Parsing domain file:  domain 'MULTIROBOT' defined ... done.
Parsing problem file:  problem 'MULTIROBOT_3_3_90_C0' defined ... done.



Modality: Incremental Planner

Number of actions             :      78
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: (MOVE1 V2 V7 R7) [D:1.0000; C:1.0000]
 0.0000: (MOVE1 V8 V9 R9) [D:1.0000; C:1.0000]
 1.0000: (MOVE2 V9 V5 R9) [D:1.0000; C:1.0000]
 1.0000: (MOVE2 V3 V2 R8) [D:1.0000; C:1.0000]


Solution number: 1
Total time:      0.02
Search time:     0.02
Actions:         4
Execution cost:  4.00
Duration:        2.000
Plan quality:    4.000
     Plan file:       plan_multirobot_3_3_90_c0.pddl_1.SOL


Parsing domain file:  domain 'MULTIROBOT' defined ... done.
Parsing problem file:  problem 'MULTIROBOT_3_3_90_C1' defined ... done.



Modality: Incremental Planner

Number of actions             :      48
Number of conditional actions :       0
Number of facts               :      27


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 V6 V0 R8) [D:1.0000; C:1.0000]


Solution number: 1
Total time:      0.02
Search time:     0.01
Actions:         1
Execution cost:  1.00
Duration:        1.000
Plan quality:    1.000
     Plan file:       plan_multirobot_3_3_90_c1.pddl_1.SOL


Parsing domain file:  domain 'MULTIROBOT' defined ... done.
Parsing problem file:  problem 'MULTIROBOT_3_3_90_C2' defined ... done.



Modality: Incremental Planner

Number of actions             :      48
Number of conditional actions :       0
Number of facts               :      27


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 V2 V3 R7) [D:1.0000; C:1.0000]


Solution number: 1
Total time:      0.02
Search time:     0.02
Actions:         2
Execution cost:  2.00
Duration:        1.000
Plan quality:    2.000
     Plan file:       plan_multirobot_3_3_90_c2.pddl_1.SOL


Parsing domain file:  domain 'MULTIROBOT' defined ... done.
Parsing problem file:  problem 'MULTIROBOT_3_3_90_C3' defined ... done.



Modality: Incremental Planner

Number of actions             :      24
Number of conditional actions :       0
Number of facts               :      18


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]


Solution number: 1
Total time:      0.01
Search time:     0.01
Actions:         1
Execution cost:  1.00
Duration:        1.000
Plan quality:    1.000
     Plan file:       plan_multirobot_3_3_90_c3.pddl_1.SOL


Parsing domain file:  domain 'MULTIROBOT' defined ... done.
Parsing problem file:  problem 'MULTIROBOT_3_3_90_C4' defined ... done.



Modality: Incremental Planner

Number of actions             :      26
Number of conditional actions :       0
Number of facts               :      20


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 R9) [D:1.0000; C:1.0000]


Solution number: 1
Total time:      0.02
Search time:     0.02
Actions:         1
Execution cost:  1.00
Duration:        1.000
Plan quality:    1.000
     Plan file:       plan_multirobot_3_3_90_c4.pddl_1.SOL


Parsing domain file:  domain 'MULTIROBOT' defined ... done.
Parsing problem file:  problem 'MULTIROBOT_3_3_90_C5' defined ... done.



Modality: Incremental Planner

Number of actions             :      26
Number of conditional actions :       0
Number of facts               :      20


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 V9 V8 R9) [D:1.0000; C:1.0000]
 1.0000: (MOVE2 V8 V7 R9) [D:1.0000; C:1.0000]
 2.0000: (MOVE2 V7 V6 R9) [D:1.0000; C:1.0000]
 3.0000: (MOVE2 V6 V3 R9) [D:1.0000; C:1.0000]


Solution number: 1
Total time:      0.02
Search time:     0.02
Actions:         4
Execution cost:  4.00
Duration:        4.000
Plan quality:    4.000
     Plan file:       plan_multirobot_3_3_90_c5.pddl_1.SOL


Parsing domain file:  domain 'MULTIROBOT' defined ... done.
Parsing problem file:  problem 'MULTIROBOT_3_3_90_C6' defined ... done.



Modality: Incremental Planner

Number of actions             :      90
Number of conditional actions :       0
Number of facts               :      48


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 R11) [D:1.0000; C:1.0000]
 0.0000: (MOVE2 V3 V0 R9) [D:1.0000; C:1.0000]
 0.0000: (MOVE2 V10 V9 R10) [D:1.0000; C:1.0000]
 1.0000: (MOVE2 V9 V3 R10) [D:1.0000; C:1.0000]
 2.0000: (MOVE2 V3 V2 R10) [D:1.0000; C:1.0000]
 3.0000: (MOVE2 V2 V1 R10) [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_3_3_90_c6.pddl_1.SOL


Parsing domain file:  domain 'MULTIROBOT' defined ... done.
Parsing problem file:  problem 'MULTIROBOT_3_3_90_C7' defined ... done.



Modality: Incremental Planner

Number of actions             :      26
Number of conditional actions :       0
Number of facts               :      20


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 V3 V4 R9) [D:1.0000; C:1.0000]
 1.0000: (MOVE1 V4 V8 R9) [D:1.0000; C:1.0000]


Solution number: 1
Total time:      0.02
Search time:     0.02
Actions:         2
Execution cost:  2.00
Duration:        2.000
Plan quality:    2.000
     Plan file:       plan_multirobot_3_3_90_c7.pddl_1.SOL


Parsing domain file:  domain 'MULTIROBOT' defined ... done.
Parsing problem file:  problem 'MULTIROBOT_3_3_90_C8' defined ... done.



Modality: Incremental Planner

Number of actions             :     104
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: 0.00 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 V3 V8 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]
 3.0000: (MOVE1 V0 V6 R8) [D:1.0000; C:1.0000]
 3.0000: (MOVE2 V4 V1 R7) [D:1.0000; C:1.0000]
 4.0000: (MOVE1 V6 V7 R8) [D:1.0000; C:1.0000]
 5.0000: (MOVE2 V7 V6 R8) [D:1.0000; C:1.0000]
 6.0000: (MOVE1 V6 V7 R8) [D:1.0000; C:1.0000]
 7.0000: (MOVE2 V7 V6 R8) [D:1.0000; C:1.0000]
 8.0000: (MOVE2 V8 V7 R9) [D:1.0000; C:1.0000]
 8.0000: (MOVE2 V6 V0 R8) [D:1.0000; C:1.0000]
 9.0000: (MOVE1 V3 V8 R6) [D:1.0000; C:1.0000]
 9.0000: (MOVE2 V7 V6 R9) [D:1.0000; C:1.0000]
 10.0000: (MOVE1 V0 V3 R8) [D:1.0000; C:1.0000]
 11.0000: (MOVE2 V6 V0 R9) [D:1.0000; C:1.0000]
 12.0000: (MOVE1 V0 V6 R9) [D:1.0000; C:1.0000]
 13.0000: (MOVE2 V3 V0 R8) [D:1.0000; C:1.0000]
 13.0000: (MOVE1 V6 V7 R9) [D:1.0000; C:1.0000]
 14.0000: (MOVE1 V0 V6 R8) [D:1.0000; C:1.0000]
 15.0000: (MOVE2 V6 V0 R8) [D:1.0000; C:1.0000]
 16.0000: (MOVE1 V0 V6 R8) [D:1.0000; C:1.0000]
 17.0000: (MOVE2 V6 V0 R8) [D:1.0000; C:1.0000]
 18.0000: (MOVE1 V0 V6 R8) [D:1.0000; C:1.0000]
 19.0000: (MOVE2 V6 V0 R8) [D:1.0000; C:1.0000]
 20.0000: (MOVE1 V0 V6 R8) [D:1.0000; C:1.0000]
 21.0000: (MOVE2 V6 V0 R8) [D:1.0000; C:1.0000]
 22.0000: (MOVE1 V0 V6 R8) [D:1.0000; C:1.0000]
 23.0000: (MOVE2 V6 V0 R8) [D:1.0000; C:1.0000]
 24.0000: (MOVE1 V0 V6 R8) [D:1.0000; C:1.0000]
 25.0000: (MOVE2 V6 V0 R8) [D:1.0000; C:1.0000]
 26.0000: (MOVE2 V7 V6 R9) [D:1.0000; C:1.0000]
 26.0000: (MOVE1 V0 V3 R8) [D:1.0000; C:1.0000]
 27.0000: (MOVE2 V6 V0 R9) [D:1.0000; C:1.0000]
 28.0000: (MOVE1 V0 V6 R9) [D:1.0000; C:1.0000]
 29.0000: (MOVE2 V3 V0 R8) [D:1.0000; C:1.0000]
 29.0000: (MOVE1 V6 V7 R9) [D:1.0000; C:1.0000]
 30.0000: (MOVE1 V0 V6 R8) [D:1.0000; C:1.0000]
 31.0000: (MOVE2 V6 V0 R8) [D:1.0000; C:1.0000]
 32.0000: (MOVE1 V0 V6 R8) [D:1.0000; C:1.0000]
 33.0000: (MOVE2 V6 V0 R8) [D:1.0000; C:1.0000]
 34.0000: (MOVE2 V7 V6 R9) [D:1.0000; C:1.0000]
 34.0000: (MOVE1 V0 V3 R8) [D:1.0000; C:1.0000]
 35.0000: (MOVE2 V6 V0 R9) [D:1.0000; C:1.0000]
 36.0000: (MOVE1 V0 V6 R9) [D:1.0000; C:1.0000]
 37.0000: (MOVE2 V3 V0 R8) [D:1.0000; C:1.0000]
 37.0000: (MOVE1 V6 V7 R9) [D:1.0000; C:1.0000]
 38.0000: (MOVE1 V0 V6 R8) [D:1.0000; C:1.0000]
 39.0000: (MOVE2 V6 V0 R8) [D:1.0000; C:1.0000]
 40.0000: (MOVE2 V7 V6 R9) [D:1.0000; C:1.0000]
 40.0000: (MOVE1 V0 V3 R8) [D:1.0000; C:1.0000]
 41.0000: (MOVE2 V6 V0 R9) [D:1.0000; C:1.0000]
 42.0000: (MOVE1 V0 V6 R9) [D:1.0000; C:1.0000]
 43.0000: (MOVE2 V6 V0 R9) [D:1.0000; C:1.0000]
 44.0000: (MOVE1 V0 V6 R9) [D:1.0000; C:1.0000]
 45.0000: (MOVE2 V3 V0 R8) [D:1.0000; C:1.0000]
 45.0000: (MOVE1 V6 V7 R9) [D:1.0000; C:1.0000]
 46.0000: (MOVE1 V0 V6 R8) [D:1.0000; C:1.0000]
 47.0000: (MOVE2 V6 V0 R8) [D:1.0000; C:1.0000]
 48.0000: (MOVE1 V0 V6 R8) [D:1.0000; C:1.0000]
 49.0000: (MOVE2 V6 V0 R8) [D:1.0000; C:1.0000]
 50.0000: (MOVE1 V0 V6 R8) [D:1.0000; C:1.0000]
 51.0000: (MOVE2 V6 V0 R8) [D:1.0000; C:1.0000]
 52.0000: (MOVE2 V7 V6 R9) [D:1.0000; C:1.0000]
 52.0000: (MOVE1 V0 V3 R8) [D:1.0000; C:1.0000]
 53.0000: (MOVE2 V6 V0 R9) [D:1.0000; C:1.0000]
 54.0000: (MOVE1 V0 V6 R9) [D:1.0000; C:1.0000]
 55.0000: (MOVE2 V3 V0 R8) [D:1.0000; C:1.0000]
 55.0000: (MOVE1 V6 V7 R9) [D:1.0000; C:1.0000]
 56.0000: (MOVE1 V0 V6 R8) [D:1.0000; C:1.0000]
 57.0000: (MOVE2 V6 V0 R8) [D:1.0000; C:1.0000]
 58.0000: (MOVE2 V7 V6 R9) [D:1.0000; C:1.0000]
 58.0000: (MOVE1 V0 V3 R8) [D:1.0000; C:1.0000]
 59.0000: (MOVE2 V6 V0 R9) [D:1.0000; C:1.0000]
 60.0000: (MOVE1 V0 V6 R9) [D:1.0000; C:1.0000]
 61.0000: (MOVE2 V3 V0 R8) [D:1.0000; C:1.0000]
 61.0000: (MOVE1 V6 V7 R9) [D:1.0000; C:1.0000]
 62.0000: (MOVE1 V0 V6 R8) [D:1.0000; C:1.0000]
 63.0000: (MOVE2 V6 V0 R8) [D:1.0000; C:1.0000]
 64.0000: (MOVE2 V7 V6 R9) [D:1.0000; C:1.0000]
 64.0000: (MOVE1 V0 V3 R8) [D:1.0000; C:1.0000]
 65.0000: (MOVE2 V6 V0 R9) [D:1.0000; C:1.0000]
 65.0000: (MOVE2 V8 V7 R6) [D:1.0000; C:1.0000]
 66.0000: (MOVE1 V7 V8 R6) [D:1.0000; C:1.0000]
 67.0000: (MOVE2 V8 V7 R6) [D:1.0000; C:1.0000]
 68.0000: (MOVE1 V3 V8 R8) [D:1.0000; C:1.0000]
 68.0000: (MOVE2 V7 V6 R6) [D:1.0000; C:1.0000]
 69.0000: (MOVE1 V6 V7 R6) [D:1.0000; C:1.0000]
 69.0000: (MOVE1 V0 V3 R9) [D:1.0000; C:1.0000]
 70.0000: (MOVE2 V7 V6 R6) [D:1.0000; C:1.0000]
 70.0000: (MOVE2 V3 V0 R9) [D:1.0000; C:1.0000]
 71.0000: (MOVE1 V6 V7 R6) [D:1.0000; C:1.0000]
 71.0000: (MOVE1 V0 V3 R9) [D:1.0000; C:1.0000]
 72.0000: (MOVE2 V7 V6 R6) [D:1.0000; C:1.0000]
 73.0000: (MOVE1 V6 V7 R6) [D:1.0000; C:1.0000]
 74.0000: (MOVE2 V7 V6 R6) [D:1.0000; C:1.0000]
 75.0000: (MOVE1 V6 V7 R6) [D:1.0000; C:1.0000]
 76.0000: (MOVE2 V7 V6 R6) [D:1.0000; C:1.0000]
 77.0000: (MOVE1 V6 V7 R6) [D:1.0000; C:1.0000]
 78.0000: (MOVE2 V7 V6 R6) [D:1.0000; C:1.0000]
 79.0000: (MOVE1 V6 V7 R6) [D:1.0000; C:1.0000]
 80.0000: (MOVE2 V7 V6 R6) [D:1.0000; C:1.0000]
 81.0000: (MOVE2 V8 V7 R8) [D:1.0000; C:1.0000]
 81.0000: (MOVE2 V6 V0 R6) [D:1.0000; C:1.0000]
 82.0000: (MOVE2 V7 V6 R8) [D:1.0000; C:1.0000]
 82.0000: (MOVE1 V3 V8 R9) [D:1.0000; C:1.0000]
 83.0000: (MOVE2 V8 V3 R9) [D:1.0000; C:1.0000]
 84.0000: (MOVE1 V3 V8 R9) [D:1.0000; C:1.0000]
 85.0000: (MOVE2 V8 V3 R9) [D:1.0000; C:1.0000]
 86.0000: (MOVE1 V3 V8 R9) [D:1.0000; C:1.0000]
 87.0000: (MOVE2 V8 V3 R9) [D:1.0000; C:1.0000]
 88.0000: (MOVE2 V3 V2 R9) [D:1.0000; C:1.0000]
 89.0000: (MOVE1 V0 V3 R6) [D:1.0000; C:1.0000]
 90.0000: (MOVE1 V3 V8 R6) [D:1.0000; C:1.0000]
 91.0000: (MOVE1 V2 V3 R9) [D:1.0000; C:1.0000]
 92.0000: (MOVE2 V3 V0 R9) [D:1.0000; C:1.0000]


Solution number: 1
Total time:      0.16
Search time:     0.16
Actions:         115
Execution cost:  115.00
Duration:        93.000
Plan quality:    115.000
     Plan file:       plan_multirobot_3_3_90_c8.pddl_1.SOL


Parsing domain file:  domain 'MULTIROBOT' defined ... done.
Parsing problem file:  problem 'MULTIROBOT_3_3_90_C9' defined ... done.



Modality: Incremental Planner

Number of actions             :      26
Number of conditional actions :       0
Number of facts               :      20


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 V3 V8 R9) [D:1.0000; C:1.0000]


Solution number: 1
Total time:      0.01
Search time:     0.01
Actions:         1
Execution cost:  1.00
Duration:        1.000
Plan quality:    1.000
     Plan file:       plan_multirobot_3_3_90_c9.pddl_1.SOL