================================================================
reLOC 0.09-vegas : Multirobot Solution solver
(C) Copyright 2011-2013 Pavel Surynek
----------------------------------------------------------------
Reading graph...
1,0
11,0
2,1
12,1
3,2
13,2
5,4
6,5
15,5
7,6
16,6
8,7
9,8
17,8
10,9
18,9
12,11
20,11
13,12
21,12
22,13
24,14
16,15
26,15
27,16
18,17
28,17
19,18
29,18
21,20
30,20
22,21
31,21
23,22
32,22
24,23
33,23
25,24
34,24
26,25
35,25
27,26
36,26
37,27
29,28
39,28
40,29
31,30
42,30
32,31
43,31
33,32
34,33
44,33
35,34
45,34
36,35
46,35
37,36
47,36
38,37
48,37
39,38
49,38
40,39
50,39
41,40
51,40
43,42
53,42
54,43
45,44
56,44
46,45
57,45
47,46
58,46
48,47
59,47
49,48
60,48
50,49
61,49
51,50
62,50
52,51
63,51
54,53
65,53
55,54
66,54
56,55
67,55
57,56
68,56
58,57
69,57
59,58
70,58
60,59
71,59
61,60
72,60
62,61
73,61
63,62
74,62
64,63
75,63
66,65
77,65
67,66
78,66
68,67
79,67
69,68
70,69
80,69
71,70
81,70
72,71
82,71
73,72
83,72
74,73
84,73
75,74
85,74
76,75
86,75
78,77
88,77
79,78
89,78
90,79
81,80
91,80
82,81
92,81
83,82
93,82
84,83
85,84
94,84
86,85
95,85
87,86
96,86
89,88
98,88
90,89
99,90
92,91
100,91
93,92
101,92
102,93
95,94
104,94
96,95
105,95
97,96
106,96
108,98
110,99
101,100
102,101
112,101
103,102
113,102
104,103
114,103
105,104
115,104
106,105
116,105
107,106
117,106
109,108
119,108
110,109
120,109
111,110
121,110
122,111
113,112
124,112
114,113
125,113
115,114
126,114
116,115
127,115
117,116
118,117
128,117
19,10
52,41
64,52
76,64
87,76
97,87
107,97
118,107
129,118
120,119
121,120
122,121
123,122
124,123
125,124
126,125
127,126
129,128
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=130 |E|=214) [
    Vertex: (id = 0) {1 11 }
    Vertex: (id = 1) {0 2 12 }
    Vertex: (id = 2) {1 3 13 }
    Vertex: (id = 3) {2 }
    Vertex: (id = 4) {5 }
    Vertex: (id = 5) {4 6 15 }
    Vertex: (id = 6) {5 7 16 }
    Vertex: (id = 7) {6 8 }
    Vertex: (id = 8) {7 9 17 }
    Vertex: (id = 9) {8 10 18 }
    Vertex: (id = 10) {9 19 }
    Vertex: (id = 11) {0 12 20 }
    Vertex: (id = 12) {1 11 13 21 }
    Vertex: (id = 13) {2 12 22 }
    Vertex: (id = 14) {24 }
    Vertex: (id = 15) {5 16 26 }
    Vertex: (id = 16) {6 15 27 }
    Vertex: (id = 17) {8 18 28 }
    Vertex: (id = 18) {9 17 19 29 }
    Vertex: (id = 19) {18 10 }
    Vertex: (id = 20) {11 21 30 }
    Vertex: (id = 21) {12 20 22 31 }
    Vertex: (id = 22) {13 21 23 32 }
    Vertex: (id = 23) {22 24 33 }
    Vertex: (id = 24) {14 23 25 34 }
    Vertex: (id = 25) {24 26 35 }
    Vertex: (id = 26) {15 25 27 36 }
    Vertex: (id = 27) {16 26 37 }
    Vertex: (id = 28) {17 29 39 }
    Vertex: (id = 29) {18 28 40 }
    Vertex: (id = 30) {20 31 42 }
    Vertex: (id = 31) {21 30 32 43 }
    Vertex: (id = 32) {22 31 33 }
    Vertex: (id = 33) {23 32 34 44 }
    Vertex: (id = 34) {24 33 35 45 }
    Vertex: (id = 35) {25 34 36 46 }
    Vertex: (id = 36) {26 35 37 47 }
    Vertex: (id = 37) {27 36 38 48 }
    Vertex: (id = 38) {37 39 49 }
    Vertex: (id = 39) {28 38 40 50 }
    Vertex: (id = 40) {29 39 41 51 }
    Vertex: (id = 41) {40 52 }
    Vertex: (id = 42) {30 43 53 }
    Vertex: (id = 43) {31 42 54 }
    Vertex: (id = 44) {33 45 56 }
    Vertex: (id = 45) {34 44 46 57 }
    Vertex: (id = 46) {35 45 47 58 }
    Vertex: (id = 47) {36 46 48 59 }
    Vertex: (id = 48) {37 47 49 60 }
    Vertex: (id = 49) {38 48 50 61 }
    Vertex: (id = 50) {39 49 51 62 }
    Vertex: (id = 51) {40 50 52 63 }
    Vertex: (id = 52) {51 41 64 }
    Vertex: (id = 53) {42 54 65 }
    Vertex: (id = 54) {43 53 55 66 }
    Vertex: (id = 55) {54 56 67 }
    Vertex: (id = 56) {44 55 57 68 }
    Vertex: (id = 57) {45 56 58 69 }
    Vertex: (id = 58) {46 57 59 70 }
    Vertex: (id = 59) {47 58 60 71 }
    Vertex: (id = 60) {48 59 61 72 }
    Vertex: (id = 61) {49 60 62 73 }
    Vertex: (id = 62) {50 61 63 74 }
    Vertex: (id = 63) {51 62 64 75 }
    Vertex: (id = 64) {63 52 76 }
    Vertex: (id = 65) {53 66 77 }
    Vertex: (id = 66) {54 65 67 78 }
    Vertex: (id = 67) {55 66 68 79 }
    Vertex: (id = 68) {56 67 69 }
    Vertex: (id = 69) {57 68 70 80 }
    Vertex: (id = 70) {58 69 71 81 }
    Vertex: (id = 71) {59 70 72 82 }
    Vertex: (id = 72) {60 71 73 83 }
    Vertex: (id = 73) {61 72 74 84 }
    Vertex: (id = 74) {62 73 75 85 }
    Vertex: (id = 75) {63 74 76 86 }
    Vertex: (id = 76) {75 64 87 }
    Vertex: (id = 77) {65 78 88 }
    Vertex: (id = 78) {66 77 79 89 }
    Vertex: (id = 79) {67 78 90 }
    Vertex: (id = 80) {69 81 91 }
    Vertex: (id = 81) {70 80 82 92 }
    Vertex: (id = 82) {71 81 83 93 }
    Vertex: (id = 83) {72 82 84 }
    Vertex: (id = 84) {73 83 85 94 }
    Vertex: (id = 85) {74 84 86 95 }
    Vertex: (id = 86) {75 85 87 96 }
    Vertex: (id = 87) {86 76 97 }
    Vertex: (id = 88) {77 89 98 }
    Vertex: (id = 89) {78 88 90 }
    Vertex: (id = 90) {79 89 99 }
    Vertex: (id = 91) {80 92 100 }
    Vertex: (id = 92) {81 91 93 101 }
    Vertex: (id = 93) {82 92 102 }
    Vertex: (id = 94) {84 95 104 }
    Vertex: (id = 95) {85 94 96 105 }
    Vertex: (id = 96) {86 95 97 106 }
    Vertex: (id = 97) {96 87 107 }
    Vertex: (id = 98) {88 108 }
    Vertex: (id = 99) {90 110 }
    Vertex: (id = 100) {91 101 }
    Vertex: (id = 101) {92 100 102 112 }
    Vertex: (id = 102) {93 101 103 113 }
    Vertex: (id = 103) {102 104 114 }
    Vertex: (id = 104) {94 103 105 115 }
    Vertex: (id = 105) {95 104 106 116 }
    Vertex: (id = 106) {96 105 107 117 }
    Vertex: (id = 107) {106 97 118 }
    Vertex: (id = 108) {98 109 119 }
    Vertex: (id = 109) {108 110 120 }
    Vertex: (id = 110) {99 109 111 121 }
    Vertex: (id = 111) {110 122 }
    Vertex: (id = 112) {101 113 124 }
    Vertex: (id = 113) {102 112 114 125 }
    Vertex: (id = 114) {103 113 115 126 }
    Vertex: (id = 115) {104 114 116 127 }
    Vertex: (id = 116) {105 115 117 }
    Vertex: (id = 117) {106 116 118 128 }
    Vertex: (id = 118) {117 107 129 }
    Vertex: (id = 119) {108 120 }
    Vertex: (id = 120) {109 119 121 }
    Vertex: (id = 121) {110 120 122 }
    Vertex: (id = 122) {111 121 123 }
    Vertex: (id = 123) {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 }
    Vertex: (id = 128) {117 129 }
    Vertex: (id = 129) {118 128 }
    Edge  0: 1 <-> 0
    Edge  1: 11 <-> 0
    Edge  2: 2 <-> 1
    Edge  3: 12 <-> 1
    Edge  4: 3 <-> 2
    Edge  5: 13 <-> 2
    Edge  6: 5 <-> 4
    Edge  7: 6 <-> 5
    Edge  8: 15 <-> 5
    Edge  9: 7 <-> 6
    Edge  10: 16 <-> 6
    Edge  11: 8 <-> 7
    Edge  12: 9 <-> 8
    Edge  13: 17 <-> 8
    Edge  14: 10 <-> 9
    Edge  15: 18 <-> 9
    Edge  16: 12 <-> 11
    Edge  17: 20 <-> 11
    Edge  18: 13 <-> 12
    Edge  19: 21 <-> 12
    Edge  20: 22 <-> 13
    Edge  21: 24 <-> 14
    Edge  22: 16 <-> 15
    Edge  23: 26 <-> 15
    Edge  24: 27 <-> 16
    Edge  25: 18 <-> 17
    Edge  26: 28 <-> 17
    Edge  27: 19 <-> 18
    Edge  28: 29 <-> 18
    Edge  29: 21 <-> 20
    Edge  30: 30 <-> 20
    Edge  31: 22 <-> 21
    Edge  32: 31 <-> 21
    Edge  33: 23 <-> 22
    Edge  34: 32 <-> 22
    Edge  35: 24 <-> 23
    Edge  36: 33 <-> 23
    Edge  37: 25 <-> 24
    Edge  38: 34 <-> 24
    Edge  39: 26 <-> 25
    Edge  40: 35 <-> 25
    Edge  41: 27 <-> 26
    Edge  42: 36 <-> 26
    Edge  43: 37 <-> 27
    Edge  44: 29 <-> 28
    Edge  45: 39 <-> 28
    Edge  46: 40 <-> 29
    Edge  47: 31 <-> 30
    Edge  48: 42 <-> 30
    Edge  49: 32 <-> 31
    Edge  50: 43 <-> 31
    Edge  51: 33 <-> 32
    Edge  52: 34 <-> 33
    Edge  53: 44 <-> 33
    Edge  54: 35 <-> 34
    Edge  55: 45 <-> 34
    Edge  56: 36 <-> 35
    Edge  57: 46 <-> 35
    Edge  58: 37 <-> 36
    Edge  59: 47 <-> 36
    Edge  60: 38 <-> 37
    Edge  61: 48 <-> 37
    Edge  62: 39 <-> 38
    Edge  63: 49 <-> 38
    Edge  64: 40 <-> 39
    Edge  65: 50 <-> 39
    Edge  66: 41 <-> 40
    Edge  67: 51 <-> 40
    Edge  68: 43 <-> 42
    Edge  69: 53 <-> 42
    Edge  70: 54 <-> 43
    Edge  71: 45 <-> 44
    Edge  72: 56 <-> 44
    Edge  73: 46 <-> 45
    Edge  74: 57 <-> 45
    Edge  75: 47 <-> 46
    Edge  76: 58 <-> 46
    Edge  77: 48 <-> 47
    Edge  78: 59 <-> 47
    Edge  79: 49 <-> 48
    Edge  80: 60 <-> 48
    Edge  81: 50 <-> 49
    Edge  82: 61 <-> 49
    Edge  83: 51 <-> 50
    Edge  84: 62 <-> 50
    Edge  85: 52 <-> 51
    Edge  86: 63 <-> 51
    Edge  87: 54 <-> 53
    Edge  88: 65 <-> 53
    Edge  89: 55 <-> 54
    Edge  90: 66 <-> 54
    Edge  91: 56 <-> 55
    Edge  92: 67 <-> 55
    Edge  93: 57 <-> 56
    Edge  94: 68 <-> 56
    Edge  95: 58 <-> 57
    Edge  96: 69 <-> 57
    Edge  97: 59 <-> 58
    Edge  98: 70 <-> 58
    Edge  99: 60 <-> 59
    Edge  100: 71 <-> 59
    Edge  101: 61 <-> 60
    Edge  102: 72 <-> 60
    Edge  103: 62 <-> 61
    Edge  104: 73 <-> 61
    Edge  105: 63 <-> 62
    Edge  106: 74 <-> 62
    Edge  107: 64 <-> 63
    Edge  108: 75 <-> 63
    Edge  109: 66 <-> 65
    Edge  110: 77 <-> 65
    Edge  111: 67 <-> 66
    Edge  112: 78 <-> 66
    Edge  113: 68 <-> 67
    Edge  114: 79 <-> 67
    Edge  115: 69 <-> 68
    Edge  116: 70 <-> 69
    Edge  117: 80 <-> 69
    Edge  118: 71 <-> 70
    Edge  119: 81 <-> 70
    Edge  120: 72 <-> 71
    Edge  121: 82 <-> 71
    Edge  122: 73 <-> 72
    Edge  123: 83 <-> 72
    Edge  124: 74 <-> 73
    Edge  125: 84 <-> 73
    Edge  126: 75 <-> 74
    Edge  127: 85 <-> 74
    Edge  128: 76 <-> 75
    Edge  129: 86 <-> 75
    Edge  130: 78 <-> 77
    Edge  131: 88 <-> 77
    Edge  132: 79 <-> 78
    Edge  133: 89 <-> 78
    Edge  134: 90 <-> 79
    Edge  135: 81 <-> 80
    Edge  136: 91 <-> 80
    Edge  137: 82 <-> 81
    Edge  138: 92 <-> 81
    Edge  139: 83 <-> 82
    Edge  140: 93 <-> 82
    Edge  141: 84 <-> 83
    Edge  142: 85 <-> 84
    Edge  143: 94 <-> 84
    Edge  144: 86 <-> 85
    Edge  145: 95 <-> 85
    Edge  146: 87 <-> 86
    Edge  147: 96 <-> 86
    Edge  148: 89 <-> 88
    Edge  149: 98 <-> 88
    Edge  150: 90 <-> 89
    Edge  151: 99 <-> 90
    Edge  152: 92 <-> 91
    Edge  153: 100 <-> 91
    Edge  154: 93 <-> 92
    Edge  155: 101 <-> 92
    Edge  156: 102 <-> 93
    Edge  157: 95 <-> 94
    Edge  158: 104 <-> 94
    Edge  159: 96 <-> 95
    Edge  160: 105 <-> 95
    Edge  161: 97 <-> 96
    Edge  162: 106 <-> 96
    Edge  163: 108 <-> 98
    Edge  164: 110 <-> 99
    Edge  165: 101 <-> 100
    Edge  166: 102 <-> 101
    Edge  167: 112 <-> 101
    Edge  168: 103 <-> 102
    Edge  169: 113 <-> 102
    Edge  170: 104 <-> 103
    Edge  171: 114 <-> 103
    Edge  172: 105 <-> 104
    Edge  173: 115 <-> 104
    Edge  174: 106 <-> 105
    Edge  175: 116 <-> 105
    Edge  176: 107 <-> 106
    Edge  177: 117 <-> 106
    Edge  178: 109 <-> 108
    Edge  179: 119 <-> 108
    Edge  180: 110 <-> 109
    Edge  181: 120 <-> 109
    Edge  182: 111 <-> 110
    Edge  183: 121 <-> 110
    Edge  184: 122 <-> 111
    Edge  185: 113 <-> 112
    Edge  186: 124 <-> 112
    Edge  187: 114 <-> 113
    Edge  188: 125 <-> 113
    Edge  189: 115 <-> 114
    Edge  190: 126 <-> 114
    Edge  191: 116 <-> 115
    Edge  192: 127 <-> 115
    Edge  193: 117 <-> 116
    Edge  194: 118 <-> 117
    Edge  195: 128 <-> 117
    Edge  196: 19 <-> 10
    Edge  197: 52 <-> 41
    Edge  198: 64 <-> 52
    Edge  199: 76 <-> 64
    Edge  200: 87 <-> 76
    Edge  201: 97 <-> 87
    Edge  202: 107 <-> 97
    Edge  203: 118 <-> 107
    Edge  204: 129 <-> 118
    Edge  205: 120 <-> 119
    Edge  206: 121 <-> 120
    Edge  207: 122 <-> 121
    Edge  208: 123 <-> 122
    Edge  209: 124 <-> 123
    Edge  210: 125 <-> 124
    Edge  211: 126 <-> 125
    Edge  212: 127 <-> 126
    Edge  213: 129 <-> 128
]
Robot arrangement: (|R| = 27, |V| = 130) [
     robot locations: {1#48 2#89 3#128 4#57 5#76 6#111 7#46 8#31 9#108 10#16 11#98 12#121 13#77 14#72 15#4 16#102 17#39 18#33 19#92 20#29 21#113 22#38 23#125 24#45 25#118 26#12 27#124 }
     vertex occupancy: {0#0 0#1 0#2 0#3 15#4 0#5 0#6 0#7 0#8 0#9 0#10 0#11 26#12 0#13 0#14 0#15 10#16 0#17 0#18 0#19 0#20 0#21 0#22 0#23 0#24 0#25 0#26 0#27 0#28 20#29 0#30 8#31 0#32 18#33 0#34 0#35 0#36 0#37 22#38 17#39 0#40 0#41 0#42 0#43 0#44 24#45 7#46 0#47 1#48 0#49 0#50 0#51 0#52 0#53 0#54 0#55 0#56 4#57 0#58 0#59 0#60 0#61 0#62 0#63 0#64 0#65 0#66 0#67 0#68 0#69 0#70 0#71 14#72 0#73 0#74 0#75 5#76 13#77 0#78 0#79 0#80 0#81 0#82 0#83 0#84 0#85 0#86 0#87 0#88 2#89 0#90 0#91 19#92 0#93 0#94 0#95 0#96 0#97 11#98 0#99 0#100 0#101 16#102 0#103 0#104 0#105 0#106 0#107 9#108 0#109 0#110 6#111 0#112 21#113 0#114 0#115 0#116 0#117 25#118 0#119 0#120 12#121 0#122 0#123 27#124 23#125 0#126 0#127 3#128 0#129 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 27, |V| = 130) [
    robot goals: {
        1#{10}
        2#{43}
        3#{27}
        4#{7}
        5#{90}
        6#{95}
        7#{71}
        8#{65}
        9#{77}
        10#{48}
        11#{60}
        12#{32}
        13#{76}
        14#{99}
        15#{72}
        16#{108}
        17#{4}
        18#{81}
        19#{113}
        20#{51}
        21#{98}
        22#{93}
        23#{84}
        24#{118}
        25#{83}
        26#{107}
        27#{62}
    }
    vertex compatibilities: {
        0@{}
        1@{}
        2@{}
        3@{}
        4@{17}
        5@{}
        6@{}
        7@{4}
        8@{}
        9@{}
        10@{1}
        11@{}
        12@{}
        13@{}
        14@{}
        15@{}
        16@{}
        17@{}
        18@{}
        19@{}
        20@{}
        21@{}
        22@{}
        23@{}
        24@{}
        25@{}
        26@{}
        27@{3}
        28@{}
        29@{}
        30@{}
        31@{}
        32@{12}
        33@{}
        34@{}
        35@{}
        36@{}
        37@{}
        38@{}
        39@{}
        40@{}
        41@{}
        42@{}
        43@{2}
        44@{}
        45@{}
        46@{}
        47@{}
        48@{10}
        49@{}
        50@{}
        51@{20}
        52@{}
        53@{}
        54@{}
        55@{}
        56@{}
        57@{}
        58@{}
        59@{}
        60@{11}
        61@{}
        62@{27}
        63@{}
        64@{}
        65@{8}
        66@{}
        67@{}
        68@{}
        69@{}
        70@{}
        71@{7}
        72@{15}
        73@{}
        74@{}
        75@{}
        76@{13}
        77@{9}
        78@{}
        79@{}
        80@{}
        81@{18}
        82@{}
        83@{25}
        84@{23}
        85@{}
        86@{}
        87@{}
        88@{}
        89@{}
        90@{5}
        91@{}
        92@{}
        93@{22}
        94@{}
        95@{6}
        96@{}
        97@{}
        98@{21}
        99@{14}
        100@{}
        101@{}
        102@{}
        103@{}
        104@{}
        105@{}
        106@{}
        107@{26}
        108@{16}
        109@{}
        110@{}
        111@{}
        112@{}
        113@{19}
        114@{}
        115@{}
        116@{}
        117@{}
        118@{24}
        119@{}
        120@{}
        121@{}
        122@{}
        123@{}
        124@{}
        125@{}
        126@{}
        127@{}
        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
Solving layer: 17
Solving layer: 18
Solving layer: 19
Computed optimal makespan:18
Makespan optimal solution:
Mulirobot solution: (|moves| = 384, paralellism = 21.333) [
    Step 0: 1#48->49 2#89->90 3#128->117 4#57->58 5#76->75 7#46->47 10#16->27 11#98->88 12#121->120 13#77->65 14#72->71 15#4->5 16#102->101 17#39->28 19#92->93 20#29->40 22#38->37 23#125->126 25#118->107 26#12->13 27#124->123 
    Step 1: 1#49->50 2#90->79 3#117->116 4#58->46 5#75->74 7#47->59 8#31->43 9#108->98 11#88->89 13#65->66 14#71->82 15#5->15 16#101->112 17#28->17 18#33->34 19#93->102 21#113->114 22#37->48 23#126->127 24#45->57 25#107->97 26#13->22 27#123->122 
    Step 2: 1#50->51 2#79->78 3#116->115 4#46->47 5#74->85 7#59->71 8#43->42 9#98->88 12#120->119 13#66->67 14#82->93 15#15->26 16#112->124 17#17->28 18#34->45 19#102->101 20#40->41 21#114->126 22#48->60 24#57->69 25#97->96 26#22->23 27#122->121 
    Step 3: 1#51->40 2#78->66 3#115->114 4#47->48 5#85->95 7#71->82 8#42->30 9#88->77 10#27->37 12#119->108 13#67->68 14#93->92 15#26->25 16#124->123 17#28->7 19#101->102 20#41->52 21#126->125 22#60->72 24#69->80 25#96->106 26#23->33 27#121->110 
    Step 4: 1#40->29 2#66->54 3#114->113 4#48->58 5#95->94 7#82->71 8#30->20 9#77->78 10#37->38 12#108->98 13#68->69 14#92->81 15#25->27 16#123->122 17#7->6 19#102->103 20#52->64 21#125->124 22#72->83 23#127->115 24#80->91 26#33->34 27#110->99 
    Step 5: 2#54->43 3#113->102 4#58->59 5#94->104 7#71->72 8#20->21 10#38->39 12#98->88 13#69->70 14#81->80 15#27->37 16#122->121 17#6->16 19#103->114 21#124->123 22#83->84 23#115->116 24#91->100 25#106->105 26#34->35 27#99->90 
    Step 6: 1#29->18 2#43->42 3#102->93 4#59->60 5#104->103 7#72->83 8#21->31 10#39->50 12#88->66 13#70->71 14#80->91 15#37->36 16#121->120 17#16->27 19#114->115 21#123->122 22#84->94 23#116->117 26#35->46 27#90->79 
    Step 7: 1#18->9 2#42->11 3#93->82 4#60->38 5#103->102 7#83->84 10#50->49 11#89->88 13#71->72 15#36->35 18#45->23 19#115->116 20#64->63 21#122->121 22#94->95 23#117->114 24#100->101 25#105->104 26#46->47 27#79->67 
    Step 8: 1#9->10 4#38->4 5#102->93 6#111->122 9#78->77 10#49->61 11#88->89 12#66->65 13#72->73 15#35->45 16#120->109 17#27->37 18#23->24 19#116->117 20#63->62 22#95->105 23#114->115 25#104->103 26#47->59 27#67->68 
    Step 9: 2#11->20 3#82->81 6#122->123 9#77->88 11#89->90 12#65->53 13#73->74 14#91->100 16#109->120 19#117->106 20#62->50 21#121->110 22#105->116 23#115->107 24#101->112 25#103->102 26#59->71 27#68->69 
    Step 10: 2#20->30 3#81->70 5#93->92 6#123->124 7#84->83 8#31->43 9#88->77 11#90->79 12#53->42 13#74->62 14#100->101 15#45->46 16#120->121 18#24->34 19#106->96 20#50->49 21#110->99 22#116->115 23#107->104 24#112->113 26#71->72 27#69->80 
    Step 11: 1#10->9 2#30->20 3#70->58 4#4->5 5#92->91 6#124->125 7#83->82 9#77->78 10#61->60 11#79->67 12#42->23 13#62->63 14#101->112 15#46->47 16#121->122 17#37->27 18#34->45 19#96->95 20#49->38 22#115->127 24#113->114 26#72->73 27#80->81 
    Step 12: 2#20->30 3#58->46 4#5->6 5#91->80 6#125->113 7#82->93 8#43->11 10#60->61 11#67->68 12#23->22 13#63->50 14#112->124 15#47->48 16#122->111 17#27->16 18#45->57 21#99->110 24#114->115 25#102->103 26#73->74 27#81->70 
    Step 13: 1#9->10 2#30->31 3#46->47 4#6->7 5#80->69 6#113->114 8#11->20 9#78->77 10#61->62 11#68->56 12#22->13 13#50->51 14#124->123 15#48->49 16#111->109 17#16->15 18#57->58 19#95->94 20#38->39 21#110->90 22#127->126 23#104->86 24#115->116 26#74->75 27#70->71 
    Step 14: 3#47->36 5#69->68 6#114->115 7#93->82 8#20->30 10#62->59 11#56->57 12#13->12 13#51->52 14#123->122 15#49->61 16#109->110 17#15->5 18#58->70 19#94->104 20#39->40 22#126->125 23#86->85 24#116->105 25#103->102 26#75->76 27#71->72 
    Step 15: 2#31->43 5#68->67 6#115->116 7#82->71 8#30->42 10#59->47 11#57->58 12#12->21 13#52->64 14#122->111 15#61->60 16#110->109 17#5->4 19#104->103 20#40->51 21#90->89 22#125->113 23#85->84 24#105->106 25#102->93 26#76->87 27#72->73 
    Step 16: 2#43->54 3#36->26 5#67->79 6#116->105 8#42->53 11#58->59 12#21->31 14#111->110 15#60->72 19#103->114 21#89->88 22#113->102 23#84->94 24#106->117 25#93->82 26#87->97 27#73->74 
    Step 17: 2#54->43 3#26->27 5#79->90 6#105->95 8#53->65 10#47->48 11#59->60 12#31->32 13#64->76 14#110->99 16#109->108 18#70->81 19#114->113 21#88->98 22#102->93 23#94->84 24#117->118 25#82->83 26#97->107 27#74->62 
]
Multirobot solution analysis: (
    total makespan           = 18
    total distance           = 203
    total trajectory         = 384
    average parallelism      = 21.333
    average distance         = 7.519
    average trajectory       = 14.222
    parallelism distribution  = [ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 4 3 3 5 0 1 ]
    distance distribution     = [ 0 1 4 2 0 2 3 3 3 2 2 2 1 0 0 0 0 1 ]
    trajectory distribution   = [ 0 0 0 0 0 0 0 0 1 3 0 2 6 2 1 6 4 2 ]
)
Phase statistics (current phase = 'root_phase') [
        Phase (name = 'root_phase') [
            Total SAT solver calls         = 18
            Satisfiable SAT solver calls   = 1
            Unsatisfiable SAT solver calls = 17
            Indeterminate SAT solver calls = 0
            Move executions                = 768
            Produced CNF variables         = 687960
            Produced CNF clauses           = 10634679
            Search steps                   = 0
            Wall clock TIME (seconds)      = 38.969
            CPU/machine TIME (seconds)     = 22.870
        ]
]
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