================================================================
reLOC 0.05-legio : Multirobot Solution reSolver
(C) Copyright 2011-2012 Pavel Surynek
----------------------------------------------------------------
window size:16
0,1
1,8
2,0
3,2
4,3
5,4
6,5
7,6
8,9
8,16
9,0
9,10
10,2
10,11
10,18
11,3
11,12
11,19
12,4
12,13
12,20
13,5
13,14
13,21
14,6
14,15
14,22
15,7
15,23
16,17
16,24
17,9
18,17
18,26
19,18
19,27
20,19
20,28
21,20
21,29
22,21
22,30
23,22
23,31
24,25
24,32
25,17
26,25
26,34
27,26
27,35
28,27
28,36
29,28
29,37
30,29
30,38
31,30
31,39
32,33
32,40
33,25
34,33
34,42
35,34
35,43
36,35
36,44
37,36
37,45
38,37
38,46
39,38
39,47
40,41
40,48
41,33
42,41
42,50
43,42
43,51
44,43
44,52
45,44
45,53
46,45
46,54
47,46
47,55
48,49
48,56
49,41
50,49
50,58
51,50
51,59
52,51
52,60
53,52
53,61
54,53
54,62
55,54
55,63
56,57
57,49
58,57
59,58
60,59
61,60
62,61
63,62
Length:116
10 # 56 ---> 48 (0)
10 # 48 ---> 40 (1)
10 # 40 ---> 32 (2)
10 # 32 ---> 33 (3)
10 # 33 ---> 34 (4)
10 # 34 ---> 35 (5)
10 # 35 ---> 36 (6)
10 # 36 ---> 37 (7)
10 # 37 ---> 38 (8)
10 # 38 ---> 39 (9)
10 # 39 ---> 47 (10)
7 # 10 ---> 2 (0)
4 # 31 ---> 30 (0)
4 # 30 ---> 22 (1)
8 # 49 ---> 48 (1)
4 # 22 ---> 14 (2)
4 # 14 ---> 15 (3)
3 # 44 ---> 36 (7)
9 # 60 ---> 52 (0)
9 # 52 ---> 44 (7)
9 # 44 ---> 43 (8)
3 # 36 ---> 28 (8)
3 # 28 ---> 20 (9)
3 # 20 ---> 12 (10)
3 # 12 ---> 13 (11)
5 # 24 ---> 25 (0)
6 # 16 ---> 17 (0)
1 # 6 ---> 5 (0)
3 # 13 ---> 14 (12)
9 # 43 ---> 42 (9)
9 # 42 ---> 34 (10)
9 # 34 ---> 26 (11)
9 # 26 ---> 18 (12)
8 # 48 ---> 40 (2)
8 # 40 ---> 32 (3)
8 # 32 ---> 24 (4)
8 # 24 ---> 16 (5)
8 # 16 ---> 8 (6)
8 # 8 ---> 9 (7)
8 # 9 ---> 10 (8)
8 # 10 ---> 11 (9)
9 # 18 ---> 10 (13)
8 # 11 ---> 19 (10)
9 # 10 ---> 11 (14)
3 # 14 ---> 6 (13)
3 # 6 ---> 7 (14)
9 # 11 ---> 3 (15)
6 # 17 ---> 9 (8)
4 # 15 ---> 14 (13)
4 # 14 ---> 13 (14)
4 # 13 ---> 12 (15)
4 # 12 ---> 11 (16)
4 # 11 ---> 10 (17)
4 # 10 ---> 18 (18)
4 # 18 ---> 26 (19)
4 # 26 ---> 34 (20)
9 # 3 ---> 11 (17)
9 # 11 ---> 12 (18)
7 # 2 ---> 10 (18)
7 # 10 ---> 11 (19)
5 # 25 ---> 17 (8)
6 # 9 ---> 10 (19)
5 # 17 ---> 9 (19)
2 # 41 ---> 49 (1)
7 # 11 ---> 3 (20)
9 # 12 ---> 11 (20)
7 # 3 ---> 4 (21)
6 # 10 ---> 2 (20)
9 # 11 ---> 10 (21)
6 # 2 ---> 3 (21)
5 # 9 ---> 0 (20)
9 # 10 ---> 9 (22)
9 # 9 ---> 8 (23)
9 # 8 ---> 16 (24)
9 # 16 ---> 17 (25)
9 # 17 ---> 25 (26)
9 # 25 ---> 24 (27)
7 # 4 ---> 12 (22)
6 # 3 ---> 4 (22)
7 # 12 ---> 11 (23)
1 # 5 ---> 13 (15)
6 # 4 ---> 5 (23)
6 # 5 ---> 6 (24)
6 # 6 ---> 14 (25)
3 # 7 ---> 6 (25)
6 # 14 ---> 15 (26)
7 # 11 ---> 3 (24)
7 # 3 ---> 4 (25)
7 # 4 ---> 5 (26)
1 # 13 ---> 12 (23)
3 # 6 ---> 14 (26)
7 # 5 ---> 6 (27)
3 # 14 ---> 13 (27)
7 # 6 ---> 14 (28)
6 # 15 ---> 7 (27)
7 # 14 ---> 15 (29)
1 # 12 ---> 4 (26)
3 # 13 ---> 12 (28)
3 # 12 ---> 11 (29)
1 # 4 ---> 12 (29)
3 # 11 ---> 3 (30)
1 # 12 ---> 11 (30)
3 # 3 ---> 2 (31)
1 # 11 ---> 10 (31)
1 # 10 ---> 9 (32)
3 # 2 ---> 10 (32)
5 # 0 ---> 2 (32)
5 # 2 ---> 3 (33)
5 # 3 ---> 11 (34)
5 # 11 ---> 12 (35)
1 # 9 ---> 0 (33)
3 # 10 ---> 9 (33)
3 # 9 ---> 8 (34)
1 # 0 ---> 9 (34)
1 # 9 ---> 10 (35)
1 # 10 ---> 2 (36)
Undirected graph: (|V|=64 |E|=112) [
    Vertex: (id = 0) {1 2 9 }
    Vertex: (id = 1) {0 8 }
    Vertex: (id = 2) {0 3 10 }
    Vertex: (id = 3) {2 4 11 }
    Vertex: (id = 4) {3 5 12 }
    Vertex: (id = 5) {4 6 13 }
    Vertex: (id = 6) {5 7 14 }
    Vertex: (id = 7) {6 15 }
    Vertex: (id = 8) {1 9 16 }
    Vertex: (id = 9) {8 0 10 17 }
    Vertex: (id = 10) {9 2 11 18 }
    Vertex: (id = 11) {10 3 12 19 }
    Vertex: (id = 12) {11 4 13 20 }
    Vertex: (id = 13) {12 5 14 21 }
    Vertex: (id = 14) {13 6 15 22 }
    Vertex: (id = 15) {14 7 23 }
    Vertex: (id = 16) {8 17 24 }
    Vertex: (id = 17) {16 9 18 25 }
    Vertex: (id = 18) {10 17 26 19 }
    Vertex: (id = 19) {11 18 27 20 }
    Vertex: (id = 20) {12 19 28 21 }
    Vertex: (id = 21) {13 20 29 22 }
    Vertex: (id = 22) {14 21 30 23 }
    Vertex: (id = 23) {15 22 31 }
    Vertex: (id = 24) {16 25 32 }
    Vertex: (id = 25) {24 17 26 33 }
    Vertex: (id = 26) {18 25 34 27 }
    Vertex: (id = 27) {19 26 35 28 }
    Vertex: (id = 28) {20 27 36 29 }
    Vertex: (id = 29) {21 28 37 30 }
    Vertex: (id = 30) {22 29 38 31 }
    Vertex: (id = 31) {23 30 39 }
    Vertex: (id = 32) {24 33 40 }
    Vertex: (id = 33) {32 25 34 41 }
    Vertex: (id = 34) {26 33 42 35 }
    Vertex: (id = 35) {27 34 43 36 }
    Vertex: (id = 36) {28 35 44 37 }
    Vertex: (id = 37) {29 36 45 38 }
    Vertex: (id = 38) {30 37 46 39 }
    Vertex: (id = 39) {31 38 47 }
    Vertex: (id = 40) {32 41 48 }
    Vertex: (id = 41) {40 33 42 49 }
    Vertex: (id = 42) {34 41 50 43 }
    Vertex: (id = 43) {35 42 51 44 }
    Vertex: (id = 44) {36 43 52 45 }
    Vertex: (id = 45) {37 44 53 46 }
    Vertex: (id = 46) {38 45 54 47 }
    Vertex: (id = 47) {39 46 55 }
    Vertex: (id = 48) {40 49 56 }
    Vertex: (id = 49) {48 41 50 57 }
    Vertex: (id = 50) {42 49 58 51 }
    Vertex: (id = 51) {43 50 59 52 }
    Vertex: (id = 52) {44 51 60 53 }
    Vertex: (id = 53) {45 52 61 54 }
    Vertex: (id = 54) {46 53 62 55 }
    Vertex: (id = 55) {47 54 63 }
    Vertex: (id = 56) {48 57 }
    Vertex: (id = 57) {56 49 58 }
    Vertex: (id = 58) {50 57 59 }
    Vertex: (id = 59) {51 58 60 }
    Vertex: (id = 60) {52 59 61 }
    Vertex: (id = 61) {53 60 62 }
    Vertex: (id = 62) {54 61 63 }
    Vertex: (id = 63) {55 62 }
    Edge  0 <-> 1 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7e70)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7e50)
    ]
    Edge  1 <-> 8 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7f50)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7e70)
    ]
    Edge  2 <-> 0 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7e50)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7e90)
    ]
    Edge  3 <-> 2 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7e90)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7eb0)
    ]
    Edge  4 <-> 3 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7eb0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7ed0)
    ]
    Edge  5 <-> 4 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7ed0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7ef0)
    ]
    Edge  6 <-> 5 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7ef0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7f10)
    ]
    Edge  7 <-> 6 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7f10)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7f30)
    ]
    Edge  8 <-> 9 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7f70)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7f50)
    ]
    Edge  8 <-> 16 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8050)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7f50)
    ]
    Edge  9 <-> 0 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7e50)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7f70)
    ]
    Edge  9 <-> 10 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7f90)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7f70)
    ]
    Edge  10 <-> 2 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7e90)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7f90)
    ]
    Edge  10 <-> 11 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7fb0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7f90)
    ]
    Edge  10 <-> 18 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8090)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7f90)
    ]
    Edge  11 <-> 3 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7eb0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7fb0)
    ]
    Edge  11 <-> 12 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7fd0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7fb0)
    ]
    Edge  11 <-> 19 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da80b0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7fb0)
    ]
    Edge  12 <-> 4 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7ed0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7fd0)
    ]
    Edge  12 <-> 13 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7ff0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7fd0)
    ]
    Edge  12 <-> 20 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da80d0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7fd0)
    ]
    Edge  13 <-> 5 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7ef0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7ff0)
    ]
    Edge  13 <-> 14 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8010)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7ff0)
    ]
    Edge  13 <-> 21 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da80f0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7ff0)
    ]
    Edge  14 <-> 6 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7f10)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8010)
    ]
    Edge  14 <-> 15 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8030)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8010)
    ]
    Edge  14 <-> 22 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8110)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8010)
    ]
    Edge  15 <-> 7 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7f30)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8030)
    ]
    Edge  15 <-> 23 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8130)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8030)
    ]
    Edge  16 <-> 17 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8070)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8050)
    ]
    Edge  16 <-> 24 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8150)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8050)
    ]
    Edge  17 <-> 9 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da7f70)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8070)
    ]
    Edge  18 <-> 17 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8070)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8090)
    ]
    Edge  18 <-> 26 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8190)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8090)
    ]
    Edge  19 <-> 18 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8090)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da80b0)
    ]
    Edge  19 <-> 27 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da81b0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da80b0)
    ]
    Edge  20 <-> 19 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da80b0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da80d0)
    ]
    Edge  20 <-> 28 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da81d0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da80d0)
    ]
    Edge  21 <-> 20 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da80d0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da80f0)
    ]
    Edge  21 <-> 29 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da81f0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da80f0)
    ]
    Edge  22 <-> 21 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da80f0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8110)
    ]
    Edge  22 <-> 30 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8210)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8110)
    ]
    Edge  23 <-> 22 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8110)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8130)
    ]
    Edge  23 <-> 31 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8230)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8130)
    ]
    Edge  24 <-> 25 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8170)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8150)
    ]
    Edge  24 <-> 32 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8250)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8150)
    ]
    Edge  25 <-> 17 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8070)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8170)
    ]
    Edge  26 <-> 25 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8170)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8190)
    ]
    Edge  26 <-> 34 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8290)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8190)
    ]
    Edge  27 <-> 26 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8190)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da81b0)
    ]
    Edge  27 <-> 35 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da82b0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da81b0)
    ]
    Edge  28 <-> 27 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da81b0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da81d0)
    ]
    Edge  28 <-> 36 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da82d0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da81d0)
    ]
    Edge  29 <-> 28 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da81d0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da81f0)
    ]
    Edge  29 <-> 37 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da82f0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da81f0)
    ]
    Edge  30 <-> 29 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da81f0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8210)
    ]
    Edge  30 <-> 38 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8310)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8210)
    ]
    Edge  31 <-> 30 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8210)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8230)
    ]
    Edge  31 <-> 39 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8330)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8230)
    ]
    Edge  32 <-> 33 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8270)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8250)
    ]
    Edge  32 <-> 40 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8350)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8250)
    ]
    Edge  33 <-> 25 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8170)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8270)
    ]
    Edge  34 <-> 33 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8270)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8290)
    ]
    Edge  34 <-> 42 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8390)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8290)
    ]
    Edge  35 <-> 34 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8290)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da82b0)
    ]
    Edge  35 <-> 43 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da83b0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da82b0)
    ]
    Edge  36 <-> 35 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da82b0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da82d0)
    ]
    Edge  36 <-> 44 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da83d0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da82d0)
    ]
    Edge  37 <-> 36 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da82d0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da82f0)
    ]
    Edge  37 <-> 45 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da83f0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da82f0)
    ]
    Edge  38 <-> 37 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da82f0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8310)
    ]
    Edge  38 <-> 46 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8410)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8310)
    ]
    Edge  39 <-> 38 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8310)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8330)
    ]
    Edge  39 <-> 47 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8430)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8330)
    ]
    Edge  40 <-> 41 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8370)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8350)
    ]
    Edge  40 <-> 48 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8450)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8350)
    ]
    Edge  41 <-> 33 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8270)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8370)
    ]
    Edge  42 <-> 41 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8370)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8390)
    ]
    Edge  42 <-> 50 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8490)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8390)
    ]
    Edge  43 <-> 42 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8390)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da83b0)
    ]
    Edge  43 <-> 51 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da84b0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da83b0)
    ]
    Edge  44 <-> 43 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da83b0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da83d0)
    ]
    Edge  44 <-> 52 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da84d0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da83d0)
    ]
    Edge  45 <-> 44 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da83d0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da83f0)
    ]
    Edge  45 <-> 53 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da84f0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da83f0)
    ]
    Edge  46 <-> 45 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da83f0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8410)
    ]
    Edge  46 <-> 54 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8510)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8410)
    ]
    Edge  47 <-> 46 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8410)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8430)
    ]
    Edge  47 <-> 55 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8530)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8430)
    ]
    Edge  48 <-> 49 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8470)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8450)
    ]
    Edge  48 <-> 56 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8550)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8450)
    ]
    Edge  49 <-> 41 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8370)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8470)
    ]
    Edge  50 <-> 49 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8470)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8490)
    ]
    Edge  50 <-> 58 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8590)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8490)
    ]
    Edge  51 <-> 50 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8490)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da84b0)
    ]
    Edge  51 <-> 59 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da85b0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da84b0)
    ]
    Edge  52 <-> 51 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da84b0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da84d0)
    ]
    Edge  52 <-> 60 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da85d0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da84d0)
    ]
    Edge  53 <-> 52 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da84d0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da84f0)
    ]
    Edge  53 <-> 61 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da85f0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da84f0)
    ]
    Edge  54 <-> 53 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da84f0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8510)
    ]
    Edge  54 <-> 62 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8610)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8510)
    ]
    Edge  55 <-> 54 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8510)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8530)
    ]
    Edge  55 <-> 63 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8630)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8530)
    ]
    Edge  56 <-> 57 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8570)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8550)
    ]
    Edge  57 <-> 49 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8470)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8570)
    ]
    Edge  58 <-> 57 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8570)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8590)
    ]
    Edge  59 <-> 58 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8590)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da85b0)
    ]
    Edge  60 <-> 59 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da85b0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da85d0)
    ]
    Edge  61 <-> 60 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da85d0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da85f0)
    ]
    Edge  62 <-> 61 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da85f0)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8610)
    ]
    Edge  63 <-> 62 [
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8610)
        Arc: (edge = 0x7fff234a07e0, target = 0x1da8630)
    ]
]
Robot arrangement: (|R| = 10, |V| = 64) [
     robot locations: {1#6 2#41 3#44 4#31 5#24 6#16 7#10 8#49 9#60 10#56 }
     vertex occupancy: {0#0 0#1 0#2 0#3 0#4 0#5 1#6 0#7 0#8 0#9 7#10 0#11 0#12 0#13 0#14 0#15 6#16 0#17 0#18 0#19 0#20 0#21 0#22 0#23 5#24 0#25 0#26 0#27 0#28 0#29 0#30 4#31 0#32 0#33 0#34 0#35 0#36 0#37 0#38 0#39 0#40 2#41 0#42 0#43 3#44 0#45 0#46 0#47 0#48 8#49 0#50 0#51 0#52 0#53 0#54 0#55 10#56 0#57 0#58 0#59 9#60 0#61 0#62 0#63 }
]
Robot arrangement: (|R| = 10, |V| = 64) [
     robot locations: {1#2 2#49 3#8 4#34 5#12 6#7 7#15 8#19 9#24 10#47 }
     vertex occupancy: {0#0 0#1 1#2 0#3 0#4 0#5 0#6 6#7 3#8 0#9 0#10 0#11 5#12 0#13 0#14 7#15 0#16 0#17 0#18 8#19 0#20 0#21 0#22 0#23 9#24 0#25 0#26 0#27 0#28 0#29 0#30 0#31 0#32 0#33 4#34 0#35 0#36 0#37 0#38 0#39 0#40 0#41 0#42 0#43 0#44 0#45 0#46 10#47 0#48 2#49 0#50 0#51 0#52 0#53 0#54 0#55 0#56 0#57 0#58 0#59 0#60 0#61 0#62 0#63 }
]
Original solution:
Mulirobot solution: (|moves| = 116, paralellism = 3.135) [
    Step 0: 10#56->48 7#10->2 4#31->30 9#60->52 5#24->25 6#16->17 1#6->5 
    Step 1: 10#48->40 4#30->22 8#49->48 2#41->49 
    Step 2: 10#40->32 4#22->14 8#48->40 
    Step 3: 10#32->33 4#14->15 8#40->32 
    Step 4: 10#33->34 8#32->24 
    Step 5: 10#34->35 8#24->16 
    Step 6: 10#35->36 8#16->8 
    Step 7: 10#36->37 3#44->36 9#52->44 8#8->9 
    Step 8: 10#37->38 9#44->43 3#36->28 8#9->10 6#17->9 5#25->17 
    Step 9: 10#38->39 3#28->20 9#43->42 8#10->11 
    Step 10: 10#39->47 3#20->12 9#42->34 8#11->19 
    Step 11: 3#12->13 9#34->26 
    Step 12: 3#13->14 9#26->18 
    Step 13: 9#18->10 3#14->6 4#15->14 
    Step 14: 9#10->11 3#6->7 4#14->13 
    Step 15: 9#11->3 4#13->12 1#5->13 
    Step 16: 4#12->11 
    Step 17: 4#11->10 9#3->11 
    Step 18: 4#10->18 9#11->12 7#2->10 
    Step 19: 4#18->26 7#10->11 6#9->10 5#17->9 
    Step 20: 4#26->34 7#11->3 9#12->11 6#10->2 5#9->0 
    Step 21: 7#3->4 9#11->10 6#2->3 
    Step 22: 9#10->9 7#4->12 6#3->4 
    Step 23: 9#9->8 7#12->11 6#4->5 1#13->12 
    Step 24: 9#8->16 6#5->6 7#11->3 
    Step 25: 9#16->17 6#6->14 3#7->6 7#3->4 
    Step 26: 9#17->25 6#14->15 7#4->5 3#6->14 1#12->4 
    Step 27: 9#25->24 7#5->6 3#14->13 6#15->7 
    Step 28: 7#6->14 3#13->12 
    Step 29: 7#14->15 3#12->11 1#4->12 
    Step 30: 3#11->3 1#12->11 
    Step 31: 3#3->2 1#11->10 
    Step 32: 1#10->9 3#2->10 5#0->2 
    Step 33: 5#2->3 1#9->0 3#10->9 
    Step 34: 5#3->11 3#9->8 1#0->9 
    Step 35: 5#11->12 1#9->10 
    Step 36: 1#10->2 
]
reSolved solution:
Mulirobot solution: (|moves| = 82, paralellism = 6.308) [
    Step 0: 2#41->40 1#6->5 7#10->11 4#31->30 5#24->25 8#49->50 3#44->36 9#60->59 6#16->8 10#56->48 
    Step 1: 2#40->41 1#5->4 7#11->12 4#30->29 5#25->17 8#50->42 3#36->35 9#59->58 6#8->1 
    Step 2: 2#41->49 1#4->3 7#12->13 4#29->28 5#17->9 8#42->34 3#35->43 9#58->57 6#1->0 10#48->40 
    Step 3: 1#3->2 7#13->14 4#28->27 5#9->10 8#34->35 3#43->42 9#57->56 
    Step 4: 7#14->15 4#27->26 5#10->11 3#42->41 9#56->48 6#0->9 10#40->32 
    Step 5: 4#26->34 5#11->12 8#35->27 3#41->40 6#9->10 10#32->33 
    Step 6: 8#27->19 3#40->32 6#10->11 10#33->41 
    Step 7: 3#32->24 9#48->40 6#11->3 10#41->42 
    Step 8: 1#2->0 2#49->48 4#34->26 5#12->11 7#15->14 8#19->18 3#24->16 9#40->32 6#3->4 10#42->43 
    Step 9: 1#0->2 2#48->49 4#26->34 5#11->12 7#14->15 8#18->19 3#16->8 9#32->24 6#4->5 10#43->44 
    Step 10: 6#5->6 10#44->45 
    Step 11: 6#6->7 10#45->46 
    Step 12: 10#46->47 
]
Multirobot solution analysis: (
    total makespan           = 37
    total distance           = 53
    total trajectory         = 116
    average parallelism      = 3.135
    average distance         = 5.300
    average trajectory       = 11.600
    parallelism distribution  = [ 2 10 13 8 2 1 1 ]
    distance distribution     = [ 1 0 0 1 1 3 0 2 1 ]
    trajectory distribution   = [ 1 0 0 0 0 0 0 1 0 1 2 2 1 0 0 0 0 1 0 1 ]
)
Multirobot solution analysis: (
    total makespan           = 13
    total distance           = 53
    total trajectory         = 82
    average parallelism      = 6.308
    average distance         = 5.300
    average trajectory       = 8.200
    parallelism distribution  = [ 1 2 0 2 0 1 2 0 1 4 ]
    distance distribution     = [ 1 0 0 1 1 3 0 2 1 ]
    trajectory distribution   = [ 0 0 0 0 1 1 1 4 0 1 2 ]
)
Phase statistics (current phase = 'root_phase') [
        Phase (name = 'root_phase') [
            Total SAT solver calls         = 0
            Satisfiable SAT solver calls   = 0
            Unsatisfiable SAT solver calls = 0
            Indeterminate SAT solver calls = 0
            Move executions                = 314
            Produced CNF variables         = 0
            Produced CNF clauses           = 0
            Search steps                   = 0
            Wall clock TIME (seconds)      = 0.007
            CPU/machine TIME (seconds)     = 0.010
        ]
        Sub-phases {
            Phase (name = 'WHCA*_solving') [
                Total SAT solver calls         = 0
                Satisfiable SAT solver calls   = 0
                Unsatisfiable SAT solver calls = 0
                Indeterminate SAT solver calls = 0
                Move executions                = 82
                Produced CNF variables         = 0
                Produced CNF clauses           = 0
                Search steps                   = 3079
                Wall clock TIME (seconds)      = 0.005
                CPU/machine TIME (seconds)     = 0.000
            ]
        }
]
----------------------------------------------------------------