================================================================
reLOC 0.09-vegas : Multirobot Solution solver
(C) Copyright 2011-2013 Pavel Surynek
----------------------------------------------------------------
Reading graph...
1,0
11,0
2,1
3,2
12,2
4,3
13,3
5,4
14,4
6,5
15,5
7,6
16,6
8,7
17,7
9,8
18,8
19,9
22,11
13,12
24,12
14,13
25,13
15,14
16,15
26,15
17,16
27,16
18,17
28,17
19,18
29,18
20,19
30,19
21,20
31,20
23,22
24,23
33,23
25,24
34,24
35,25
27,26
37,26
28,27
38,27
29,28
39,28
30,29
40,29
31,30
41,30
32,31
42,31
34,33
45,33
35,34
36,35
46,35
37,36
47,36
38,37
48,37
39,38
49,38
40,39
50,39
41,40
51,40
42,41
52,41
43,42
53,42
45,44
55,44
56,45
47,46
48,47
58,47
49,48
50,49
59,49
51,50
60,50
52,51
53,52
61,52
54,53
56,55
63,55
57,56
64,56
65,57
67,58
60,59
69,59
70,60
72,61
64,63
75,63
65,64
76,64
66,65
77,65
67,66
78,66
68,67
79,67
69,68
80,68
70,69
81,69
71,70
82,70
72,71
83,71
73,72
84,72
74,73
85,73
76,75
86,75
77,76
87,76
78,77
88,77
79,78
89,78
80,79
90,79
81,80
91,80
82,81
92,81
83,82
93,82
84,83
94,83
85,84
95,84
87,86
97,86
88,87
98,87
89,88
99,88
90,89
91,90
100,90
92,91
101,91
93,92
94,93
102,93
95,94
103,95
98,97
106,97
99,98
107,98
108,99
101,100
110,100
111,101
113,102
104,103
115,103
105,104
116,104
107,106
118,106
108,107
119,107
109,108
120,108
110,109
121,109
111,110
122,110
112,111
123,111
113,112
124,112
114,113
125,113
115,114
126,114
116,115
127,115
117,116
128,116
21,10
32,21
43,32
54,43
62,54
74,62
105,96
117,105
129,117
119,118
120,119
121,120
122,121
123,122
124,123
125,124
126,125
127,126
128,127
129,128
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=130 |E|=211) [
    Vertex: (id = 0) {1 11 }
    Vertex: (id = 1) {0 2 }
    Vertex: (id = 2) {1 3 12 }
    Vertex: (id = 3) {2 4 13 }
    Vertex: (id = 4) {3 5 14 }
    Vertex: (id = 5) {4 6 15 }
    Vertex: (id = 6) {5 7 16 }
    Vertex: (id = 7) {6 8 17 }
    Vertex: (id = 8) {7 9 18 }
    Vertex: (id = 9) {8 19 }
    Vertex: (id = 10) {21 }
    Vertex: (id = 11) {0 22 }
    Vertex: (id = 12) {2 13 24 }
    Vertex: (id = 13) {3 12 14 25 }
    Vertex: (id = 14) {4 13 15 }
    Vertex: (id = 15) {5 14 16 26 }
    Vertex: (id = 16) {6 15 17 27 }
    Vertex: (id = 17) {7 16 18 28 }
    Vertex: (id = 18) {8 17 19 29 }
    Vertex: (id = 19) {9 18 20 30 }
    Vertex: (id = 20) {19 21 31 }
    Vertex: (id = 21) {20 10 32 }
    Vertex: (id = 22) {11 23 }
    Vertex: (id = 23) {22 24 33 }
    Vertex: (id = 24) {12 23 25 34 }
    Vertex: (id = 25) {13 24 35 }
    Vertex: (id = 26) {15 27 37 }
    Vertex: (id = 27) {16 26 28 38 }
    Vertex: (id = 28) {17 27 29 39 }
    Vertex: (id = 29) {18 28 30 40 }
    Vertex: (id = 30) {19 29 31 41 }
    Vertex: (id = 31) {20 30 32 42 }
    Vertex: (id = 32) {31 21 43 }
    Vertex: (id = 33) {23 34 45 }
    Vertex: (id = 34) {24 33 35 }
    Vertex: (id = 35) {25 34 36 46 }
    Vertex: (id = 36) {35 37 47 }
    Vertex: (id = 37) {26 36 38 48 }
    Vertex: (id = 38) {27 37 39 49 }
    Vertex: (id = 39) {28 38 40 50 }
    Vertex: (id = 40) {29 39 41 51 }
    Vertex: (id = 41) {30 40 42 52 }
    Vertex: (id = 42) {31 41 43 53 }
    Vertex: (id = 43) {42 32 54 }
    Vertex: (id = 44) {45 55 }
    Vertex: (id = 45) {33 44 56 }
    Vertex: (id = 46) {35 47 }
    Vertex: (id = 47) {36 46 48 58 }
    Vertex: (id = 48) {37 47 49 }
    Vertex: (id = 49) {38 48 50 59 }
    Vertex: (id = 50) {39 49 51 60 }
    Vertex: (id = 51) {40 50 52 }
    Vertex: (id = 52) {41 51 53 61 }
    Vertex: (id = 53) {42 52 54 }
    Vertex: (id = 54) {53 43 62 }
    Vertex: (id = 55) {44 56 63 }
    Vertex: (id = 56) {45 55 57 64 }
    Vertex: (id = 57) {56 65 }
    Vertex: (id = 58) {47 67 }
    Vertex: (id = 59) {49 60 69 }
    Vertex: (id = 60) {50 59 70 }
    Vertex: (id = 61) {52 72 }
    Vertex: (id = 62) {54 74 }
    Vertex: (id = 63) {55 64 75 }
    Vertex: (id = 64) {56 63 65 76 }
    Vertex: (id = 65) {57 64 66 77 }
    Vertex: (id = 66) {65 67 78 }
    Vertex: (id = 67) {58 66 68 79 }
    Vertex: (id = 68) {67 69 80 }
    Vertex: (id = 69) {59 68 70 81 }
    Vertex: (id = 70) {60 69 71 82 }
    Vertex: (id = 71) {70 72 83 }
    Vertex: (id = 72) {61 71 73 84 }
    Vertex: (id = 73) {72 74 85 }
    Vertex: (id = 74) {73 62 }
    Vertex: (id = 75) {63 76 86 }
    Vertex: (id = 76) {64 75 77 87 }
    Vertex: (id = 77) {65 76 78 88 }
    Vertex: (id = 78) {66 77 79 89 }
    Vertex: (id = 79) {67 78 80 90 }
    Vertex: (id = 80) {68 79 81 91 }
    Vertex: (id = 81) {69 80 82 92 }
    Vertex: (id = 82) {70 81 83 93 }
    Vertex: (id = 83) {71 82 84 94 }
    Vertex: (id = 84) {72 83 85 95 }
    Vertex: (id = 85) {73 84 }
    Vertex: (id = 86) {75 87 97 }
    Vertex: (id = 87) {76 86 88 98 }
    Vertex: (id = 88) {77 87 89 99 }
    Vertex: (id = 89) {78 88 90 }
    Vertex: (id = 90) {79 89 91 100 }
    Vertex: (id = 91) {80 90 92 101 }
    Vertex: (id = 92) {81 91 93 }
    Vertex: (id = 93) {82 92 94 102 }
    Vertex: (id = 94) {83 93 95 }
    Vertex: (id = 95) {84 94 103 }
    Vertex: (id = 96) {105 }
    Vertex: (id = 97) {86 98 106 }
    Vertex: (id = 98) {87 97 99 107 }
    Vertex: (id = 99) {88 98 108 }
    Vertex: (id = 100) {90 101 110 }
    Vertex: (id = 101) {91 100 111 }
    Vertex: (id = 102) {93 113 }
    Vertex: (id = 103) {95 104 115 }
    Vertex: (id = 104) {103 105 116 }
    Vertex: (id = 105) {104 96 117 }
    Vertex: (id = 106) {97 107 118 }
    Vertex: (id = 107) {98 106 108 119 }
    Vertex: (id = 108) {99 107 109 120 }
    Vertex: (id = 109) {108 110 121 }
    Vertex: (id = 110) {100 109 111 122 }
    Vertex: (id = 111) {101 110 112 123 }
    Vertex: (id = 112) {111 113 124 }
    Vertex: (id = 113) {102 112 114 125 }
    Vertex: (id = 114) {113 115 126 }
    Vertex: (id = 115) {103 114 116 127 }
    Vertex: (id = 116) {104 115 117 128 }
    Vertex: (id = 117) {116 105 129 }
    Vertex: (id = 118) {106 119 }
    Vertex: (id = 119) {107 118 120 }
    Vertex: (id = 120) {108 119 121 }
    Vertex: (id = 121) {109 120 122 }
    Vertex: (id = 122) {110 121 123 }
    Vertex: (id = 123) {111 122 124 }
    Vertex: (id = 124) {112 123 125 }
    Vertex: (id = 125) {113 124 126 }
    Vertex: (id = 126) {114 125 127 }
    Vertex: (id = 127) {115 126 128 }
    Vertex: (id = 128) {116 127 129 }
    Vertex: (id = 129) {117 128 }
    Edge  0: 1 <-> 0
    Edge  1: 11 <-> 0
    Edge  2: 2 <-> 1
    Edge  3: 3 <-> 2
    Edge  4: 12 <-> 2
    Edge  5: 4 <-> 3
    Edge  6: 13 <-> 3
    Edge  7: 5 <-> 4
    Edge  8: 14 <-> 4
    Edge  9: 6 <-> 5
    Edge  10: 15 <-> 5
    Edge  11: 7 <-> 6
    Edge  12: 16 <-> 6
    Edge  13: 8 <-> 7
    Edge  14: 17 <-> 7
    Edge  15: 9 <-> 8
    Edge  16: 18 <-> 8
    Edge  17: 19 <-> 9
    Edge  18: 22 <-> 11
    Edge  19: 13 <-> 12
    Edge  20: 24 <-> 12
    Edge  21: 14 <-> 13
    Edge  22: 25 <-> 13
    Edge  23: 15 <-> 14
    Edge  24: 16 <-> 15
    Edge  25: 26 <-> 15
    Edge  26: 17 <-> 16
    Edge  27: 27 <-> 16
    Edge  28: 18 <-> 17
    Edge  29: 28 <-> 17
    Edge  30: 19 <-> 18
    Edge  31: 29 <-> 18
    Edge  32: 20 <-> 19
    Edge  33: 30 <-> 19
    Edge  34: 21 <-> 20
    Edge  35: 31 <-> 20
    Edge  36: 23 <-> 22
    Edge  37: 24 <-> 23
    Edge  38: 33 <-> 23
    Edge  39: 25 <-> 24
    Edge  40: 34 <-> 24
    Edge  41: 35 <-> 25
    Edge  42: 27 <-> 26
    Edge  43: 37 <-> 26
    Edge  44: 28 <-> 27
    Edge  45: 38 <-> 27
    Edge  46: 29 <-> 28
    Edge  47: 39 <-> 28
    Edge  48: 30 <-> 29
    Edge  49: 40 <-> 29
    Edge  50: 31 <-> 30
    Edge  51: 41 <-> 30
    Edge  52: 32 <-> 31
    Edge  53: 42 <-> 31
    Edge  54: 34 <-> 33
    Edge  55: 45 <-> 33
    Edge  56: 35 <-> 34
    Edge  57: 36 <-> 35
    Edge  58: 46 <-> 35
    Edge  59: 37 <-> 36
    Edge  60: 47 <-> 36
    Edge  61: 38 <-> 37
    Edge  62: 48 <-> 37
    Edge  63: 39 <-> 38
    Edge  64: 49 <-> 38
    Edge  65: 40 <-> 39
    Edge  66: 50 <-> 39
    Edge  67: 41 <-> 40
    Edge  68: 51 <-> 40
    Edge  69: 42 <-> 41
    Edge  70: 52 <-> 41
    Edge  71: 43 <-> 42
    Edge  72: 53 <-> 42
    Edge  73: 45 <-> 44
    Edge  74: 55 <-> 44
    Edge  75: 56 <-> 45
    Edge  76: 47 <-> 46
    Edge  77: 48 <-> 47
    Edge  78: 58 <-> 47
    Edge  79: 49 <-> 48
    Edge  80: 50 <-> 49
    Edge  81: 59 <-> 49
    Edge  82: 51 <-> 50
    Edge  83: 60 <-> 50
    Edge  84: 52 <-> 51
    Edge  85: 53 <-> 52
    Edge  86: 61 <-> 52
    Edge  87: 54 <-> 53
    Edge  88: 56 <-> 55
    Edge  89: 63 <-> 55
    Edge  90: 57 <-> 56
    Edge  91: 64 <-> 56
    Edge  92: 65 <-> 57
    Edge  93: 67 <-> 58
    Edge  94: 60 <-> 59
    Edge  95: 69 <-> 59
    Edge  96: 70 <-> 60
    Edge  97: 72 <-> 61
    Edge  98: 64 <-> 63
    Edge  99: 75 <-> 63
    Edge  100: 65 <-> 64
    Edge  101: 76 <-> 64
    Edge  102: 66 <-> 65
    Edge  103: 77 <-> 65
    Edge  104: 67 <-> 66
    Edge  105: 78 <-> 66
    Edge  106: 68 <-> 67
    Edge  107: 79 <-> 67
    Edge  108: 69 <-> 68
    Edge  109: 80 <-> 68
    Edge  110: 70 <-> 69
    Edge  111: 81 <-> 69
    Edge  112: 71 <-> 70
    Edge  113: 82 <-> 70
    Edge  114: 72 <-> 71
    Edge  115: 83 <-> 71
    Edge  116: 73 <-> 72
    Edge  117: 84 <-> 72
    Edge  118: 74 <-> 73
    Edge  119: 85 <-> 73
    Edge  120: 76 <-> 75
    Edge  121: 86 <-> 75
    Edge  122: 77 <-> 76
    Edge  123: 87 <-> 76
    Edge  124: 78 <-> 77
    Edge  125: 88 <-> 77
    Edge  126: 79 <-> 78
    Edge  127: 89 <-> 78
    Edge  128: 80 <-> 79
    Edge  129: 90 <-> 79
    Edge  130: 81 <-> 80
    Edge  131: 91 <-> 80
    Edge  132: 82 <-> 81
    Edge  133: 92 <-> 81
    Edge  134: 83 <-> 82
    Edge  135: 93 <-> 82
    Edge  136: 84 <-> 83
    Edge  137: 94 <-> 83
    Edge  138: 85 <-> 84
    Edge  139: 95 <-> 84
    Edge  140: 87 <-> 86
    Edge  141: 97 <-> 86
    Edge  142: 88 <-> 87
    Edge  143: 98 <-> 87
    Edge  144: 89 <-> 88
    Edge  145: 99 <-> 88
    Edge  146: 90 <-> 89
    Edge  147: 91 <-> 90
    Edge  148: 100 <-> 90
    Edge  149: 92 <-> 91
    Edge  150: 101 <-> 91
    Edge  151: 93 <-> 92
    Edge  152: 94 <-> 93
    Edge  153: 102 <-> 93
    Edge  154: 95 <-> 94
    Edge  155: 103 <-> 95
    Edge  156: 98 <-> 97
    Edge  157: 106 <-> 97
    Edge  158: 99 <-> 98
    Edge  159: 107 <-> 98
    Edge  160: 108 <-> 99
    Edge  161: 101 <-> 100
    Edge  162: 110 <-> 100
    Edge  163: 111 <-> 101
    Edge  164: 113 <-> 102
    Edge  165: 104 <-> 103
    Edge  166: 115 <-> 103
    Edge  167: 105 <-> 104
    Edge  168: 116 <-> 104
    Edge  169: 107 <-> 106
    Edge  170: 118 <-> 106
    Edge  171: 108 <-> 107
    Edge  172: 119 <-> 107
    Edge  173: 109 <-> 108
    Edge  174: 120 <-> 108
    Edge  175: 110 <-> 109
    Edge  176: 121 <-> 109
    Edge  177: 111 <-> 110
    Edge  178: 122 <-> 110
    Edge  179: 112 <-> 111
    Edge  180: 123 <-> 111
    Edge  181: 113 <-> 112
    Edge  182: 124 <-> 112
    Edge  183: 114 <-> 113
    Edge  184: 125 <-> 113
    Edge  185: 115 <-> 114
    Edge  186: 126 <-> 114
    Edge  187: 116 <-> 115
    Edge  188: 127 <-> 115
    Edge  189: 117 <-> 116
    Edge  190: 128 <-> 116
    Edge  191: 21 <-> 10
    Edge  192: 32 <-> 21
    Edge  193: 43 <-> 32
    Edge  194: 54 <-> 43
    Edge  195: 62 <-> 54
    Edge  196: 74 <-> 62
    Edge  197: 105 <-> 96
    Edge  198: 117 <-> 105
    Edge  199: 129 <-> 117
    Edge  200: 119 <-> 118
    Edge  201: 120 <-> 119
    Edge  202: 121 <-> 120
    Edge  203: 122 <-> 121
    Edge  204: 123 <-> 122
    Edge  205: 124 <-> 123
    Edge  206: 125 <-> 124
    Edge  207: 126 <-> 125
    Edge  208: 127 <-> 126
    Edge  209: 128 <-> 127
    Edge  210: 129 <-> 128
]
Robot arrangement: (|R| = 28, |V| = 130) [
     robot locations: {1#28 2#128 3#79 4#101 5#86 6#3 7#12 8#50 9#39 10#65 11#82 12#42 13#63 14#127 15#118 16#107 17#72 18#71 19#100 20#98 21#41 22#57 23#9 24#26 25#16 26#18 27#13 28#46 }
     vertex occupancy: {0#0 0#1 0#2 6#3 0#4 0#5 0#6 0#7 0#8 23#9 0#10 0#11 7#12 27#13 0#14 0#15 25#16 0#17 26#18 0#19 0#20 0#21 0#22 0#23 0#24 0#25 24#26 0#27 1#28 0#29 0#30 0#31 0#32 0#33 0#34 0#35 0#36 0#37 0#38 9#39 0#40 21#41 12#42 0#43 0#44 0#45 28#46 0#47 0#48 0#49 8#50 0#51 0#52 0#53 0#54 0#55 0#56 22#57 0#58 0#59 0#60 0#61 0#62 13#63 0#64 10#65 0#66 0#67 0#68 0#69 0#70 18#71 17#72 0#73 0#74 0#75 0#76 0#77 0#78 3#79 0#80 0#81 11#82 0#83 0#84 0#85 5#86 0#87 0#88 0#89 0#90 0#91 0#92 0#93 0#94 0#95 0#96 0#97 20#98 0#99 19#100 4#101 0#102 0#103 0#104 0#105 0#106 16#107 0#108 0#109 0#110 0#111 0#112 0#113 0#114 0#115 0#116 0#117 15#118 0#119 0#120 0#121 0#122 0#123 0#124 0#125 0#126 14#127 2#128 0#129 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 28, |V| = 130) [
    robot goals: {
        1#{7}
        2#{73}
        3#{97}
        4#{92}
        5#{25}
        6#{110}
        7#{45}
        8#{44}
        9#{78}
        10#{124}
        11#{38}
        12#{112}
        13#{126}
        14#{99}
        15#{12}
        16#{117}
        17#{50}
        18#{88}
        19#{96}
        20#{71}
        21#{55}
        22#{127}
        23#{83}
        24#{16}
        25#{107}
        26#{86}
        27#{122}
        28#{8}
    }
    vertex compatibilities: {
        0@{}
        1@{}
        2@{}
        3@{}
        4@{}
        5@{}
        6@{}
        7@{1}
        8@{28}
        9@{}
        10@{}
        11@{}
        12@{15}
        13@{}
        14@{}
        15@{}
        16@{24}
        17@{}
        18@{}
        19@{}
        20@{}
        21@{}
        22@{}
        23@{}
        24@{}
        25@{5}
        26@{}
        27@{}
        28@{}
        29@{}
        30@{}
        31@{}
        32@{}
        33@{}
        34@{}
        35@{}
        36@{}
        37@{}
        38@{11}
        39@{}
        40@{}
        41@{}
        42@{}
        43@{}
        44@{8}
        45@{7}
        46@{}
        47@{}
        48@{}
        49@{}
        50@{17}
        51@{}
        52@{}
        53@{}
        54@{}
        55@{21}
        56@{}
        57@{}
        58@{}
        59@{}
        60@{}
        61@{}
        62@{}
        63@{}
        64@{}
        65@{}
        66@{}
        67@{}
        68@{}
        69@{}
        70@{}
        71@{20}
        72@{}
        73@{2}
        74@{}
        75@{}
        76@{}
        77@{}
        78@{9}
        79@{}
        80@{}
        81@{}
        82@{}
        83@{23}
        84@{}
        85@{}
        86@{26}
        87@{}
        88@{18}
        89@{}
        90@{}
        91@{}
        92@{4}
        93@{}
        94@{}
        95@{}
        96@{19}
        97@{3}
        98@{}
        99@{14}
        100@{}
        101@{}
        102@{}
        103@{}
        104@{}
        105@{}
        106@{}
        107@{25}
        108@{}
        109@{}
        110@{6}
        111@{}
        112@{12}
        113@{}
        114@{}
        115@{}
        116@{}
        117@{16}
        118@{}
        119@{}
        120@{}
        121@{}
        122@{27}
        123@{}
        124@{10}
        125@{}
        126@{13}
        127@{22}
        128@{}
        129@{}
    }
]
Solving layer: 2
Solving layer: 3
Solving layer: 4
Solving layer: 5
Solving layer: 6
Solving layer: 7
Solving layer: 8
Solving layer: 9
Solving layer: 10
Solving layer: 11
Solving layer: 12
Solving layer: 13
Solving layer: 14
Solving layer: 15
Solving layer: 16
Computed optimal makespan:15
Makespan optimal solution:
Mulirobot solution: (|moves| = 360, paralellism = 24.000) [
    Step 0: 2#128->116 4#101->91 6#3->4 7#12->24 8#50->60 10#65->77 11#82->81 12#42->53 13#63->64 14#127->115 15#118->106 16#107->119 17#72->84 18#71->83 19#100->110 20#98->99 21#41->40 23#9->19 24#26->37 25#16->27 26#18->17 27#13->25 28#46->47 
    Step 1: 2#116->104 3#79->90 5#86->75 6#4->14 7#24->23 8#60->70 9#39->50 10#77->88 11#81->69 12#53->52 13#64->76 14#115->114 15#106->97 16#119->120 18#83->94 19#110->111 20#99->108 21#40->29 22#57->65 23#19->30 24#37->36 25#27->38 26#17->16 27#25->35 28#47->58 
    Step 2: 1#28->39 2#104->103 4#91->80 5#75->63 6#14->15 7#23->24 8#70->82 9#50->60 10#88->99 11#69->68 12#52->61 13#76->87 14#114->113 15#97->86 16#120->121 17#84->83 18#94->93 19#111->112 20#108->109 21#29->18 22#65->77 23#30->41 25#38->49 26#16->27 27#35->34 28#58->47 
    Step 3: 1#39->40 2#103->95 4#80->79 5#63->55 6#15->26 7#24->25 8#82->81 10#99->108 12#61->72 13#87->76 14#113->102 15#86->75 16#121->122 17#83->71 18#93->92 20#109->110 21#18->17 22#77->88 23#41->52 24#36->35 25#49->59 26#27->38 27#34->33 28#47->48 
    Step 4: 1#40->51 2#95->94 3#90->100 4#79->67 5#55->44 6#26->27 8#81->80 9#60->50 10#108->120 12#72->84 13#76->87 14#102->93 15#75->63 18#92->91 19#112->113 20#110->111 21#17->16 22#88->99 23#52->61 24#35->46 25#59->69 26#38->37 27#33->45 28#48->47 
    Step 5: 1#51->40 2#94->83 4#67->58 6#27->38 7#25->35 8#80->79 10#120->121 12#84->95 13#87->98 14#93->82 15#63->55 16#122->123 17#71->70 18#91->90 19#113->102 20#111->112 21#16->15 22#99->108 23#61->72 25#69->81 26#37->36 27#45->56 28#47->48 
    Step 6: 1#40->29 2#83->71 3#100->110 4#58->67 5#44->45 6#38->49 7#35->34 8#79->78 10#121->122 11#68->69 12#95->94 13#98->107 16#123->111 20#112->113 21#15->14 22#108->120 23#72->84 25#81->92 26#36->47 27#56->64 28#48->37 
    Step 7: 1#29->28 3#110->109 4#67->79 5#45->33 6#49->59 7#34->24 8#78->77 10#122->123 11#69->68 12#94->93 13#107->119 14#82->81 15#55->56 16#111->112 17#70->60 18#90->89 20#113->114 21#14->13 22#120->121 23#84->83 25#92->91 26#47->58 27#64->76 28#37->48 
    Step 8: 1#28->27 2#71->72 3#109->108 4#79->90 5#33->23 6#59->69 7#24->12 8#77->65 9#50->49 10#123->111 11#68->80 13#119->120 14#81->92 15#56->45 17#60->70 18#89->78 19#102->113 20#114->115 21#13->25 22#121->122 24#46->47 25#91->101 26#58->67 27#76->87 28#48->37 
    Step 9: 1#27->26 2#72->84 3#108->99 4#90->89 5#23->22 6#69->81 7#12->13 8#65->57 9#49->48 11#80->68 12#93->102 13#120->121 14#92->91 15#45->33 17#70->82 18#78->77 19#113->114 20#115->103 21#25->35 22#122->123 24#47->36 25#101->100 26#67->66 27#87->98 28#37->38 
    Step 10: 1#26->15 2#84->72 3#99->88 4#89->78 6#81->92 7#13->25 9#48->47 10#111->101 11#68->69 13#121->122 14#91->90 15#33->23 16#112->113 17#82->93 18#77->76 19#114->115 20#103->95 21#35->34 22#123->124 23#83->94 25#100->110 26#66->65 27#98->107 28#38->27 
    Step 11: 2#72->73 3#88->99 4#78->79 6#92->91 7#25->35 8#57->56 9#47->58 11#69->59 13#122->123 14#90->89 15#23->24 16#113->114 17#93->82 18#76->87 19#115->103 20#95->84 21#34->33 22#124->125 23#94->83 24#36->37 25#110->109 26#65->64 27#107->119 28#27->28 
    Step 12: 1#15->5 2#73->74 3#99->98 4#79->80 5#22->23 6#91->90 7#35->34 8#56->55 9#58->67 10#101->111 11#59->49 12#102->113 13#123->124 14#89->88 15#24->25 16#114->115 17#82->70 18#87->76 19#103->104 20#84->72 21#33->45 22#125->126 24#37->26 26#64->63 27#119->120 28#28->29 
    Step 13: 1#5->6 2#74->73 4#80->91 5#23->24 6#90->100 7#34->33 8#55->44 9#67->66 10#111->123 11#49->38 13#124->125 14#88->99 15#25->13 16#115->116 17#70->60 18#76->87 19#104->105 20#72->71 21#45->56 22#126->127 24#26->27 25#109->108 26#63->75 27#120->121 28#29->18 
    Step 14: 1#6->7 3#98->97 4#91->92 5#24->25 6#100->110 7#33->45 9#66->78 10#123->124 12#113->112 13#125->126 15#13->12 16#116->117 17#60->50 18#87->88 19#105->96 21#56->55 24#27->16 25#108->107 26#75->86 27#121->122 28#18->8 
]
Multirobot solution analysis: (
    total makespan           = 15
    total distance           = 233
    total trajectory         = 360
    average parallelism      = 24.000
    average distance         = 8.321
    average trajectory       = 12.857
    parallelism distribution  = [ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 2 5 4 2 ]
    distance distribution     = [ 0 3 0 2 1 1 1 3 4 3 4 1 2 1 1 ]
    trajectory distribution   = [ 0 0 0 0 0 0 0 0 0 4 3 4 5 6 6 ]
)
Phase statistics (current phase = 'root_phase') [
        Phase (name = 'root_phase') [
            Total SAT solver calls         = 15
            Satisfiable SAT solver calls   = 1
            Unsatisfiable SAT solver calls = 14
            Indeterminate SAT solver calls = 0
            Move executions                = 720
            Produced CNF variables         = 172215
            Produced CNF clauses           = 1679395
            Search steps                   = 0
            Wall clock TIME (seconds)      = 232.701
            CPU/machine TIME (seconds)     = 208.490
        ]
]
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