Parsing domain file:  domain 'MULTIROBOT' defined ... done.
Parsing problem file:  problem 'MULTIROBOT_4_4_50_C0' defined ... done.



Modality: Incremental Planner

Number of actions             :     210
Number of conditional actions :       0
Number of facts               :      88


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 V1 V0 R8) [D:1.0000; C:1.0000]
 0.0000: (MOVE1 V2 V6 R4) [D:1.0000; C:1.0000]
 0.0000: (MOVE2 V10 V9 R5) [D:1.0000; C:1.0000]
 1.0000: (MOVE2 V5 V1 R7) [D:1.0000; C:1.0000]
 1.0000: (MOVE1 V6 V10 R4) [D:1.0000; C:1.0000]
 2.0000: (MOVE2 V7 V5 R10) [D:1.0000; C:1.0000]
 3.0000: (MOVE2 V8 V7 R6) [D:1.0000; C:1.0000]
 4.0000: (MOVE2 V9 V8 R5) [D:1.0000; C:1.0000]
 5.0000: (MOVE2 V8 V3 R5) [D:1.0000; C:1.0000]
 6.0000: (MOVE2 V3 V2 R5) [D:1.0000; C:1.0000]
 7.0000: (MOVE1 V0 V3 R8) [D:1.0000; C:1.0000]
 8.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000]
 9.0000: (MOVE2 V2 V1 R5) [D:1.0000; C:1.0000]
 10.0000: (MOVE2 V3 V2 R8) [D:1.0000; C:1.0000]
 11.0000: (MOVE1 V0 V3 R7) [D:1.0000; C:1.0000]
 12.0000: (MOVE1 V3 V8 R7) [D:1.0000; C:1.0000]
 13.0000: (MOVE1 V2 V3 R8) [D:1.0000; C:1.0000]
 14.0000: (MOVE1 V1 V2 R5) [D:1.0000; C:1.0000]
 15.0000: (MOVE2 V5 V1 R10) [D:1.0000; C:1.0000]
 16.0000: (MOVE2 V1 V0 R10) [D:1.0000; C:1.0000]
 17.0000: (MOVE2 V2 V1 R5) [D:1.0000; C:1.0000]
 18.0000: (MOVE2 V4 V2 R9) [D:1.0000; C:1.0000]


Solution number: 1
Total time:      0.03
Search time:     0.01
Actions:         22
Execution cost:  22.00
Duration:        19.000
Plan quality:    22.000
     Plan file:       plan_multirobot_4_4_50_c0.pddl_1.SOL


Parsing domain file:  domain 'MULTIROBOT' defined ... done.
Parsing problem file:  problem 'MULTIROBOT_4_4_50_C1' defined ... done.



Modality: Incremental Planner

Number of actions             :     140
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 V2 V4 R8) [D:1.0000; C:1.0000]
 0.0000: (MOVE1 V8 V9 R7) [D:1.0000; C:1.0000]
 0.0000: (MOVE1 V0 V5 R9) [D:1.0000; C:1.0000]
 1.0000: (MOVE1 V1 V2 R6) [D:1.0000; C:1.0000]
 2.0000: (MOVE1 V2 V3 R6) [D:1.0000; C:1.0000]
 3.0000: (MOVE2 V4 V2 R8) [D:1.0000; C:1.0000]
 4.0000: (MOVE2 V5 V4 R9) [D:1.0000; C:1.0000]


Solution number: 1
Total time:      0.02
Search time:     0.02
Actions:         7
Execution cost:  7.00
Duration:        5.000
Plan quality:    7.000
     Plan file:       plan_multirobot_4_4_50_c1.pddl_1.SOL


Parsing domain file:  domain 'MULTIROBOT' defined ... done.
Parsing problem file:  problem 'MULTIROBOT_4_4_50_C2' defined ... done.



Modality: Incremental Planner

Number of actions             :      96
Number of conditional actions :       0
Number of facts               :      40


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 V1 V5 R5) [D:1.0000; C:1.0000]
 0.0000: (MOVE2 V3 V0 R6) [D:1.0000; C:1.0000]
 0.0000: (MOVE2 V6 V2 R7) [D:1.0000; C:1.0000]
 1.0000: (MOVE1 V0 V1 R6) [D:1.0000; C:1.0000]
 2.0000: (MOVE1 V1 V6 R6) [D:1.0000; C:1.0000]
 3.0000: (MOVE2 V2 V1 R7) [D:1.0000; C:1.0000]


Solution number: 1
Total time:      0.03
Search time:     0.02
Actions:         6
Execution cost:  6.00
Duration:        4.000
Plan quality:    6.000
     Plan file:       plan_multirobot_4_4_50_c2.pddl_1.SOL


Parsing domain file:  domain 'MULTIROBOT' defined ... done.
Parsing problem file:  problem 'MULTIROBOT_4_4_50_C3' defined ... done.



Modality: Incremental Planner

Number of actions             :      72
Number of conditional actions :       0
Number of facts               :      32


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 V5 V1 R5) [D:1.0000; C:1.0000]
 1.0000: (MOVE1 V3 V5 R6) [D:1.0000; C:1.0000]
 1.0000: (MOVE2 V1 V0 R5) [D:1.0000; C:1.0000]
 2.0000: (MOVE1 V2 V3 R7) [D:1.0000; C:1.0000]
 3.0000: (MOVE1 V3 V6 R7) [D:1.0000; C:1.0000]


Solution number: 1
Total time:      0.02
Search time:     0.02
Actions:         5
Execution cost:  5.00
Duration:        4.000
Plan quality:    5.000
     Plan file:       plan_multirobot_4_4_50_c3.pddl_1.SOL


Parsing domain file:  domain 'MULTIROBOT' defined ... done.
Parsing problem file:  problem 'MULTIROBOT_4_4_50_C4' defined ... done.



Modality: Incremental Planner

Number of actions             :     130
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: (MOVE1 V1 V4 R5) [D:1.0000; C:1.0000]
 0.0000: (MOVE2 V8 V7 R8) [D:1.0000; C:1.0000]
 0.0000: (MOVE2 V3 V0 R6) [D:1.0000; C:1.0000]
 1.0000: (MOVE2 V2 V1 R7) [D:1.0000; C:1.0000]
 2.0000: (MOVE2 V6 V2 R4) [D:1.0000; C:1.0000]
 3.0000: (MOVE2 V7 V6 R8) [D:1.0000; C:1.0000]
 4.0000: (MOVE1 V1 V7 R7) [D:1.0000; C:1.0000]
 5.0000: (MOVE1 V7 V8 R7) [D:1.0000; C:1.0000]
 5.0000: (MOVE2 V2 V1 R4) [D:1.0000; C:1.0000]
 6.0000: (MOVE1 V1 V7 R4) [D:1.0000; C:1.0000]
 7.0000: (MOVE2 V4 V1 R5) [D:1.0000; C:1.0000]
 8.0000: (MOVE1 V1 V2 R5) [D:1.0000; C:1.0000]
 9.0000: (MOVE2 V7 V1 R4) [D:1.0000; C:1.0000]
 10.0000: (MOVE1 V1 V7 R4) [D:1.0000; C:1.0000]
 11.0000: (MOVE2 V7 V1 R4) [D:1.0000; C:1.0000]
 12.0000: (MOVE1 V1 V7 R4) [D:1.0000; C:1.0000]
 13.0000: (MOVE1 V0 V1 R6) [D:1.0000; C:1.0000]
 14.0000: (MOVE2 V1 V0 R6) [D:1.0000; C:1.0000]
 15.0000: (MOVE2 V7 V1 R4) [D:1.0000; C:1.0000]
 16.0000: (MOVE1 V1 V4 R4) [D:1.0000; C:1.0000]
 17.0000: (MOVE1 V0 V1 R6) [D:1.0000; C:1.0000]
 18.0000: (MOVE1 V1 V7 R6) [D:1.0000; C:1.0000]
 19.0000: (MOVE2 V4 V1 R4) [D:1.0000; C:1.0000]


Solution number: 1
Total time:      0.02
Search time:     0.02
Actions:         23
Execution cost:  23.00
Duration:        20.000
Plan quality:    23.000
     Plan file:       plan_multirobot_4_4_50_c4.pddl_1.SOL


Parsing domain file:  domain 'MULTIROBOT' defined ... done.
Parsing problem file:  problem 'MULTIROBOT_4_4_50_C5' defined ... done.



Modality: Incremental Planner

Number of actions             :      96
Number of conditional actions :       0
Number of facts               :      40


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 V7 V3 R7) [D:1.0000; C:1.0000]
 0.0000: (MOVE1 V2 V4 R5) [D:1.0000; C:1.0000]
 0.0000: (MOVE1 V1 V5 R4) [D:1.0000; C:1.0000]
 1.0000: (MOVE2 V4 V2 R5) [D:1.0000; C:1.0000]
 1.0000: (MOVE1 V5 V7 R4) [D:1.0000; C:1.0000]
 2.0000: (MOVE1 V3 V4 R7) [D:1.0000; C:1.0000]
 2.0000: (MOVE1 V2 V5 R5) [D:1.0000; C:1.0000]
 3.0000: (MOVE1 V0 V3 R6) [D:1.0000; C:1.0000]
 3.0000: (MOVE2 V5 V1 R5) [D:1.0000; C:1.0000]
 4.0000: (MOVE2 V3 V2 R6) [D:1.0000; C:1.0000]
 4.0000: (MOVE2 V1 V0 R5) [D:1.0000; C:1.0000]
 5.0000: (MOVE1 V2 V5 R6) [D:1.0000; C:1.0000]
 5.0000: (MOVE1 V0 V3 R5) [D:1.0000; C:1.0000]


Solution number: 1
Total time:      0.02
Search time:     0.02
Actions:         13
Execution cost:  13.00
Duration:        6.000
Plan quality:    13.000
     Plan file:       plan_multirobot_4_4_50_c5.pddl_1.SOL


Parsing domain file:  domain 'MULTIROBOT' defined ... done.
Parsing problem file:  problem 'MULTIROBOT_4_4_50_C6' defined ... done.



Modality: Incremental Planner

Number of actions             :     210
Number of conditional actions :       0
Number of facts               :      88


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 V4 V5 R7) [D:1.0000; C:1.0000]
 0.0000: (MOVE1 V0 V3 R8) [D:1.0000; C:1.0000]
 0.0000: (MOVE2 V6 V1 R9) [D:1.0000; C:1.0000]
 1.0000: (MOVE2 V7 V0 R4) [D:1.0000; C:1.0000]
 1.0000: (MOVE1 V2 V4 R6) [D:1.0000; C:1.0000]
 2.0000: (MOVE1 V1 V2 R9) [D:1.0000; C:1.0000]
 3.0000: (MOVE1 V0 V1 R4) [D:1.0000; C:1.0000]
 4.0000: (MOVE2 V5 V0 R7) [D:1.0000; C:1.0000]
 5.0000: (MOVE1 V0 V7 R7) [D:1.0000; C:1.0000]
 6.0000: (MOVE2 V7 V6 R7) [D:1.0000; C:1.0000]
 6.0000: (MOVE2 V3 V0 R8) [D:1.0000; C:1.0000]
 7.0000: (MOVE2 V8 V3 R10) [D:1.0000; C:1.0000]
 7.0000: (MOVE1 V0 V5 R8) [D:1.0000; C:1.0000]
 8.0000: (MOVE2 V3 V0 R10) [D:1.0000; C:1.0000]
 8.0000: (MOVE1 V4 V8 R6) [D:1.0000; C:1.0000]
 9.0000: (MOVE1 V0 V7 R10) [D:1.0000; C:1.0000]
 9.0000: (MOVE2 V5 V4 R8) [D:1.0000; C:1.0000]
 10.0000: (MOVE2 V1 V0 R4) [D:1.0000; C:1.0000]
 11.0000: (MOVE1 V0 V1 R4) [D:1.0000; C:1.0000]
 12.0000: (MOVE2 V1 V0 R4) [D:1.0000; C:1.0000]
 13.0000: (MOVE2 V10 V1 R5) [D:1.0000; C:1.0000]
 13.0000: (MOVE1 V0 V3 R4) [D:1.0000; C:1.0000]
 14.0000: (MOVE2 V1 V0 R5) [D:1.0000; C:1.0000]
 15.0000: (MOVE1 V0 V5 R5) [D:1.0000; C:1.0000]
 16.0000: (MOVE2 V3 V0 R4) [D:1.0000; C:1.0000]


Solution number: 1
Total time:      0.04
Search time:     0.02
Actions:         25
Execution cost:  25.00
Duration:        17.000
Plan quality:    25.000
     Plan file:       plan_multirobot_4_4_50_c6.pddl_1.SOL


Parsing domain file:  domain 'MULTIROBOT' defined ... done.
Parsing problem file:  problem 'MULTIROBOT_4_4_50_C7' defined ... done.



Modality: Incremental Planner

Number of actions             :     130
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 V1 V0 R8) [D:1.0000; C:1.0000]
 1.0000: (MOVE1 V0 V8 R8) [D:1.0000; C:1.0000]
 1.0000: (MOVE2 V7 V1 R7) [D:1.0000; C:1.0000]
 2.0000: (MOVE2 V3 V0 R6) [D:1.0000; C:1.0000]
 3.0000: (MOVE2 V5 V3 R5) [D:1.0000; C:1.0000]
 4.0000: (MOVE1 V1 V5 R7) [D:1.0000; C:1.0000]
 4.0000: (MOVE2 V3 V2 R5) [D:1.0000; C:1.0000]
 5.0000: (MOVE2 V5 V3 R7) [D:1.0000; C:1.0000]
 5.0000: (MOVE2 V2 V1 R5) [D:1.0000; C:1.0000]
 6.0000: (MOVE1 V3 V5 R7) [D:1.0000; C:1.0000]
 7.0000: (MOVE2 V5 V3 R7) [D:1.0000; C:1.0000]
 8.0000: (MOVE1 V3 V5 R7) [D:1.0000; C:1.0000]
 9.0000: (MOVE1 V0 V3 R6) [D:1.0000; C:1.0000]
 10.0000: (MOVE2 V1 V0 R5) [D:1.0000; C:1.0000]


Solution number: 1
Total time:      0.02
Search time:     0.02
Actions:         14
Execution cost:  14.00
Duration:        11.000
Plan quality:    14.000
     Plan file:       plan_multirobot_4_4_50_c7.pddl_1.SOL


Parsing domain file:  domain 'MULTIROBOT' defined ... done.
Parsing problem file:  problem 'MULTIROBOT_4_4_50_C8' defined ... done.



Modality: Incremental Planner

Number of actions             :      96
Number of conditional actions :       0
Number of facts               :      40


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 V0 V3 R7) [D:1.0000; C:1.0000]
 0.0000: (MOVE2 V4 V2 R4) [D:1.0000; C:1.0000]


Solution number: 1
Total time:      0.02
Search time:     0.01
Actions:         2
Execution cost:  2.00
Duration:        1.000
Plan quality:    2.000
     Plan file:       plan_multirobot_4_4_50_c8.pddl_1.SOL


Parsing domain file:  domain 'MULTIROBOT' defined ... done.
Parsing problem file:  problem 'MULTIROBOT_4_4_50_C9' defined ... done.



Modality: Incremental Planner

Number of actions             :     104
Number of conditional actions :       0
Number of facts               :      45


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 V2 V1 R8) [D:1.0000; C:1.0000]
 0.0000: (MOVE2 V8 V4 R6) [D:1.0000; C:1.0000]
 1.0000: (MOVE1 V1 V6 R8) [D:1.0000; C:1.0000]
 2.0000: (MOVE1 V6 V7 R8) [D:1.0000; C:1.0000]
 2.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000]
 3.0000: (MOVE1 V4 V6 R6) [D:1.0000; C:1.0000]


Solution number: 1
Total time:      0.02
Search time:     0.02
Actions:         6
Execution cost:  6.00
Duration:        4.000
Plan quality:    6.000
     Plan file:       plan_multirobot_4_4_50_c9.pddl_1.SOL