Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_6_6_90_C0' defined ... done. Modality: Incremental Planner Number of actions : 108 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: (MOVE2 V4 V1 R11) [D:1.0000; C:1.0000] 0.0000: (MOVE1 V0 V6 R9) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V1 V2 R11) [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] Solution number: 1 Total time: 0.02 Search time: 0.02 Actions: 6 Execution cost: 6.00 Duration: 3.000 Plan quality: 6.000 Plan file: plan_multirobot_6_6_90_c0.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_6_6_90_C1' defined ... done. Modality: Incremental Planner Number of actions : 120 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: 0.00 seconds Searching ('.' = every 50 search steps): solution found: Plan computed: Time: (ACTION) [action Duration; action Cost] 0.0000: (MOVE1 V0 V1 R13) [D:1.0000; C:1.0000] 0.0000: (MOVE1 V6 V7 R12) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V1 V2 R13) [D:1.0000; C:1.0000] 2.0000: (MOVE1 V2 V5 R13) [D:1.0000; C:1.0000] 3.0000: (MOVE1 V5 V9 R13) [D:1.0000; C:1.0000] 4.0000: (MOVE2 V8 V5 R11) [D:1.0000; C:1.0000] 5.0000: (MOVE1 V5 V6 R11) [D:1.0000; C:1.0000] Solution number: 1 Total time: 0.01 Search time: 0.01 Actions: 7 Execution cost: 7.00 Duration: 6.000 Plan quality: 7.000 Plan file: plan_multirobot_6_6_90_c1.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_6_6_90_C2' defined ... done. Modality: Incremental Planner Number of actions : 152 Number of conditional actions : 0 Number of facts : 65 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 V0 R9) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V0 V4 R9) [D:1.0000; C:1.0000] 2.0000: (MOVE2 V3 V0 R10) [D:1.0000; C:1.0000] 2.0000: (MOVE1 V4 V8 R9) [D:1.0000; C:1.0000] 3.0000: (MOVE1 V0 V9 R10) [D:1.0000; C:1.0000] 3.0000: (MOVE2 V8 V4 R9) [D:1.0000; C:1.0000] 4.0000: (MOVE2 V11 V0 R11) [D:1.0000; C:1.0000] 4.0000: (MOVE1 V4 V8 R9) [D:1.0000; C:1.0000] 5.0000: (MOVE1 V0 V12 R11) [D:1.0000; C:1.0000] 5.0000: (MOVE2 V8 V4 R9) [D:1.0000; C:1.0000] 6.0000: (MOVE1 V7 V8 R12) [D:1.0000; C:1.0000] 6.0000: (MOVE1 V4 V5 R9) [D:1.0000; C:1.0000] 7.0000: (MOVE2 V8 V4 R12) [D:1.0000; C:1.0000] 8.0000: (MOVE1 V4 V8 R12) [D:1.0000; C:1.0000] 9.0000: (MOVE2 V8 V4 R12) [D:1.0000; C:1.0000] 10.0000: (MOVE1 V4 V8 R12) [D:1.0000; C:1.0000] 11.0000: (MOVE2 V5 V4 R9) [D:1.0000; C:1.0000] 11.0000: (MOVE2 V8 V7 R12) [D:1.0000; C:1.0000] 12.0000: (MOVE1 V4 V8 R9) [D:1.0000; C:1.0000] 13.0000: (MOVE2 V8 V4 R9) [D:1.0000; C:1.0000] 14.0000: (MOVE1 V4 V8 R9) [D:1.0000; C:1.0000] 15.0000: (MOVE2 V8 V4 R9) [D:1.0000; C:1.0000] 16.0000: (MOVE1 V4 V8 R9) [D:1.0000; C:1.0000] 17.0000: (MOVE2 V8 V4 R9) [D:1.0000; C:1.0000] 18.0000: (MOVE1 V7 V8 R12) [D:1.0000; C:1.0000] 18.0000: (MOVE2 V4 V0 R9) [D:1.0000; C:1.0000] 19.0000: (MOVE2 V8 V4 R12) [D:1.0000; C:1.0000] 20.0000: (MOVE1 V4 V5 R12) [D:1.0000; C:1.0000] 21.0000: (MOVE1 V0 V4 R9) [D:1.0000; C:1.0000] 22.0000: (MOVE1 V4 V8 R9) [D:1.0000; C:1.0000] 23.0000: (MOVE2 V5 V4 R12) [D:1.0000; C:1.0000] Solution number: 1 Total time: 0.03 Search time: 0.03 Actions: 31 Execution cost: 31.00 Duration: 24.000 Plan quality: 31.000 Plan file: plan_multirobot_6_6_90_c2.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_6_6_90_C3' defined ... done. Modality: Incremental Planner Number of actions : 152 Number of conditional actions : 0 Number of facts : 65 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] 1.0000: (MOVE1 V0 V3 R9) [D:1.0000; C:1.0000] 1.0000: (MOVE2 V6 V5 R11) [D:1.0000; C:1.0000] 2.0000: (MOVE2 V5 V0 R11) [D:1.0000; C:1.0000] Solution number: 1 Total time: 0.02 Search time: 0.01 Actions: 5 Execution cost: 5.00 Duration: 3.000 Plan quality: 5.000 Plan file: plan_multirobot_6_6_90_c3.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_6_6_90_C4' defined ... done. Modality: Incremental Planner Number of actions : 152 Number of conditional actions : 0 Number of facts : 65 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 V8 V2 R11) [D:1.0000; C:1.0000] 0.0000: (MOVE2 V3 V0 R12) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V2 V4 R11) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V0 V1 R12) [D:1.0000; C:1.0000] 1.0000: (MOVE2 V12 V8 R9) [D:1.0000; C:1.0000] 2.0000: (MOVE1 V4 V5 R11) [D:1.0000; C:1.0000] 2.0000: (MOVE1 V1 V9 R12) [D:1.0000; C:1.0000] 2.0000: (MOVE2 V8 V2 R9) [D:1.0000; C:1.0000] 3.0000: (MOVE2 V9 V1 R12) [D:1.0000; C:1.0000] 3.0000: (MOVE1 V2 V4 R9) [D:1.0000; C:1.0000] 4.0000: (MOVE1 V1 V9 R12) [D:1.0000; C:1.0000] Solution number: 1 Total time: 0.02 Search time: 0.02 Actions: 11 Execution cost: 11.00 Duration: 5.000 Plan quality: 11.000 Plan file: plan_multirobot_6_6_90_c4.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_6_6_90_C5' defined ... done. Modality: Incremental Planner Number of actions : 108 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: 0.01 seconds Searching ('.' = every 50 search steps): solution found: Plan computed: Time: (ACTION) [action Duration; action Cost] 0.0000: (MOVE1 V10 V11 R10) [D:1.0000; C:1.0000] 0.0000: (MOVE2 V5 V1 R11) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V9 V10 R9) [D:1.0000; C:1.0000] 2.0000: (MOVE2 V10 V7 R9) [D:1.0000; C:1.0000] Solution number: 1 Total time: 0.02 Search time: 0.01 Actions: 4 Execution cost: 4.00 Duration: 3.000 Plan quality: 4.000 Plan file: plan_multirobot_6_6_90_c5.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_6_6_90_C6' defined ... done. Modality: Incremental Planner Number of actions : 152 Number of conditional actions : 0 Number of facts : 65 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 V5 V4 R11) [D:1.0000; C:1.0000] 0.0000: (MOVE1 V0 V1 R9) [D:1.0000; C:1.0000] 0.0000: (MOVE2 V10 V6 R12) [D:1.0000; C:1.0000] 1.0000: (MOVE2 V4 V0 R11) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V6 V12 R12) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V1 V5 R9) [D:1.0000; C:1.0000] 2.0000: (MOVE1 V0 V3 R11) [D:1.0000; C:1.0000] 2.0000: (MOVE2 V5 V4 R9) [D:1.0000; C:1.0000] 2.0000: (MOVE1 V2 V6 R10) [D:1.0000; C:1.0000] Solution number: 1 Total time: 0.03 Search time: 0.02 Actions: 9 Execution cost: 9.00 Duration: 3.000 Plan quality: 9.000 Plan file: plan_multirobot_6_6_90_c6.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_6_6_90_C7' defined ... done. Modality: Incremental Planner Number of actions : 76 Number of conditional actions : 0 Number of facts : 39 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 R11) [D:1.0000; C:1.0000] 0.0000: (MOVE1 V11 V12 R12) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V1 V5 R11) [D:1.0000; C:1.0000] Solution number: 1 Total time: 0.02 Search time: 0.02 Actions: 3 Execution cost: 3.00 Duration: 2.000 Plan quality: 3.000 Plan file: plan_multirobot_6_6_90_c7.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_6_6_90_C8' defined ... done. Modality: Incremental Planner Number of actions : 72 Number of conditional actions : 0 Number of facts : 36 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 V7 V10 R10) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V10 V11 R10) [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_6_6_90_c8.pddl_1.SOL Parsing domain file: domain 'MULTIROBOT' defined ... done. Parsing problem file: problem 'MULTIROBOT_6_6_90_C9' defined ... done. Modality: Incremental Planner Number of actions : 72 Number of conditional actions : 0 Number of facts : 36 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 R10) [D:1.0000; C:1.0000] 1.0000: (MOVE1 V0 V8 R10) [D:1.0000; C:1.0000] 2.0000: (MOVE2 V4 V0 R11) [D:1.0000; C:1.0000] Solution number: 1 Total time: 0.02 Search time: 0.02 Actions: 3 Execution cost: 3.00 Duration: 3.000 Plan quality: 3.000 Plan file: plan_multirobot_6_6_90_c9.pddl_1.SOL