOVE1 V4 V6 R7) [D:1.0000; C:1.0000] Solution number: 1 Total time: 0.03 Search time: 0.03 Actions: 48 Execution cost: 48.00 Duration: 28.000 Plan quality: 48.000 Plan file: plan_multirobot_3_3_50_c6.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_3_3_50_C7' defined ... done. Modality: Incremental Planner Number of actions : 210 Number of conditional actions : 0 Number of facts : 96 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 .. solution found: Plan computed: Time: (ACTION) [action Duration; action Cost] 0.0000: (MOVE1 V2 V4 R11) [D:1.0000; C:1.0000] 0.0000: (MOVE1 V1 V8 R7) [D:1.0000; C:1.0000] 1.0000: (MOVE2 V3 V2 R9) [D:1.0000; C:1.0000] 1.0000: (MOVE2 V8 V7 R7) [D:1.0000; C:1.0000] 2.0000: (MOVE2 V9 V3 R6) [D:1.0000; C:1.0000] 3.0000: (MOVE2 V3 V0 R6) [D:1.0000; C:1.0000] 3.0000: (MOVE2 V10 V9 R10) [D:1.0000; C:1.0000] 4.0000: (MOVE1 V0 V1 R6) [D:1.0000; C:1.0000] 4.0000: (MOVE2 V11 V10 R5) [D:1.0000; C:1.0000] 4.0000: (MOVE2 V9 V3 R10) [D:1.0000; C:1.0000] 5.0000: (MOVE1 V1 V8 R6) [D:1.0000; C:1.0000] 5.0000: (MOVE1 V10 V11 R5) [D:1.0000; C:1.0000] 5.0000: (MOVE2 V7 V0 R7) [D:1.0000; C:1.0000] 6.0000: (MOVE2 V11 V10 R5) [D:1.0000; C:1.0000] 6.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 7.0000: (MOVE1 V10 V11 R5) [D:1.0000; C:1.0000] 7.0000: (MOVE1 V1 V6 R7) [D:1.0000; C:1.0000] 7.0000: (MOVE2 V3 V0 R10) [D:1.0000; C:1.0000] 8.0000: (MOVE2 V11 V10 R5) [D:1.0000; C:1.0000] 8.0000: (MOVE1 V0 V3 R10) [D:1.0000; C:1.0000] 9.0000: (MOVE1 V10 V11 R5) [D:1.0000; C:1.0000] 9.0000: (MOVE2 V3 V0 R10) [D:1.0000; C:1.0000] 10.0000: (MOVE2 V11 V10 R5) [D:1.0000; C:1.0000] 10.0000: (MOVE1 V0 V1 R10) [D:1.0000; C:1.0000] 11.0000: (MOVE1 V10 V11 R5) [D:1.0000; C:1.0000] 12.0000: (MOVE2 V11 V10 R5) [D:1.0000; C:1.0000] 13.0000: (MOVE1 V10 V11 R5) [D:1.0000; C:1.0000] 14.0000: (MOVE2 V11 V10 R5) [D:1.0000; C:1.0000] 15.0000: (MOVE1 V10 V11 R5) [D:1.0000; C:1.0000] 16.0000: (MOVE2 V11 V10 R5) [D:1.0000; C:1.0000] 17.0000: (MOVE1 V10 V11 R5) [D:1.0000; C:1.0000] 18.0000: (MOVE2 V11 V10 R5) [D:1.0000; C:1.0000] 19.0000: (MOVE1 V10 V11 R5) [D:1.0000; C:1.0000] 20.0000: (MOVE2 V11 V10 R5) [D:1.0000; C:1.0000] 21.0000: (MOVE1 V10 V11 R5) [D:1.0000; C:1.0000] 22.0000: (MOVE2 V11 V10 R5) [D:1.0000; C:1.0000] 23.0000: (MOVE1 V10 V11 R5) [D:1.0000; C:1.0000] 24.0000: (MOVE2 V11 V10 R5) [D:1.0000; C:1.0000] 25.0000: (MOVE1 V10 V11 R5) [D:1.0000; C:1.0000] 26.0000: (MOVE2 V11 V10 R5) [D:1.0000; C:1.0000] 27.0000: (MOVE1 V10 V11 R5) [D:1.0000; C:1.0000] 28.0000: (MOVE2 V11 V10 R5) [D:1.0000; C:1.0000] 29.0000: (MOVE1 V10 V11 R5) [D:1.0000; C:1.0000] 30.0000: (MOVE2 V11 V10 R5) [D:1.0000; C:1.0000] 31.0000: (MOVE1 V10 V11 R5) [D:1.0000; C:1.0000] 32.0000: (MOVE2 V11 V10 R5) [D:1.0000; C:1.0000] 33.0000: (MOVE1 V10 V11 R5) [D:1.0000; C:1.0000] 34.0000: (MOVE2 V11 V10 R5) [D:1.0000; C:1.0000] 35.0000: (MOVE1 V10 V11 R5) [D:1.0000; C:1.0000] 36.0000: (MOVE2 V11 V10 R5) [D:1.0000; C:1.0000] 37.0000: (MOVE1 V10 V11 R5) [D:1.0000; C:1.0000] 38.0000: (MOVE2 V11 V10 R5) [D:1.0000; C:1.0000] 39.0000: (MOVE1 V10 V11 R5) [D:1.0000; C:1.0000] 40.0000: (MOVE2 V11 V10 R5) [D:1.0000; C:1.0000] 41.0000: (MOVE1 V10 V11 R5) [D:1.0000; C:1.0000] 42.0000: (MOVE2 V11 V10 R5) [D:1.0000; C:1.0000] 43.0000: (MOVE1 V10 V11 R5) [D:1.0000; C:1.0000] 44.0000: (MOVE2 V11 V10 R5) [D:1.0000; C:1.0000] 45.0000: (MOVE1 V10 V11 R5) [D:1.0000; C:1.0000] 46.0000: (MOVE2 V11 V10 R5) [D:1.0000; C:1.0000] 47.0000: (MOVE1 V10 V11 R5) [D:1.0000; C:1.0000] 48.0000: (MOVE2 V11 V10 R5) [D:1.0000; C:1.0000] 49.0000: (MOVE1 V10 V11 R5) [D:1.0000; C:1.0000] 50.0000: (MOVE2 V11 V10 R5) [D:1.0000; C:1.0000] 51.0000: (MOVE1 V10 V11 R5) [D:1.0000; C:1.0000] 52.0000: (MOVE2 V11 V10 R5) [D:1.0000; C:1.0000] 53.0000: (MOVE1 V10 V11 R5) [D:1.0000; C:1.0000] 54.0000: (MOVE2 V11 V10 R5) [D:1.0000; C:1.0000] 55.0000: (MOVE1 V5 V11 R8) [D:1.0000; C:1.0000] 55.0000: (MOVE2 V10 V9 R5) [D:1.0000; C:1.0000] 56.0000: (MOVE2 V11 V10 R8) [D:1.0000; C:1.0000] 56.0000: (MOVE2 V6 V5 R7) [D:1.0000; C:1.0000] 56.0000: (MOVE2 V9 V3 R5) [D:1.0000; C:1.0000] 57.0000: (MOVE1 V5 V11 R7) [D:1.0000; C:1.0000] 57.0000: (MOVE1 V1 V6 R10) [D:1.0000; C:1.0000] 58.0000: (MOVE2 V2 V1 R9) [D:1.0000; C:1.0000] 59.0000: (MOVE2 V1 V0 R9) [D:1.0000; C:1.0000] 59.0000: (MOVE2 V3 V2 R5) [D:1.0000; C:1.0000] 60.0000: (MOVE2 V6 V1 R10) [D:1.0000; C:1.0000] Solution number: 1 Total time: 0.27 Search time: 0.27 Actions: 79 Execution cost: 79.00 Duration: 61.000 Plan quality: 79.000 Plan file: plan_multirobot_3_3_50_c7.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_3_3_50_C8' defined ... done. Modality: Incremental Planner Number of actions : 130 Number of conditional actions : 0 Number of facts : 60 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: (MOVE1 V7 V8 R5) [D:1.0000; C:1.0000] 1.0000: (MOVE2 V8 V4 R5) [D:1.0000; C:1.0000] 2.0000: (MOVE1 V4 V5 R5) [D:1.0000; C:1.0000] 3.0000: (MOVE1 V3 V4 R9) [D:1.0000; C:1.0000] 4.0000: (MOVE1 V2 V3 R8) [D:1.0000; C:1.0000] 4.0000: (MOVE1 V4 V8 R9) [D:1.0000; C:1.0000] 5.0000: (MOVE2 V3 V0 R8) [D:1.0000; C:1.0000] 5.0000: (MOVE1 V1 V2 R7) [D:1.0000; C:1.0000] 6.0000: (MOVE1 V0 V6 R8) [D:1.0000; C:1.0000] 6.0000: (MOVE2 V9 V3 R6) [D:1.0000; C:1.0000] 7.0000: (MOVE1 V3 V4 R6) [D:1.0000; C:1.0000] 8.0000: (MOVE1 V2 V3 R7) [D:1.0000; C:1.0000] Solution number: 1 Total time: 0.03 Search time: 0.02 Actions: 12 Execution cost: 12.00 Duration: 9.000 Plan quality: 12.000 Plan file: plan_multirobot_3_3_50_c8.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_3_3_50_C9' defined ... done. Modality: Incremental Planner Number of actions : 182 Number of conditional actions : 0 Number of facts : 80 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 V3 V2 R9) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V0 V3 R6) [D:1.0000; C:1.0000] 2.0000: (MOVE2 V1 V0 R8) [D:1.0000; C:1.0000] 2.0000: (MOVE1 V3 V8 R6) [D:1.0000; C:1.0000] 3.0000: (MOVE1 V0 V6 R8) [D:1.0000; C:1.0000] 3.0000: (MOVE2 V2 V1 R9) [D:1.0000; C:1.0000] 4.0000: (MOVE2 V5 V2 R5) [D:1.0000; C:1.0000] 4.0000: (MOVE2 V6 V0 R8) [D:1.0000; C:1.0000] 5.0000: (MOVE1 V2 V3 R5) [D:1.0000; C:1.0000] 5.0000: (MOVE1 V0 V6 R8) [D:1.0000; C:1.0000] 5.0000: (MOVE1 V4 V5 R7) [D:1.0000; C:1.0000] 6.0000: (MOVE2 V6 V0 R8) [D:1.0000; C:1.0000] 6.0000: (MOVE1 V1 V2 R9) [D:1.0000; C:1.0000] 6.0000: (MOVE2 V5 V4 R7) [D:1.0000; C:1.0000] 7.0000: (MOVE1 V0 V6 R8) [D:1.0000; C:1.0000] 7.0000: (MOVE1 V2 V5 R9) [D:1.0000; C:1.0000] 8.0000: (MOVE2 V6 V0 R8) [D:1.0000; C:1.0000] 8.0000: (MOVE2 V3 V2 R5) [D:1.0000; C:1.0000] 9.0000: (MOVE1 V0 V6 R8) [D:1.0000; C:1.0000] 9.0000: (MOVE2 V2 V1 R5) [D:1.0000; C:1.0000] 10.0000: (MOVE2 V6 V0 R8) [D:1.0000; C:1.0000] 10.0000: (MOVE1 V1 V2 R5) [D:1.0000; C:1.0000] 11.0000: (MOVE2 V7 V6 R3) [D:1.0000; C:1.0000] 11.0000: (MOVE1 V0 V3 R8) [D:1.0000; C:1.0000] 12.0000: (MOVE2 V6 V0 R3) [D:1.0000; C:1.0000] 13.0000: (MOVE1 V0 V1 R3) [D:1.0000; C:1.0000] 14.0000: (MOVE2 V3 V0 R8) [D:1.0000; C:1.0000] 15.0000: (MOVE1 V2 V3 R5) [D:1.0000; C:1.0000] 15.0000: (MOVE1 V0 V6 R8) [D:1.0000; C:1.0000] 16.0000: (MOVE1 V1 V2 R3) [D:1.0000; C:1.0000] 17.0000: (MOVE2 V4 V1 R7) [D:1.0000; C:1.0000] 18.0000: (MOVE1 V1 V4 R7) [D:1.0000; C:1.0000] 19.0000: (MOVE2 V4 V1 R7) [D:1.0000; C:1.0000] 20.0000: (MOVE1 V1 V4 R7) [D:1.0000; C:1.0000] 21.0000: (MOVE2 V4 V1 R7) [D:1.0000; C:1.0000] 22.0000: (MOVE2 V5 V4 R9) [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] 23.0000: (MOVE1 V2 V5 R3) [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: (MOVE1 V1 V2 R7) [D:1.0000; C:1.0000] 55.0000: (MOVE2 V4 V1 R9) [D:1.0000; C:1.0000] 56.0000: (MOVE2 V1 V0 R9) [D:1.0000; C:1.0000] 57.0000: (MOVE2 V2 V1 R7) [D:1.0000; C:1.0000] 58.0000: (MOVE2 V5 V2 R3) [D:1.0000; C:1.0000] Solution number: 1 Total time: 0.06 Search time: 0.05 Actions: 74 Execution cost: 74.00 Duration: 59.000 Plan quality: 74.000 Plan file: plan_multirobot_3_3_50_c9.pddl_1.SOL