Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_6_6_50_C0' defined ... done. Modality: Incremental Planner Number of actions : 252 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: 0.01 seconds Searching ('.' = every 50 search steps): solution found: Plan computed: Time: (ACTION) [action Duration; action Cost] 0.0000: (MOVE1 V0 V6 R9) [D:1.0000; C:1.0000] 1.0000: (MOVE2 V5 V0 R10) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V6 V7 R9) [D:1.0000; C:1.0000] 2.0000: (MOVE1 V0 V6 R10) [D:1.0000; C:1.0000] 2.0000: (MOVE1 V1 V5 R6) [D:1.0000; C:1.0000] 3.0000: (MOVE2 V4 V0 R11) [D:1.0000; C:1.0000] 3.0000: (MOVE2 V2 V1 R8) [D:1.0000; C:1.0000] 4.0000: (MOVE1 V0 V3 R11) [D:1.0000; C:1.0000] 4.0000: (MOVE2 V11 V4 R5) [D:1.0000; C:1.0000] 5.0000: (MOVE2 V3 V2 R11) [D:1.0000; C:1.0000] 5.0000: (MOVE1 V10 V11 R7) [D:1.0000; C:1.0000] 5.0000: (MOVE2 V4 V0 R5) [D:1.0000; C:1.0000] 6.0000: (MOVE2 V11 V4 R7) [D:1.0000; C:1.0000] 6.0000: (MOVE2 V7 V3 R9) [D:1.0000; C:1.0000] 7.0000: (MOVE1 V3 V7 R9) [D:1.0000; C:1.0000] 8.0000: (MOVE2 V7 V3 R9) [D:1.0000; C:1.0000] 9.0000: (MOVE1 V3 V7 R9) [D:1.0000; C:1.0000] 10.0000: (MOVE1 V0 V3 R5) [D:1.0000; C:1.0000] 10.0000: (MOVE1 V7 V8 R9) [D:1.0000; C:1.0000] 11.0000: (MOVE1 V3 V7 R5) [D:1.0000; C:1.0000] 11.0000: (MOVE2 V4 V0 R7) [D:1.0000; C:1.0000] 12.0000: (MOVE1 V7 V10 R5) [D:1.0000; C:1.0000] 12.0000: (MOVE1 V1 V4 R8) [D:1.0000; C:1.0000] 13.0000: (MOVE1 V10 V11 R5) [D:1.0000; C:1.0000] 13.0000: (MOVE2 V8 V7 R9) [D:1.0000; C:1.0000] Solution number: 1 Total time: 0.03 Search time: 0.02 Actions: 25 Execution cost: 25.00 Duration: 14.000 Plan quality: 25.000 Plan file: plan_multirobot_6_6_50_c0.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_6_6_50_C1' defined ... done. Modality: Incremental Planner Number of actions : 320 Number of conditional actions : 0 Number of facts : 126 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 V6 V7 R12) [D:1.0000; C:1.0000] 0.0000: (MOVE1 V0 V1 R13) [D:1.0000; C:1.0000] 0.0000: (MOVE1 V9 V10 R10) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V1 V2 R13) [D:1.0000; C:1.0000] 1.0000: (MOVE2 V12 V6 R7) [D:1.0000; C:1.0000] 1.0000: (MOVE2 V11 V0 R6) [D:1.0000; C:1.0000] 2.0000: (MOVE1 V2 V5 R13) [D:1.0000; C:1.0000] 2.0000: (MOVE2 V4 V1 R9) [D:1.0000; C:1.0000] 3.0000: (MOVE1 V5 V9 R13) [D:1.0000; C:1.0000] 3.0000: (MOVE2 V13 V4 R8) [D:1.0000; C:1.0000] 4.0000: (MOVE1 V4 V13 R8) [D:1.0000; C:1.0000] 4.0000: (MOVE2 V8 V5 R11) [D:1.0000; C:1.0000] 5.0000: (MOVE2 V6 V4 R7) [D:1.0000; C:1.0000] 5.0000: (MOVE2 V13 V12 R8) [D:1.0000; C:1.0000] 6.0000: (MOVE2 V4 V2 R7) [D:1.0000; C:1.0000] 6.0000: (MOVE2 V12 V11 R8) [D:1.0000; C:1.0000] 7.0000: (MOVE2 V10 V4 R10) [D:1.0000; C:1.0000] 7.0000: (MOVE1 V11 V12 R8) [D:1.0000; C:1.0000] 8.0000: (MOVE1 V4 V6 R10) [D:1.0000; C:1.0000] 8.0000: (MOVE1 V0 V11 R6) [D:1.0000; C:1.0000] 9.0000: (MOVE1 V2 V4 R7) [D:1.0000; C:1.0000] 10.0000: (MOVE1 V4 V10 R7) [D:1.0000; C:1.0000] 10.0000: (MOVE1 V1 V2 R9) [D:1.0000; C:1.0000] 11.0000: (MOVE2 V6 V4 R10) [D:1.0000; C:1.0000] 12.0000: (MOVE2 V12 V6 R8) [D:1.0000; C:1.0000] 12.0000: (MOVE2 V4 V1 R10) [D:1.0000; C:1.0000] 13.0000: (MOVE1 V11 V12 R6) [D:1.0000; C:1.0000] 13.0000: (MOVE1 V2 V4 R9) [D:1.0000; C:1.0000] 14.0000: (MOVE1 V12 V13 R6) [D:1.0000; C:1.0000] 15.0000: (MOVE1 V6 V12 R8) [D:1.0000; C:1.0000] 16.0000: (MOVE2 V12 V11 R8) [D:1.0000; C:1.0000] 16.0000: (MOVE1 V5 V6 R11) [D:1.0000; C:1.0000] 17.0000: (MOVE2 V13 V12 R6) [D:1.0000; C:1.0000] Solution number: 1 Total time: 0.05 Search time: 0.03 Actions: 33 Execution cost: 33.00 Duration: 18.000 Plan quality: 33.000 Plan file: plan_multirobot_6_6_50_c1.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_6_6_50_C2' defined ... done. Modality: Incremental Planner Number of actions : 304 Number of conditional actions : 0 Number of facts : 117 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 V3 V0 R10) [D:1.0000; C:1.0000] 0.0000: (MOVE2 V8 V4 R5) [D:1.0000; C:1.0000] 0.0000: (MOVE1 V6 V10 R7) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V2 V3 R6) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V7 V8 R12) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V4 V5 R5) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V0 V12 R10) [D:1.0000; C:1.0000] 2.0000: (MOVE1 V1 V2 R8) [D:1.0000; C:1.0000] 2.0000: (MOVE2 V8 V4 R12) [D:1.0000; C:1.0000] 3.0000: (MOVE2 V4 V0 R12) [D:1.0000; C:1.0000] 3.0000: (MOVE1 V2 V7 R8) [D:1.0000; C:1.0000] 3.0000: (MOVE2 V5 V1 R5) [D:1.0000; C:1.0000] 4.0000: (MOVE1 V0 V6 R12) [D:1.0000; C:1.0000] 4.0000: (MOVE2 V11 V2 R11) [D:1.0000; C:1.0000] 5.0000: (MOVE2 V9 V0 R9) [D:1.0000; C:1.0000] 6.0000: (MOVE1 V0 V4 R9) [D:1.0000; C:1.0000] 7.0000: (MOVE1 V4 V8 R9) [D:1.0000; C:1.0000] 7.0000: (MOVE2 V12 V0 R10) [D:1.0000; C:1.0000] 8.0000: (MOVE1 V0 V9 R10) [D:1.0000; C:1.0000] 8.0000: (MOVE1 V2 V12 R11) [D:1.0000; C:1.0000] 9.0000: (MOVE2 V6 V0 R12) [D:1.0000; C:1.0000] 9.0000: (MOVE1 V1 V2 R5) [D:1.0000; C:1.0000] 10.0000: (MOVE1 V0 V4 R12) [D:1.0000; C:1.0000] Solution number: 1 Total time: 0.04 Search time: 0.02 Actions: 23 Execution cost: 23.00 Duration: 11.000 Plan quality: 23.000 Plan file: plan_multirobot_6_6_50_c2.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_6_6_50_C3' defined ... done. Modality: Incremental Planner Number of actions : 304 Number of conditional actions : 0 Number of facts : 117 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 V8 V11 R10) [D:1.0000; C:1.0000] 0.0000: (MOVE2 V5 V0 R9) [D:1.0000; C:1.0000] 0.0000: (MOVE1 V2 V3 R8) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V3 V7 R8) [D:1.0000; C:1.0000] 1.0000: (MOVE2 V6 V5 R11) [D:1.0000; C:1.0000] 2.0000: (MOVE1 V7 V8 R8) [D:1.0000; C:1.0000] 2.0000: (MOVE1 V0 V3 R9) [D:1.0000; C:1.0000] 3.0000: (MOVE2 V5 V0 R11) [D:1.0000; C:1.0000] Solution number: 1 Total time: 0.02 Search time: 0.01 Actions: 8 Execution cost: 8.00 Duration: 4.000 Plan quality: 8.000 Plan file: plan_multirobot_6_6_50_c3.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_6_6_50_C4' defined ... done. Modality: Incremental Planner Number of actions : 170 Number of conditional actions : 0 Number of facts : 66 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 V0 V1 R6) [D:1.0000; C:1.0000] 0.0000: (MOVE2 V7 V4 R8) [D:1.0000; C:1.0000] 1.0000: (MOVE2 V3 V0 R10) [D:1.0000; C:1.0000] 2.0000: (MOVE1 V0 V6 R10) [D:1.0000; C:1.0000] 3.0000: (MOVE2 V1 V0 R6) [D:1.0000; C:1.0000] 4.0000: (MOVE2 V2 V1 R7) [D:1.0000; C:1.0000] 4.0000: (MOVE1 V0 V3 R6) [D:1.0000; C:1.0000] 5.0000: (MOVE2 V3 V2 R6) [D:1.0000; C:1.0000] 6.0000: (MOVE2 V10 V3 R9) [D:1.0000; C:1.0000] 7.0000: (MOVE2 V3 V0 R9) [D:1.0000; C:1.0000] Solution number: 1 Total time: 0.02 Search time: 0.02 Actions: 10 Execution cost: 10.00 Duration: 8.000 Plan quality: 10.000 Plan file: plan_multirobot_6_6_50_c4.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_6_6_50_C5' defined ... done. Modality: Incremental Planner Number of actions : 170 Number of conditional actions : 0 Number of facts : 66 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 V5 V10 R7) [D:1.0000; C:1.0000] 0.0000: (MOVE2 V9 V6 R9) [D:1.0000; C:1.0000] 1.0000: (MOVE2 V10 V5 R7) [D:1.0000; C:1.0000] 2.0000: (MOVE1 V5 V10 R7) [D:1.0000; C:1.0000] 3.0000: (MOVE2 V10 V5 R7) [D:1.0000; C:1.0000] 4.0000: (MOVE1 V5 V10 R7) [D:1.0000; C:1.0000] 5.0000: (MOVE2 V10 V5 R7) [D:1.0000; C:1.0000] 6.0000: (MOVE1 V5 V10 R7) [D:1.0000; C:1.0000] 7.0000: (MOVE2 V10 V5 R7) [D:1.0000; C:1.0000] 8.0000: (MOVE1 V5 V10 R7) [D:1.0000; C:1.0000] 9.0000: (MOVE2 V10 V5 R7) [D:1.0000; C:1.0000] 10.0000: (MOVE1 V5 V10 R7) [D:1.0000; C:1.0000] 11.0000: (MOVE2 V10 V5 R7) [D:1.0000; C:1.0000] 12.0000: (MOVE1 V5 V10 R7) [D:1.0000; C:1.0000] 13.0000: (MOVE2 V10 V5 R7) [D:1.0000; C:1.0000] 14.0000: (MOVE1 V5 V10 R7) [D:1.0000; C:1.0000] 15.0000: (MOVE2 V10 V5 R7) [D:1.0000; C:1.0000] 16.0000: (MOVE1 V1 V10 R6) [D:1.0000; C:1.0000] 17.0000: (MOVE2 V10 V1 R6) [D:1.0000; C:1.0000] 18.0000: (MOVE1 V1 V10 R6) [D:1.0000; C:1.0000] 19.0000: (MOVE2 V10 V1 R6) [D:1.0000; C:1.0000] 20.0000: (MOVE2 V1 V0 R6) [D:1.0000; C:1.0000] 21.0000: (MOVE2 V2 V1 R10) [D:1.0000; C:1.0000] 22.0000: (MOVE1 V1 V10 R10) [D:1.0000; C:1.0000] 23.0000: (MOVE2 V10 V1 R10) [D:1.0000; C:1.0000] 24.0000: (MOVE1 V5 V10 R7) [D:1.0000; C:1.0000] 24.0000: (MOVE1 V1 V2 R10) [D:1.0000; C:1.0000] 25.0000: (MOVE2 V10 V1 R7) [D:1.0000; C:1.0000] 26.0000: (MOVE1 V1 V10 R7) [D:1.0000; C:1.0000] 27.0000: (MOVE2 V2 V1 R10) [D:1.0000; C:1.0000] 27.0000: (MOVE2 V10 V5 R7) [D:1.0000; C:1.0000] 28.0000: (MOVE1 V1 V10 R10) [D:1.0000; C:1.0000] 29.0000: (MOVE2 V10 V1 R10) [D:1.0000; C:1.0000] 30.0000: (MOVE1 V5 V10 R7) [D:1.0000; C:1.0000] 30.0000: (MOVE1 V1 V2 R10) [D:1.0000; C:1.0000] 31.0000: (MOVE1 V4 V5 R8) [D:1.0000; C:1.0000] 31.0000: (MOVE2 V10 V1 R7) [D:1.0000; C:1.0000] 32.0000: (MOVE1 V5 V10 R8) [D:1.0000; C:1.0000] 32.0000: (MOVE1 V2 V4 R10) [D:1.0000; C:1.0000] 33.0000: (MOVE1 V4 V7 R10) [D:1.0000; C:1.0000] 34.0000: (MOVE2 V6 V4 R9) [D:1.0000; C:1.0000] 35.0000: (MOVE2 V4 V2 R9) [D:1.0000; C:1.0000] 35.0000: (MOVE1 V1 V6 R7) [D:1.0000; C:1.0000] 36.0000: (MOVE2 V6 V4 R7) [D:1.0000; C:1.0000] 36.0000: (MOVE1 V0 V1 R6) [D:1.0000; C:1.0000] Solution number: 1 Total time: 0.04 Search time: 0.03 Actions: 45 Execution cost: 45.00 Duration: 37.000 Plan quality: 45.000 Plan file: plan_multirobot_6_6_50_c5.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_6_6_50_C6' defined ... done. Modality: Incremental Planner Number of actions : 128 Number of conditional actions : 0 Number of facts : 50 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 R8) [D:1.0000; C:1.0000] 0.0000: (MOVE2 V8 V1 R9) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V2 V8 R8) [D:1.0000; C:1.0000] 2.0000: (MOVE1 V1 V2 R9) [D:1.0000; C:1.0000] 3.0000: (MOVE1 V0 V1 R6) [D:1.0000; C:1.0000] Solution number: 1 Total time: 0.02 Search time: 0.01 Actions: 5 Execution cost: 5.00 Duration: 4.000 Plan quality: 5.000 Plan file: plan_multirobot_6_6_50_c6.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_6_6_50_C7' defined ... done. Modality: Incremental Planner Number of actions : 136 Number of conditional actions : 0 Number of facts : 55 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 V10 V6 R10) [D:1.0000; C:1.0000] 0.0000: (MOVE1 V0 V5 R7) [D:1.0000; C:1.0000] 0.0000: (MOVE2 V9 V1 R9) [D:1.0000; C:1.0000] 1.0000: (MOVE2 V6 V3 R10) [D:1.0000; C:1.0000] 1.0000: (MOVE2 V4 V0 R8) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V1 V9 R9) [D:1.0000; C:1.0000] 2.0000: (MOVE2 V3 V2 R10) [D:1.0000; C:1.0000] 2.0000: (MOVE2 V9 V1 R9) [D:1.0000; C:1.0000] 3.0000: (MOVE1 V2 V8 R10) [D:1.0000; C:1.0000] 4.0000: (MOVE1 V1 V2 R9) [D:1.0000; C:1.0000] 5.0000: (MOVE1 V0 V1 R8) [D:1.0000; C:1.0000] 5.0000: (MOVE1 V2 V3 R9) [D:1.0000; C:1.0000] 6.0000: (MOVE1 V1 V2 R8) [D:1.0000; C:1.0000] 6.0000: (MOVE2 V5 V0 R7) [D:1.0000; C:1.0000] 7.0000: (MOVE1 V0 V1 R7) [D:1.0000; C:1.0000] 8.0000: (MOVE2 V3 V0 R9) [D:1.0000; C:1.0000] 9.0000: (MOVE1 V2 V3 R8) [D:1.0000; C:1.0000] 9.0000: (MOVE1 V0 V5 R9) [D:1.0000; C:1.0000] 10.0000: (MOVE1 V3 V6 R8) [D:1.0000; C:1.0000] 10.0000: (MOVE2 V5 V4 R9) [D:1.0000; C:1.0000] 10.0000: (MOVE2 V1 V0 R7) [D:1.0000; C:1.0000] 11.0000: (MOVE2 V6 V5 R8) [D:1.0000; C:1.0000] 11.0000: (MOVE1 V0 V7 R7) [D:1.0000; C:1.0000] 12.0000: (MOVE2 V5 V0 R8) [D:1.0000; C:1.0000] 13.0000: (MOVE1 V0 V1 R8) [D:1.0000; C:1.0000] 13.0000: (MOVE1 V4 V5 R9) [D:1.0000; C:1.0000] 14.0000: (MOVE1 V1 V9 R8) [D:1.0000; C:1.0000] 14.0000: (MOVE1 V5 V6 R9) [D:1.0000; C:1.0000] 14.0000: (MOVE2 V7 V0 R7) [D:1.0000; C:1.0000] 15.0000: (MOVE1 V0 V5 R7) [D:1.0000; C:1.0000] Solution number: 1 Total time: 0.02 Search time: 0.02 Actions: 30 Execution cost: 30.00 Duration: 16.000 Plan quality: 30.000 Plan file: plan_multirobot_6_6_50_c7.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_6_6_50_C8' defined ... done. Modality: Incremental Planner Number of actions : 170 Number of conditional actions : 0 Number of facts : 66 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 V6 R9) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V1 V2 R6) [D:1.0000; C:1.0000] 1.0000: (MOVE2 V6 V5 R9) [D:1.0000; C:1.0000] 2.0000: (MOVE1 V2 V10 R6) [D:1.0000; C:1.0000] 2.0000: (MOVE2 V4 V1 R10) [D:1.0000; C:1.0000] 3.0000: (MOVE2 V3 V2 R7) [D:1.0000; C:1.0000] 4.0000: (MOVE1 V2 V6 R7) [D:1.0000; C:1.0000] 5.0000: (MOVE1 V1 V2 R10) [D:1.0000; C:1.0000] Solution number: 1 Total time: 0.02 Search time: 0.02 Actions: 8 Execution cost: 8.00 Duration: 6.000 Plan quality: 8.000 Plan file: plan_multirobot_6_6_50_c8.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_6_6_50_C9' defined ... done. Modality: Incremental Planner Number of actions : 304 Number of conditional actions : 0 Number of facts : 117 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 V2 V1 R6) [D:1.0000; C:1.0000] 0.0000: (MOVE2 V3 V0 R12) [D:1.0000; C:1.0000] 1.0000: (MOVE2 V4 V2 R8) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V1 V9 R6) [D:1.0000; C:1.0000] 2.0000: (MOVE2 V2 V1 R8) [D:1.0000; C:1.0000] 3.0000: (MOVE2 V8 V2 R11) [D:1.0000; C:1.0000] 4.0000: (MOVE1 V2 V4 R11) [D:1.0000; C:1.0000] 4.0000: (MOVE2 V12 V8 R9) [D:1.0000; C:1.0000] 5.0000: (MOVE1 V4 V5 R11) [D:1.0000; C:1.0000] 6.0000: (MOVE2 V11 V4 R5) [D:1.0000; C:1.0000] 7.0000: (MOVE2 V4 V2 R5) [D:1.0000; C:1.0000] 8.0000: (MOVE1 V2 V3 R5) [D:1.0000; C:1.0000] 9.0000: (MOVE1 V1 V2 R8) [D:1.0000; C:1.0000] 10.0000: (MOVE1 V2 V4 R8) [D:1.0000; C:1.0000] 10.0000: (MOVE1 V0 V1 R12) [D:1.0000; C:1.0000] 11.0000: (MOVE1 V4 V11 R8) [D:1.0000; C:1.0000] 11.0000: (MOVE2 V6 V2 R10) [D:1.0000; C:1.0000] 12.0000: (MOVE2 V9 V6 R6) [D:1.0000; C:1.0000] 12.0000: (MOVE1 V2 V4 R10) [D:1.0000; C:1.0000] 13.0000: (MOVE2 V8 V2 R9) [D:1.0000; C:1.0000] 13.0000: (MOVE1 V1 V9 R12) [D:1.0000; C:1.0000] 14.0000: (MOVE1 V7 V8 R7) [D:1.0000; C:1.0000] 15.0000: (MOVE1 V6 V7 R6) [D:1.0000; C:1.0000] 16.0000: (MOVE1 V7 V12 R6) [D:1.0000; C:1.0000] 16.0000: (MOVE1 V4 V6 R10) [D:1.0000; C:1.0000] 17.0000: (MOVE2 V8 V7 R7) [D:1.0000; C:1.0000] 17.0000: (MOVE1 V2 V4 R9) [D:1.0000; C:1.0000] Solution number: 1 Total time: 0.36 Search time: 0.35 Actions: 27 Execution cost: 27.00 Duration: 18.000 Plan quality: 27.000 Plan file: plan_multirobot_6_6_50_c9.pddl_1.SOL