================================================================
reLOC 0.09-vegas : Multirobot Solution solver
(C) Copyright 2011-2013 Pavel Surynek
----------------------------------------------------------------
Reading graph...
1,0
12,0
2,1
13,1
3,2
14,2
4,3
15,3
5,4
16,4
6,5
17,5
7,6
18,6
8,7
19,7
9,8
20,8
10,9
21,9
11,10
22,10
13,12
24,12
14,13
25,13
15,14
26,14
16,15
27,15
17,16
28,16
18,17
29,17
19,18
30,18
20,19
31,19
21,20
32,20
22,21
33,21
23,22
34,22
25,24
36,24
26,25
37,25
27,26
38,26
28,27
39,27
29,28
40,28
30,29
41,29
31,30
42,30
32,31
43,31
33,32
44,32
34,33
45,33
35,34
46,34
37,36
48,36
38,37
49,37
39,38
50,38
40,39
51,39
41,40
52,40
42,41
53,41
43,42
54,42
44,43
55,43
45,44
56,44
46,45
57,45
47,46
58,46
49,48
60,48
50,49
61,49
51,50
62,50
52,51
63,51
53,52
64,52
54,53
65,53
55,54
66,54
56,55
67,55
57,56
68,56
58,57
69,57
59,58
70,58
61,60
72,60
62,61
73,61
63,62
74,62
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
73,72
84,72
74,73
85,73
75,74
86,74
76,75
87,75
77,76
88,76
78,77
89,77
79,78
90,78
80,79
91,79
81,80
92,80
82,81
93,81
83,82
94,82
85,84
96,84
86,85
97,85
87,86
98,86
88,87
99,87
89,88
100,88
90,89
101,89
91,90
102,90
92,91
103,91
93,92
104,92
94,93
105,93
95,94
106,94
97,96
108,96
98,97
109,97
99,98
110,98
100,99
111,99
101,100
112,100
102,101
113,101
103,102
114,102
104,103
115,103
105,104
116,104
106,105
117,105
107,106
118,106
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
118,117
129,117
119,118
130,118
121,120
132,120
122,121
133,121
123,122
134,122
124,123
135,123
125,124
136,124
126,125
137,125
127,126
138,126
128,127
139,127
129,128
140,128
130,129
141,129
131,130
142,130
23,11
35,23
47,35
59,47
71,59
83,71
95,83
107,95
119,107
131,119
143,131
133,132
134,133
135,134
136,135
137,136
138,137
139,138
140,139
141,140
142,141
143,142
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=144 |E|=264) [
Vertex: (id = 0) {1 12 }
Vertex: (id = 1) {0 2 13 }
Vertex: (id = 2) {1 3 14 }
Vertex: (id = 3) {2 4 15 }
Vertex: (id = 4) {3 5 16 }
Vertex: (id = 5) {4 6 17 }
Vertex: (id = 6) {5 7 18 }
Vertex: (id = 7) {6 8 19 }
Vertex: (id = 8) {7 9 20 }
Vertex: (id = 9) {8 10 21 }
Vertex: (id = 10) {9 11 22 }
Vertex: (id = 11) {10 23 }
Vertex: (id = 12) {0 13 24 }
Vertex: (id = 13) {1 12 14 25 }
Vertex: (id = 14) {2 13 15 26 }
Vertex: (id = 15) {3 14 16 27 }
Vertex: (id = 16) {4 15 17 28 }
Vertex: (id = 17) {5 16 18 29 }
Vertex: (id = 18) {6 17 19 30 }
Vertex: (id = 19) {7 18 20 31 }
Vertex: (id = 20) {8 19 21 32 }
Vertex: (id = 21) {9 20 22 33 }
Vertex: (id = 22) {10 21 23 34 }
Vertex: (id = 23) {22 11 35 }
Vertex: (id = 24) {12 25 36 }
Vertex: (id = 25) {13 24 26 37 }
Vertex: (id = 26) {14 25 27 38 }
Vertex: (id = 27) {15 26 28 39 }
Vertex: (id = 28) {16 27 29 40 }
Vertex: (id = 29) {17 28 30 41 }
Vertex: (id = 30) {18 29 31 42 }
Vertex: (id = 31) {19 30 32 43 }
Vertex: (id = 32) {20 31 33 44 }
Vertex: (id = 33) {21 32 34 45 }
Vertex: (id = 34) {22 33 35 46 }
Vertex: (id = 35) {34 23 47 }
Vertex: (id = 36) {24 37 48 }
Vertex: (id = 37) {25 36 38 49 }
Vertex: (id = 38) {26 37 39 50 }
Vertex: (id = 39) {27 38 40 51 }
Vertex: (id = 40) {28 39 41 52 }
Vertex: (id = 41) {29 40 42 53 }
Vertex: (id = 42) {30 41 43 54 }
Vertex: (id = 43) {31 42 44 55 }
Vertex: (id = 44) {32 43 45 56 }
Vertex: (id = 45) {33 44 46 57 }
Vertex: (id = 46) {34 45 47 58 }
Vertex: (id = 47) {46 35 59 }
Vertex: (id = 48) {36 49 60 }
Vertex: (id = 49) {37 48 50 61 }
Vertex: (id = 50) {38 49 51 62 }
Vertex: (id = 51) {39 50 52 63 }
Vertex: (id = 52) {40 51 53 64 }
Vertex: (id = 53) {41 52 54 65 }
Vertex: (id = 54) {42 53 55 66 }
Vertex: (id = 55) {43 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) {58 47 71 }
Vertex: (id = 60) {48 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) {52 63 65 76 }
Vertex: (id = 65) {53 64 66 77 }
Vertex: (id = 66) {54 65 67 78 }
Vertex: (id = 67) {55 66 68 79 }
Vertex: (id = 68) {56 67 69 80 }
Vertex: (id = 69) {57 68 70 81 }
Vertex: (id = 70) {58 69 71 82 }
Vertex: (id = 71) {70 59 83 }
Vertex: (id = 72) {60 73 84 }
Vertex: (id = 73) {61 72 74 85 }
Vertex: (id = 74) {62 73 75 86 }
Vertex: (id = 75) {63 74 76 87 }
Vertex: (id = 76) {64 75 77 88 }
Vertex: (id = 77) {65 76 78 89 }
Vertex: (id = 78) {66 77 79 90 }
Vertex: (id = 79) {67 78 80 91 }
Vertex: (id = 80) {68 79 81 92 }
Vertex: (id = 81) {69 80 82 93 }
Vertex: (id = 82) {70 81 83 94 }
Vertex: (id = 83) {82 71 95 }
Vertex: (id = 84) {72 85 96 }
Vertex: (id = 85) {73 84 86 97 }
Vertex: (id = 86) {74 85 87 98 }
Vertex: (id = 87) {75 86 88 99 }
Vertex: (id = 88) {76 87 89 100 }
Vertex: (id = 89) {77 88 90 101 }
Vertex: (id = 90) {78 89 91 102 }
Vertex: (id = 91) {79 90 92 103 }
Vertex: (id = 92) {80 91 93 104 }
Vertex: (id = 93) {81 92 94 105 }
Vertex: (id = 94) {82 93 95 106 }
Vertex: (id = 95) {94 83 107 }
Vertex: (id = 96) {84 97 108 }
Vertex: (id = 97) {85 96 98 109 }
Vertex: (id = 98) {86 97 99 110 }
Vertex: (id = 99) {87 98 100 111 }
Vertex: (id = 100) {88 99 101 112 }
Vertex: (id = 101) {89 100 102 113 }
Vertex: (id = 102) {90 101 103 114 }
Vertex: (id = 103) {91 102 104 115 }
Vertex: (id = 104) {92 103 105 116 }
Vertex: (id = 105) {93 104 106 117 }
Vertex: (id = 106) {94 105 107 118 }
Vertex: (id = 107) {106 95 119 }
Vertex: (id = 108) {96 109 120 }
Vertex: (id = 109) {97 108 110 121 }
Vertex: (id = 110) {98 109 111 122 }
Vertex: (id = 111) {99 110 112 123 }
Vertex: (id = 112) {100 111 113 124 }
Vertex: (id = 113) {101 112 114 125 }
Vertex: (id = 114) {102 113 115 126 }
Vertex: (id = 115) {103 114 116 127 }
Vertex: (id = 116) {104 115 117 128 }
Vertex: (id = 117) {105 116 118 129 }
Vertex: (id = 118) {106 117 119 130 }
Vertex: (id = 119) {118 107 131 }
Vertex: (id = 120) {108 121 132 }
Vertex: (id = 121) {109 120 122 133 }
Vertex: (id = 122) {110 121 123 134 }
Vertex: (id = 123) {111 122 124 135 }
Vertex: (id = 124) {112 123 125 136 }
Vertex: (id = 125) {113 124 126 137 }
Vertex: (id = 126) {114 125 127 138 }
Vertex: (id = 127) {115 126 128 139 }
Vertex: (id = 128) {116 127 129 140 }
Vertex: (id = 129) {117 128 130 141 }
Vertex: (id = 130) {118 129 131 142 }
Vertex: (id = 131) {130 119 143 }
Vertex: (id = 132) {120 133 }
Vertex: (id = 133) {121 132 134 }
Vertex: (id = 134) {122 133 135 }
Vertex: (id = 135) {123 134 136 }
Vertex: (id = 136) {124 135 137 }
Vertex: (id = 137) {125 136 138 }
Vertex: (id = 138) {126 137 139 }
Vertex: (id = 139) {127 138 140 }
Vertex: (id = 140) {128 139 141 }
Vertex: (id = 141) {129 140 142 }
Vertex: (id = 142) {130 141 143 }
Vertex: (id = 143) {131 142 }
Edge 0: 1 <-> 0
Edge 1: 12 <-> 0
Edge 2: 2 <-> 1
Edge 3: 13 <-> 1
Edge 4: 3 <-> 2
Edge 5: 14 <-> 2
Edge 6: 4 <-> 3
Edge 7: 15 <-> 3
Edge 8: 5 <-> 4
Edge 9: 16 <-> 4
Edge 10: 6 <-> 5
Edge 11: 17 <-> 5
Edge 12: 7 <-> 6
Edge 13: 18 <-> 6
Edge 14: 8 <-> 7
Edge 15: 19 <-> 7
Edge 16: 9 <-> 8
Edge 17: 20 <-> 8
Edge 18: 10 <-> 9
Edge 19: 21 <-> 9
Edge 20: 11 <-> 10
Edge 21: 22 <-> 10
Edge 22: 13 <-> 12
Edge 23: 24 <-> 12
Edge 24: 14 <-> 13
Edge 25: 25 <-> 13
Edge 26: 15 <-> 14
Edge 27: 26 <-> 14
Edge 28: 16 <-> 15
Edge 29: 27 <-> 15
Edge 30: 17 <-> 16
Edge 31: 28 <-> 16
Edge 32: 18 <-> 17
Edge 33: 29 <-> 17
Edge 34: 19 <-> 18
Edge 35: 30 <-> 18
Edge 36: 20 <-> 19
Edge 37: 31 <-> 19
Edge 38: 21 <-> 20
Edge 39: 32 <-> 20
Edge 40: 22 <-> 21
Edge 41: 33 <-> 21
Edge 42: 23 <-> 22
Edge 43: 34 <-> 22
Edge 44: 25 <-> 24
Edge 45: 36 <-> 24
Edge 46: 26 <-> 25
Edge 47: 37 <-> 25
Edge 48: 27 <-> 26
Edge 49: 38 <-> 26
Edge 50: 28 <-> 27
Edge 51: 39 <-> 27
Edge 52: 29 <-> 28
Edge 53: 40 <-> 28
Edge 54: 30 <-> 29
Edge 55: 41 <-> 29
Edge 56: 31 <-> 30
Edge 57: 42 <-> 30
Edge 58: 32 <-> 31
Edge 59: 43 <-> 31
Edge 60: 33 <-> 32
Edge 61: 44 <-> 32
Edge 62: 34 <-> 33
Edge 63: 45 <-> 33
Edge 64: 35 <-> 34
Edge 65: 46 <-> 34
Edge 66: 37 <-> 36
Edge 67: 48 <-> 36
Edge 68: 38 <-> 37
Edge 69: 49 <-> 37
Edge 70: 39 <-> 38
Edge 71: 50 <-> 38
Edge 72: 40 <-> 39
Edge 73: 51 <-> 39
Edge 74: 41 <-> 40
Edge 75: 52 <-> 40
Edge 76: 42 <-> 41
Edge 77: 53 <-> 41
Edge 78: 43 <-> 42
Edge 79: 54 <-> 42
Edge 80: 44 <-> 43
Edge 81: 55 <-> 43
Edge 82: 45 <-> 44
Edge 83: 56 <-> 44
Edge 84: 46 <-> 45
Edge 85: 57 <-> 45
Edge 86: 47 <-> 46
Edge 87: 58 <-> 46
Edge 88: 49 <-> 48
Edge 89: 60 <-> 48
Edge 90: 50 <-> 49
Edge 91: 61 <-> 49
Edge 92: 51 <-> 50
Edge 93: 62 <-> 50
Edge 94: 52 <-> 51
Edge 95: 63 <-> 51
Edge 96: 53 <-> 52
Edge 97: 64 <-> 52
Edge 98: 54 <-> 53
Edge 99: 65 <-> 53
Edge 100: 55 <-> 54
Edge 101: 66 <-> 54
Edge 102: 56 <-> 55
Edge 103: 67 <-> 55
Edge 104: 57 <-> 56
Edge 105: 68 <-> 56
Edge 106: 58 <-> 57
Edge 107: 69 <-> 57
Edge 108: 59 <-> 58
Edge 109: 70 <-> 58
Edge 110: 61 <-> 60
Edge 111: 72 <-> 60
Edge 112: 62 <-> 61
Edge 113: 73 <-> 61
Edge 114: 63 <-> 62
Edge 115: 74 <-> 62
Edge 116: 64 <-> 63
Edge 117: 75 <-> 63
Edge 118: 65 <-> 64
Edge 119: 76 <-> 64
Edge 120: 66 <-> 65
Edge 121: 77 <-> 65
Edge 122: 67 <-> 66
Edge 123: 78 <-> 66
Edge 124: 68 <-> 67
Edge 125: 79 <-> 67
Edge 126: 69 <-> 68
Edge 127: 80 <-> 68
Edge 128: 70 <-> 69
Edge 129: 81 <-> 69
Edge 130: 71 <-> 70
Edge 131: 82 <-> 70
Edge 132: 73 <-> 72
Edge 133: 84 <-> 72
Edge 134: 74 <-> 73
Edge 135: 85 <-> 73
Edge 136: 75 <-> 74
Edge 137: 86 <-> 74
Edge 138: 76 <-> 75
Edge 139: 87 <-> 75
Edge 140: 77 <-> 76
Edge 141: 88 <-> 76
Edge 142: 78 <-> 77
Edge 143: 89 <-> 77
Edge 144: 79 <-> 78
Edge 145: 90 <-> 78
Edge 146: 80 <-> 79
Edge 147: 91 <-> 79
Edge 148: 81 <-> 80
Edge 149: 92 <-> 80
Edge 150: 82 <-> 81
Edge 151: 93 <-> 81
Edge 152: 83 <-> 82
Edge 153: 94 <-> 82
Edge 154: 85 <-> 84
Edge 155: 96 <-> 84
Edge 156: 86 <-> 85
Edge 157: 97 <-> 85
Edge 158: 87 <-> 86
Edge 159: 98 <-> 86
Edge 160: 88 <-> 87
Edge 161: 99 <-> 87
Edge 162: 89 <-> 88
Edge 163: 100 <-> 88
Edge 164: 90 <-> 89
Edge 165: 101 <-> 89
Edge 166: 91 <-> 90
Edge 167: 102 <-> 90
Edge 168: 92 <-> 91
Edge 169: 103 <-> 91
Edge 170: 93 <-> 92
Edge 171: 104 <-> 92
Edge 172: 94 <-> 93
Edge 173: 105 <-> 93
Edge 174: 95 <-> 94
Edge 175: 106 <-> 94
Edge 176: 97 <-> 96
Edge 177: 108 <-> 96
Edge 178: 98 <-> 97
Edge 179: 109 <-> 97
Edge 180: 99 <-> 98
Edge 181: 110 <-> 98
Edge 182: 100 <-> 99
Edge 183: 111 <-> 99
Edge 184: 101 <-> 100
Edge 185: 112 <-> 100
Edge 186: 102 <-> 101
Edge 187: 113 <-> 101
Edge 188: 103 <-> 102
Edge 189: 114 <-> 102
Edge 190: 104 <-> 103
Edge 191: 115 <-> 103
Edge 192: 105 <-> 104
Edge 193: 116 <-> 104
Edge 194: 106 <-> 105
Edge 195: 117 <-> 105
Edge 196: 107 <-> 106
Edge 197: 118 <-> 106
Edge 198: 109 <-> 108
Edge 199: 120 <-> 108
Edge 200: 110 <-> 109
Edge 201: 121 <-> 109
Edge 202: 111 <-> 110
Edge 203: 122 <-> 110
Edge 204: 112 <-> 111
Edge 205: 123 <-> 111
Edge 206: 113 <-> 112
Edge 207: 124 <-> 112
Edge 208: 114 <-> 113
Edge 209: 125 <-> 113
Edge 210: 115 <-> 114
Edge 211: 126 <-> 114
Edge 212: 116 <-> 115
Edge 213: 127 <-> 115
Edge 214: 117 <-> 116
Edge 215: 128 <-> 116
Edge 216: 118 <-> 117
Edge 217: 129 <-> 117
Edge 218: 119 <-> 118
Edge 219: 130 <-> 118
Edge 220: 121 <-> 120
Edge 221: 132 <-> 120
Edge 222: 122 <-> 121
Edge 223: 133 <-> 121
Edge 224: 123 <-> 122
Edge 225: 134 <-> 122
Edge 226: 124 <-> 123
Edge 227: 135 <-> 123
Edge 228: 125 <-> 124
Edge 229: 136 <-> 124
Edge 230: 126 <-> 125
Edge 231: 137 <-> 125
Edge 232: 127 <-> 126
Edge 233: 138 <-> 126
Edge 234: 128 <-> 127
Edge 235: 139 <-> 127
Edge 236: 129 <-> 128
Edge 237: 140 <-> 128
Edge 238: 130 <-> 129
Edge 239: 141 <-> 129
Edge 240: 131 <-> 130
Edge 241: 142 <-> 130
Edge 242: 23 <-> 11
Edge 243: 35 <-> 23
Edge 244: 47 <-> 35
Edge 245: 59 <-> 47
Edge 246: 71 <-> 59
Edge 247: 83 <-> 71
Edge 248: 95 <-> 83
Edge 249: 107 <-> 95
Edge 250: 119 <-> 107
Edge 251: 131 <-> 119
Edge 252: 143 <-> 131
Edge 253: 133 <-> 132
Edge 254: 134 <-> 133
Edge 255: 135 <-> 134
Edge 256: 136 <-> 135
Edge 257: 137 <-> 136
Edge 258: 138 <-> 137
Edge 259: 139 <-> 138
Edge 260: 140 <-> 139
Edge 261: 141 <-> 140
Edge 262: 142 <-> 141
Edge 263: 143 <-> 142
]
Robot arrangement: (|R| = 21, |V| = 144) [
robot locations: {1#59 2#133 3#87 4#22 5#72 6#29 7#44 8#143 9#57 10#110 11#137 12#34 13#100 14#51 15#62 16#53 17#48 18#52 19#95 20#37 21#33 }
vertex occupancy: {0#0 0#1 0#2 0#3 0#4 0#5 0#6 0#7 0#8 0#9 0#10 0#11 0#12 0#13 0#14 0#15 0#16 0#17 0#18 0#19 0#20 0#21 4#22 0#23 0#24 0#25 0#26 0#27 0#28 6#29 0#30 0#31 0#32 21#33 12#34 0#35 0#36 20#37 0#38 0#39 0#40 0#41 0#42 0#43 7#44 0#45 0#46 0#47 17#48 0#49 0#50 14#51 18#52 16#53 0#54 0#55 0#56 9#57 0#58 1#59 0#60 0#61 15#62 0#63 0#64 0#65 0#66 0#67 0#68 0#69 0#70 0#71 5#72 0#73 0#74 0#75 0#76 0#77 0#78 0#79 0#80 0#81 0#82 0#83 0#84 0#85 0#86 3#87 0#88 0#89 0#90 0#91 0#92 0#93 0#94 19#95 0#96 0#97 0#98 0#99 13#100 0#101 0#102 0#103 0#104 0#105 0#106 0#107 0#108 0#109 10#110 0#111 0#112 0#113 0#114 0#115 0#116 0#117 0#118 0#119 0#120 0#121 0#122 0#123 0#124 0#125 0#126 0#127 0#128 0#129 0#130 0#131 0#132 2#133 0#134 0#135 0#136 11#137 0#138 0#139 0#140 0#141 0#142 8#143 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
robot locations: {}
vertex occupancy: {}
]
Robot goal: (|R| = 21, |V| = 144) [
robot goals: {
1#{134}
2#{95}
3#{15}
4#{38}
5#{105}
6#{0}
7#{14}
8#{61}
9#{80}
10#{94}
11#{120}
12#{142}
13#{1}
14#{107}
15#{70}
16#{2}
17#{66}
18#{128}
19#{33}
20#{114}
21#{143}
}
vertex compatibilities: {
0@{6}
1@{13}
2@{16}
3@{}
4@{}
5@{}
6@{}
7@{}
8@{}
9@{}
10@{}
11@{}
12@{}
13@{}
14@{7}
15@{3}
16@{}
17@{}
18@{}
19@{}
20@{}
21@{}
22@{}
23@{}
24@{}
25@{}
26@{}
27@{}
28@{}
29@{}
30@{}
31@{}
32@{}
33@{19}
34@{}
35@{}
36@{}
37@{}
38@{4}
39@{}
40@{}
41@{}
42@{}
43@{}
44@{}
45@{}
46@{}
47@{}
48@{}
49@{}
50@{}
51@{}
52@{}
53@{}
54@{}
55@{}
56@{}
57@{}
58@{}
59@{}
60@{}
61@{8}
62@{}
63@{}
64@{}
65@{}
66@{17}
67@{}
68@{}
69@{}
70@{15}
71@{}
72@{}
73@{}
74@{}
75@{}
76@{}
77@{}
78@{}
79@{}
80@{9}
81@{}
82@{}
83@{}
84@{}
85@{}
86@{}
87@{}
88@{}
89@{}
90@{}
91@{}
92@{}
93@{}
94@{10}
95@{2}
96@{}
97@{}
98@{}
99@{}
100@{}
101@{}
102@{}
103@{}
104@{}
105@{5}
106@{}
107@{14}
108@{}
109@{}
110@{}
111@{}
112@{}
113@{}
114@{20}
115@{}
116@{}
117@{}
118@{}
119@{}
120@{11}
121@{}
122@{}
123@{}
124@{}
125@{}
126@{}
127@{}
128@{18}
129@{}
130@{}
131@{}
132@{}
133@{}
134@{1}
135@{}
136@{}
137@{}
138@{}
139@{}
140@{}
141@{}
142@{12}
143@{21}
}
]
Open/close/exp size (steps): 4/1/4 (2)
Open/close/exp size (steps): 15/4/15 (5)
Open/close/exp size (steps): 25/8/25 (9)
Open/close/exp size (steps): 34/13/34 (14)
Open/close/exp size (steps): 48/19/48 (20)
Open/close/exp size (steps): 64/27/64 (28)
Open/close/exp size (steps): 83/37/83 (38)
Open/close/exp size (steps): 105/49/105 (50)
Open/close/exp size (steps): 128/64/128 (65)
Open/close/exp size (steps): 159/82/159 (83)
Open/close/exp size (steps): 190/104/190 (105)
Open/close/exp size (steps): 225/131/225 (132)
Open/close/exp size (steps): 60/26/60 (165)
Open/close/exp size (steps): 125/66/125 (205)
Open/close/exp size (steps): 48/18/48 (253)
Open/close/exp size (steps): 85/38/85 (311)
Open/close/exp size (steps): 34/14/34 (381)
Open/close/exp size (steps): 175/98/175 (465)
Open/close/exp size (steps): 13/3/13 (566)
Open/close/exp size (steps): 138/70/138 (688)
Open/close/exp size (steps): 49/17/49 (835)
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Groups 0 and 11 collide.
Solution of group 0
Mulirobot solution: (|moves| = 16, paralellism = 1.000) [
Step 0: 1#59->58
Step 1: 1#58->57
Step 2: 1#57->56
Step 3: 1#56->55
Step 4: 1#55->54
Step 5: 1#54->53
Step 6: 1#53->52
Step 7: 1#52->51
Step 8: 1#51->50
Step 9: 1#50->62
Step 10: 1#62->74
Step 11: 1#74->86
Step 12: 1#86->98
Step 13: 1#98->110
Step 14: 1#110->122
Step 15: 1#122->134
]
Solution of group 11
Mulirobot solution: (|moves| = 9, paralellism = 1.000) [
Step 0: 1#34->46
Step 1: 1#46->58
Step 2: 1#58->70
Step 3: 1#70->82
Step 4: 1#82->94
Step 5: 1#94->106
Step 6: 1#106->118
Step 7: 1#118->130
Step 8: 1#130->142
]
Occupation table complementary for group 0
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** Open/close/exp size (steps): 3/1/3 (2)
** Open/close/exp size (steps): 9/4/9 (5)
** Open/close/exp size (steps): 16/8/16 (9)
** Open/close/exp size (steps): 11/13/11 (14)
** Open/close/exp size (steps): 6/19/6 (20)
Occupation table complementary for group 11
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Unable to resolve collision between groups 0 and 11.
Merging groups 0 and 11.
Searching solution for merged group 0+11.
Open/close/exp size (steps): 187/84/187 (1012)
Open/close/exp size (steps): 579/297/579 (1225)
Open/close/exp size (steps): 984/553/984 (1481)
Open/close/exp size (steps): 1453/861/1453 (1789)
Open/close/exp size (steps): 1976/1231/1976 (2159)
Open/close/exp size (steps): 2580/1675/2580 (2603)
Open/close/exp size (steps): 3240/2208/3240 (3136)
Open/close/exp size (steps): 3540/2848/3540 (3776)
Open/close/exp size (steps): 4138/3616/4138 (4544)
Open/close/exp size (steps): 4440/4538/4440 (5466)
Open/close/exp size (steps): 4545/5645/4545 (6573)
Open/close/exp size (steps): 4907/6974/4907 (7902)
Open/close/exp size (steps): 6093/8569/6093 (9497)
Open/close/exp size (steps): 7246/10483/7246 (11411)
Open/close/exp size (steps): 8476/12780/8476 (13708)
Open/close/exp size (steps): 9863/15537/9863 (16465)
Open/close/exp size (steps): 11790/18846/11790 (19774)
Open/close/exp size (steps): 9525/22817/9525 (23745)
Open/close/exp size (steps): 9192/27583/9192 (28511)
Open/close/exp size (steps): 8934/33303/8934 (34231)
Open/close/exp size (steps): 8847/40167/8847 (41095)
Open/close/exp size (steps): 12895/48404/12895 (49332)
Open/close/exp size (steps): 10414/58289/10414 (59217)
Open/close/exp size (steps): 12581/70151/12581 (71079)
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Groups 0 and 7 collide.
Solution of group 0
Mulirobot solution: (|moves| = 25, paralellism = 1.562) [
Step 0: 1#59->71 2#34->46
Step 1: 1#71->83 2#46->58
Step 2: 1#83->95 2#58->70
Step 3: 1#95->107 2#70->82
Step 4: 1#107->119 2#82->94
Step 5: 1#119->131 2#94->106
Step 6: 1#131->143 2#106->118
Step 7: 1#143->142 2#118->130
Step 8: 1#142->141
Step 9: 1#141->140 2#130->142
Step 10: 1#140->139
Step 11: 1#139->138
Step 12: 1#138->137
Step 13: 1#137->136
Step 14: 1#136->135
Step 15: 1#135->134
]
Solution of group 7
Mulirobot solution: (|moves| = 16, paralellism = 1.000) [
Step 0: 1#143->131
Step 1: 1#131->130
Step 2: 1#130->118
Step 3: 1#118->106
Step 4: 1#106->94
Step 5: 1#94->82
Step 6: 1#82->70
Step 7: 1#70->69
Step 8: 1#69->68
Step 9: 1#68->67
Step 10: 1#67->66
Step 11: 1#66->65
Step 12: 1#65->64
Step 13: 1#64->63
Step 14: 1#63->62
Step 15: 1#62->61
]
Occupation table complementary for group 0
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Occupation table complementary for group 7
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** Open/close/exp size (steps): 6/2/6 (28)
** Open/close/exp size (steps): 25/12/25 (38)
** Open/close/exp size (steps): 43/24/43 (50)
** Open/close/exp size (steps): 67/39/67 (65)
** Open/close/exp size (steps): 98/57/98 (83)
** Open/close/exp size (steps): 133/79/133 (105)
Alternative solution of group 7
Mulirobot solution: (|moves| = 16, paralellism = 1.000) [
Step 0: 1#143->131
Step 1: 1#131->130
Step 2: 1#130->118
Step 3: 1#118->106
Step 4: 1#106->105
Step 5: 1#105->104
Step 6: 1#104->103
Step 7: 1#103->102
Step 8: 1#102->101
Step 9: 1#101->89
Step 10: 1#89->77
Step 11: 1#77->65
Step 12: 1#65->64
Step 13: 1#64->63
Step 14: 1#63->62
Step 15: 1#62->61
]
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Collision between groups 0 and 7 resolved.
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Groups 0 and 11 collide.
Solution of group 0
Mulirobot solution: (|moves| = 25, paralellism = 1.562) [
Step 0: 1#59->71 2#34->46
Step 1: 1#71->83 2#46->58
Step 2: 1#83->95 2#58->70
Step 3: 1#95->107 2#70->82
Step 4: 1#107->119 2#82->94
Step 5: 1#119->131 2#94->106
Step 6: 1#131->143 2#106->118
Step 7: 1#143->142 2#118->130
Step 8: 1#142->141
Step 9: 1#141->140 2#130->142
Step 10: 1#140->139
Step 11: 1#139->138
Step 12: 1#138->137
Step 13: 1#137->136
Step 14: 1#136->135
Step 15: 1#135->134
]
Solution of group 11
Mulirobot solution: (|moves| = 11, paralellism = 1.000) [
Step 0: 1#33->34
Step 1: 1#34->35
Step 2: 1#35->47
Step 3: 1#47->59
Step 4: 1#59->71
Step 5: 1#71->83
Step 6: 1#83->95
Step 7: 1#95->107
Step 8: 1#107->119
Step 9: 1#119->131
Step 10: 1#131->143
]
Occupation table complementary for group 0
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Occupation table complementary for group 11
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** Open/close/exp size (steps): 11/10/11 (132)
Alternative solution of group 11
Mulirobot solution: (|moves| = 11, paralellism = 0.917) [
Step 0: 1#33->45
Step 1: 1#45->57
Step 2: 1#57->69
Step 3: 1#69->81
Step 4: 1#81->93
Step 5:
Step 6: 1#93->94
Step 7: 1#94->95
Step 8: 1#95->107
Step 9: 1#107->119
Step 10: 1#119->131
Step 11: 1#131->143
]
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Collision between groups 0 and 11 resolved.
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Groups 0 and 18 collide.
Solution of group 0
Mulirobot solution: (|moves| = 25, paralellism = 1.562) [
Step 0: 1#59->71 2#34->46
Step 1: 1#71->83 2#46->58
Step 2: 1#83->95 2#58->70
Step 3: 1#95->107 2#70->82
Step 4: 1#107->119 2#82->94
Step 5: 1#119->131 2#94->106
Step 6: 1#131->143 2#106->118
Step 7: 1#143->142 2#118->130
Step 8: 1#142->141
Step 9: 1#141->140 2#130->142
Step 10: 1#140->139
Step 11: 1#139->138
Step 12: 1#138->137
Step 13: 1#137->136
Step 14: 1#136->135
Step 15: 1#135->134
]
Solution of group 18
Mulirobot solution: (|moves| = 7, paralellism = 1.000) [
Step 0: 1#95->94
Step 1: 1#94->82
Step 2: 1#82->70
Step 3: 1#70->58
Step 4: 1#58->46
Step 5: 1#46->34
Step 6: 1#34->33
]
Occupation table complementary for group 0
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1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1
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** Open/close/exp size (steps): 4/1/4 (165)
** Open/close/exp size (steps): 60/41/60 (205)
** Open/close/exp size (steps): 94/89/94 (253)
** Open/close/exp size (steps): 129/147/129 (311)
** Open/close/exp size (steps): 159/217/159 (381)
** Open/close/exp size (steps): 254/301/254 (465)
** Open/close/exp size (steps): 335/402/335 (566)
** Open/close/exp size (steps): 438/524/438 (688)
** Open/close/exp size (steps): 586/671/586 (835)
** Open/close/exp size (steps): 701/848/701 (1012)
** Open/close/exp size (steps): 862/1061/862 (1225)
** Open/close/exp size (steps): 1011/1317/1011 (1481)
** Open/close/exp size (steps): 1132/1625/1132 (1789)
** Open/close/exp size (steps): 1311/1995/1311 (2159)
** Open/close/exp size (steps): 1508/2439/1508 (2603)
** Open/close/exp size (steps): 1784/2972/1784 (3136)
** Open/close/exp size (steps): 2036/3612/2036 (3776)
** Open/close/exp size (steps): 2304/4380/2304 (4544)
** Open/close/exp size (steps): 2706/5302/2706 (5466)
** Open/close/exp size (steps): 2702/6409/2702 (6573)
** Open/close/exp size (steps): 2559/7738/2559 (7902)
** Open/close/exp size (steps): 2348/9333/2348 (9497)
** Open/close/exp size (steps): 2499/11247/2499 (11411)
** Open/close/exp size (steps): 3801/13544/3801 (13708)
** Open/close/exp size (steps): 3224/16301/3224 (16465)
Alternative solution of group 0
Mulirobot solution: (|moves| = 27, paralellism = 1.688) [
Step 0: 1#59->71 2#34->46
Step 1: 1#71->83 2#46->58
Step 2: 1#83->95 2#58->59
Step 3: 1#95->107 2#59->71
Step 4: 1#107->119 2#71->83
Step 5: 1#119->118 2#83->95
Step 6: 1#118->117 2#95->107
Step 7: 1#117->129 2#107->106
Step 8: 1#129->141 2#106->118
Step 9: 1#141->140 2#118->130
Step 10: 1#140->139 2#130->142
Step 11: 1#139->138
Step 12: 1#138->137
Step 13: 1#137->136
Step 14: 1#136->135
Step 15: 1#135->134
]
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Collision between groups 0 and 18 resolved.
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Groups 1 and 9 collide.
Solution of group 1
Mulirobot solution: (|moves| = 14, paralellism = 1.000) [
Step 0: 1#133->121
Step 1: 1#121->109
Step 2: 1#109->97
Step 3: 1#97->85
Step 4: 1#85->86
Step 5: 1#86->87
Step 6: 1#87->88
Step 7: 1#88->89
Step 8: 1#89->90
Step 9: 1#90->91
Step 10: 1#91->92
Step 11: 1#92->93
Step 12: 1#93->94
Step 13: 1#94->95
]
Solution of group 9
Mulirobot solution: (|moves| = 10, paralellism = 1.000) [
Step 0: 1#110->98
Step 1: 1#98->86
Step 2: 1#86->87
Step 3: 1#87->88
Step 4: 1#88->89
Step 5: 1#89->90
Step 6: 1#90->91
Step 7: 1#91->92
Step 8: 1#92->93
Step 9: 1#93->94
]
Occupation table complementary for group 1
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 1 2 0 0 1 0 0 0 0 0 0 1 0 0 0 1 0 0 1 1 1 0 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 0 1 2 0 0 1 0 0 1 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1 1 0 0 1 2 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1 1 0 0 0 2 0 0 0 0 1 1 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 2 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 2 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 2 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 2 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0
1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 2 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0
1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 2 0 0 0 0 0 0 0 0 0 1 0 0 0
1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 1 0 0 2 0
1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 2 1
1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 2 1
1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 2 1
1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 2 1
1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 2 1
Alternative solution of group 1
Mulirobot solution: (|moves| = 16, paralellism = 1.000) [
Step 0: 1#133->121
Step 1: 1#121->109
Step 2: 1#109->110
Step 3: 1#110->111
Step 4: 1#111->112
Step 5: 1#112->113
Step 6: 1#113->114
Step 7: 1#114->115
Step 8: 1#115->103
Step 9: 1#103->91
Step 10: 1#91->92
Step 11: 1#92->93
Step 12: 1#93->81
Step 13: 1#81->82
Step 14: 1#82->83
Step 15: 1#83->95
]
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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Collision between groups 1 and 9 resolved.
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Groups 2 and 3 collide.
Solution of group 2
Mulirobot solution: (|moves| = 6, paralellism = 1.000) [
Step 0: 1#87->75
Step 1: 1#75->63
Step 2: 1#63->51
Step 3: 1#51->39
Step 4: 1#39->27
Step 5: 1#27->15
]
Solution of group 3
Mulirobot solution: (|moves| = 10, paralellism = 1.000) [
Step 0: 1#22->21
Step 1: 1#21->20
Step 2: 1#20->19
Step 3: 1#19->18
Step 4: 1#18->17
Step 5: 1#17->16
Step 6: 1#16->15
Step 7: 1#15->14
Step 8: 1#14->26
Step 9: 1#26->38
]
Occupation table complementary for group 2
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 1 2 0 0 1 0 0 0 0 0 0 1 0 0 0 1 0 0 1 1 1 0 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 1
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 0 1 2 0 0 1 0 0 1 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1 1 0 0 1 2 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1 1 0 0 0 2 0 0 0 0 1 1 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 2 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 2 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 2 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 2 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0
1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 2 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0
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1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 1 0 0 2 0
1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 2 1
1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 2 1
1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 2 1
1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 2 1
1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 2 1
Alternative solution of group 2
Mulirobot solution: (|moves| = 10, paralellism = 0.909) [
Step 0: 1#87->99
Step 1:
Step 2: 1#99->98
Step 3: 1#98->86
Step 4: 1#86->74
Step 5: 1#74->62
Step 6: 1#62->50
Step 7: 1#50->38
Step 8: 1#38->39
Step 9: 1#39->27
Step 10: 1#27->15
]
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Collision between groups 2 and 3 resolved.
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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Groups 3 and 6 collide.
Solution of group 3
Mulirobot solution: (|moves| = 10, paralellism = 1.000) [
Step 0: 1#22->21
Step 1: 1#21->20
Step 2: 1#20->19
Step 3: 1#19->18
Step 4: 1#18->17
Step 5: 1#17->16
Step 6: 1#16->15
Step 7: 1#15->14
Step 8: 1#14->26
Step 9: 1#26->38
]
Solution of group 6
Mulirobot solution: (|moves| = 8, paralellism = 1.000) [
Step 0: 1#44->32
Step 1: 1#32->20
Step 2: 1#20->19
Step 3: 1#19->18
Step 4: 1#18->17
Step 5: 1#17->16
Step 6: 1#16->15
Step 7: 1#15->14
]
Occupation table complementary for group 3
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 2 0 0 1 0 0 0 0 0 0 1 0 0 0 1 0 0 1 1 1 0 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 1
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 0 1 2 0 0 1 0 0 1 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0
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0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1 1 0 0 0 2 0 0 0 0 1 1 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 2 0 0 0 0 1 0 0 0 1 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 1 0 0 2 0
1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 2 1
1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 2 1
1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 2 1
1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 2 1
1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 2 1
Alternative solution of group 3
Mulirobot solution: (|moves| = 12, paralellism = 1.000) [
Step 0: 1#22->21
Step 1: 1#21->33
Step 2: 1#33->32
Step 3: 1#32->31
Step 4: 1#31->30
Step 5: 1#30->29
Step 6: 1#29->41
Step 7: 1#41->40
Step 8: 1#40->52
Step 9: 1#52->40
Step 10: 1#40->39
Step 11: 1#39->38
]
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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Collision between groups 3 and 6 resolved.
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Groups 4 and 8 collide.
Solution of group 4
Mulirobot solution: (|moves| = 11, paralellism = 1.000) [
Step 0: 1#72->73
Step 1: 1#73->74
Step 2: 1#74->75
Step 3: 1#75->76
Step 4: 1#76->77
Step 5: 1#77->78
Step 6: 1#78->79
Step 7: 1#79->80
Step 8: 1#80->81
Step 9: 1#81->93
Step 10: 1#93->105
]
Solution of group 8
Mulirobot solution: (|moves| = 3, paralellism = 1.000) [
Step 0: 1#57->56
Step 1: 1#56->68
Step 2: 1#68->80
]
Occupation table complementary for group 4
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 1 2 0 0 1 0 0 0 0 0 0 1 0 0 0 1 0 0 1 1 1 0 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 1
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1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 1 0 0 2 0
1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 2 1
1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 2 1
1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 2 1
1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 2 1
1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 2 1
** Open/close/exp size (steps): 49/48/49 (19774)
Alternative solution of group 4
Mulirobot solution: (|moves| = 13, paralellism = 1.000) [
Step 0: 1#72->73
Step 1: 1#73->85
Step 2: 1#85->97
Step 3: 1#97->109
Step 4: 1#109->110
Step 5: 1#110->111
Step 6: 1#111->112
Step 7: 1#112->113
Step 8: 1#113->114
Step 9: 1#114->115
Step 10: 1#115->103
Step 11: 1#103->104
Step 12: 1#104->105
]
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Collision between groups 4 and 8 resolved.
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Groups 6 and 12 collide.
Solution of group 6
Mulirobot solution: (|moves| = 8, paralellism = 1.000) [
Step 0: 1#44->32
Step 1: 1#32->20
Step 2: 1#20->19
Step 3: 1#19->18
Step 4: 1#18->17
Step 5: 1#17->16
Step 6: 1#16->15
Step 7: 1#15->14
]
Solution of group 12
Mulirobot solution: (|moves| = 11, paralellism = 1.000) [
Step 0: 1#100->88
Step 1: 1#88->76
Step 2: 1#76->64
Step 3: 1#64->52
Step 4: 1#52->40
Step 5: 1#40->28
Step 6: 1#28->16
Step 7: 1#16->4
Step 8: 1#4->3
Step 9: 1#3->2
Step 10: 1#2->1
]
Occupation table complementary for group 6
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Alternative solution of group 6
Mulirobot solution: (|moves| = 14, paralellism = 1.000) [
Step 0: 1#44->32
Step 1: 1#32->20
Step 2: 1#20->19
Step 3: 1#19->18
Step 4: 1#18->17
Step 5: 1#17->5
Step 6: 1#5->17
Step 7: 1#17->29
Step 8: 1#29->28
Step 9: 1#28->16
Step 10: 1#16->28
Step 11: 1#28->27
Step 12: 1#27->26
Step 13: 1#26->14
]
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Groups 8 and 17 collide.
Solution of group 8
Mulirobot solution: (|moves| = 3, paralellism = 1.000) [
Step 0: 1#57->56
Step 1: 1#56->68
Step 2: 1#68->80
]
Solution of group 17
Mulirobot solution: (|moves| = 10, paralellism = 1.000) [
Step 0: 1#52->53
Step 1: 1#53->54
Step 2: 1#54->55
Step 3: 1#55->56
Step 4: 1#56->68
Step 5: 1#68->80
Step 6: 1#80->92
Step 7: 1#92->104
Step 8: 1#104->116
Step 9: 1#116->128
]
Occupation table complementary for group 8
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 1 2 0 0 1 0 0 0 0 0 0 1 0 0 0 1 0 0 1 1 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 1
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1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 2 1
Alternative solution of group 8
Mulirobot solution: (|moves| = 3, paralellism = 1.000) [
Step 0: 1#57->56
Step 1: 1#56->68
Step 2: 1#68->80
]
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Occupation table complementary for group 17
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Unable to resolve collision between groups 8 and 17.
Merging groups 8 and 17.
Searching solution for merged group 8+17.
Open/close/exp size (steps): 5645/10932/5645 (85314)
Open/close/exp size (steps): 5719/28014/5719 (102396)
Open/close/exp size (steps): 13325/48513/13325 (122895)
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Groups 8 and 9 collide.
Solution of group 8
Mulirobot solution: (|moves| = 13, paralellism = 1.300) [
Step 0: 1#57->56 2#52->53
Step 1: 1#56->68 2#53->54
Step 2: 1#68->80 2#54->55
Step 3: 2#55->67
Step 4: 2#67->79
Step 5: 2#79->91
Step 6: 2#91->92
Step 7: 2#92->104
Step 8: 2#104->116
Step 9: 2#116->128
]
Solution of group 9
Mulirobot solution: (|moves| = 10, paralellism = 1.000) [
Step 0: 1#110->98
Step 1: 1#98->86
Step 2: 1#86->87
Step 3: 1#87->88
Step 4: 1#88->89
Step 5: 1#89->90
Step 6: 1#90->91
Step 7: 1#91->92
Step 8: 1#92->93
Step 9: 1#93->94
]
Occupation table complementary for group 8
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Occupation table complementary for group 9
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Alternative solution of group 9
Mulirobot solution: (|moves| = 10, paralellism = 0.909) [
Step 0: 1#110->98
Step 1: 1#98->86
Step 2: 1#86->87
Step 3: 1#87->88
Step 4: 1#88->89
Step 5: 1#89->90
Step 6:
Step 7: 1#90->91
Step 8: 1#91->92
Step 9: 1#92->93
Step 10: 1#93->94
]
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Collision between groups 8 and 9 resolved.
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Groups 8 and 13 collide.
Solution of group 8
Mulirobot solution: (|moves| = 13, paralellism = 1.300) [
Step 0: 1#57->56 2#52->53
Step 1: 1#56->68 2#53->54
Step 2: 1#68->80 2#54->55
Step 3: 2#55->67
Step 4: 2#67->79
Step 5: 2#79->91
Step 6: 2#91->92
Step 7: 2#92->104
Step 8: 2#104->116
Step 9: 2#116->128
]
Solution of group 13
Mulirobot solution: (|moves| = 12, paralellism = 1.000) [
Step 0: 1#51->52
Step 1: 1#52->53
Step 2: 1#53->54
Step 3: 1#54->55
Step 4: 1#55->56
Step 5: 1#56->57
Step 6: 1#57->58
Step 7: 1#58->59
Step 8: 1#59->71
Step 9: 1#71->83
Step 10: 1#83->95
Step 11: 1#95->107
]
Occupation table complementary for group 8
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Occupation table complementary for group 13
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Alternative solution of group 13
Mulirobot solution: (|moves| = 12, paralellism = 0.923) [
Step 0:
Step 1: 1#51->52
Step 2: 1#52->53
Step 3: 1#53->54
Step 4: 1#54->55
Step 5: 1#55->56
Step 6: 1#56->57
Step 7: 1#57->58
Step 8: 1#58->59
Step 9: 1#59->71
Step 10: 1#71->83
Step 11: 1#83->95
Step 12: 1#95->107
]
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Collision between groups 8 and 13 resolved.
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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Groups 8 and 14 collide.
Solution of group 8
Mulirobot solution: (|moves| = 13, paralellism = 1.300) [
Step 0: 1#57->56 2#52->53
Step 1: 1#56->68 2#53->54
Step 2: 1#68->80 2#54->55
Step 3: 2#55->67
Step 4: 2#67->79
Step 5: 2#79->91
Step 6: 2#91->92
Step 7: 2#92->104
Step 8: 2#104->116
Step 9: 2#116->128
]
Solution of group 14
Mulirobot solution: (|moves| = 8, paralellism = 1.000) [
Step 0: 1#62->63
Step 1: 1#63->64
Step 2: 1#64->65
Step 3: 1#65->66
Step 4: 1#66->67
Step 5: 1#67->68
Step 6: 1#68->69
Step 7: 1#69->70
]
Occupation table complementary for group 8
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0 0 0 1 2 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 1 2 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 2 0 0 0 0 1 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 2 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 2 1
1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 2 1
1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 2 1
1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 2 1
1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 2 1
** Open/close/exp size (steps): 1286/3770/1286 (23745)
** Open/close/exp size (steps): 2555/8536/2555 (28511)
** Open/close/exp size (steps): 3742/14256/3742 (34231)
** Open/close/exp size (steps): 3243/21120/3243 (41095)
** Open/close/exp size (steps): 6026/29357/6026 (49332)
** Open/close/exp size (steps): 8679/39242/8679 (59217)
** Open/close/exp size (steps): 5068/51104/5068 (71079)
Alternative solution of group 8
Mulirobot solution: (|moves| = 19, paralellism = 1.188) [
Step 0: 1#57->56 2#52->40
Step 1: 1#56->68 2#40->28
Step 2: 1#68->80 2#28->27
Step 3: 2#27->39
Step 4: 2#39->51
Step 5: 2#51->52
Step 6: 2#52->53
Step 7: 2#53->54
Step 8: 2#54->55
Step 9: 2#55->67
Step 10: 2#67->79
Step 11: 2#79->91
Step 12: 2#91->92
Step 13: 2#92->104
Step 14: 2#104->116
Step 15: 2#116->128
]
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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Groups 12 and 14 collide.
Solution of group 12
Mulirobot solution: (|moves| = 11, paralellism = 1.000) [
Step 0: 1#100->88
Step 1: 1#88->76
Step 2: 1#76->64
Step 3: 1#64->52
Step 4: 1#52->40
Step 5: 1#40->28
Step 6: 1#28->16
Step 7: 1#16->4
Step 8: 1#4->3
Step 9: 1#3->2
Step 10: 1#2->1
]
Solution of group 14
Mulirobot solution: (|moves| = 8, paralellism = 1.000) [
Step 0: 1#62->63
Step 1: 1#63->64
Step 2: 1#64->65
Step 3: 1#65->66
Step 4: 1#66->67
Step 5: 1#67->68
Step 6: 1#68->69
Step 7: 1#69->70
]
Occupation table complementary for group 12
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Alternative solution of group 12
Mulirobot solution: (|moves| = 13, paralellism = 0.929) [
Step 0: 1#100->88
Step 1: 1#88->76
Step 2: 1#76->75
Step 3:
Step 4: 1#75->87
Step 5: 1#87->75
Step 6: 1#75->74
Step 7: 1#74->62
Step 8: 1#62->50
Step 9: 1#50->38
Step 10: 1#38->26
Step 11: 1#26->14
Step 12: 1#14->13
Step 13: 1#13->1
]
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Collision between groups 12 and 14 resolved.
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Groups 16 and 17 collide.
Solution of group 16
Mulirobot solution: (|moves| = 7, paralellism = 1.000) [
Step 0: 1#48->49
Step 1: 1#49->50
Step 2: 1#50->51
Step 3: 1#51->52
Step 4: 1#52->53
Step 5: 1#53->54
Step 6: 1#54->66
]
Solution of group 17
Mulirobot solution: (|moves| = 11, paralellism = 1.000) [
Step 0: 1#37->38
Step 1: 1#38->39
Step 2: 1#39->40
Step 3: 1#40->41
Step 4: 1#41->42
Step 5: 1#42->54
Step 6: 1#54->66
Step 7: 1#66->78
Step 8: 1#78->90
Step 9: 1#90->102
Step 10: 1#102->114
]
Occupation table complementary for group 16
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1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 2 0 1 1 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 2 1
1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 2 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 2 1
1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 2 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 2 1
1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 2 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 2 1
1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 0 0 0 0 1 0 0 0 0 0 0 0 2 1
Alternative solution of group 16
Mulirobot solution: (|moves| = 9, paralellism = 1.000) [
Step 0: 1#48->49
Step 1: 1#49->50
Step 2: 1#50->51
Step 3: 1#51->52
Step 4: 1#52->53
Step 5: 1#53->65
Step 6: 1#65->77
Step 7: 1#77->65
Step 8: 1#65->66
]
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Collision between groups 16 and 17 resolved.
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Computed optimal makespan:16
Makespan optimal solution:
Mulirobot solution: (|moves| = 228, paralellism = 14.250) [
Step 0: 1#59->71 12#34->46 2#133->121 3#87->99 4#22->21 5#72->73 6#29->17 7#44->32 8#143->131 9#57->56 18#52->40 10#110->98 11#137->125 21#33->45 13#100->88 15#62->63 16#53->41 17#48->49 20#37->38 19#95->94
Step 1: 1#71->83 12#46->58 2#121->109 4#21->33 5#73->85 6#17->5 7#32->20 8#131->130 9#56->68 18#40->28 10#98->86 11#125->124 21#45->57 13#88->76 14#51->52 15#63->64 16#41->29 17#49->50 20#38->39 19#94->82
Step 2: 1#83->95 12#58->59 2#109->110 3#99->98 4#33->32 5#85->97 6#5->4 7#20->19 8#130->118 9#68->80 18#28->27 10#86->87 11#124->123 21#57->69 13#76->75 14#52->53 15#64->65 16#29->17 17#50->51 20#39->40 19#82->70
Step 3: 1#95->107 12#59->71 2#110->111 3#98->86 4#32->31 5#97->109 6#4->3 7#19->18 8#118->106 18#27->39 10#87->88 11#123->122 21#69->81 14#53->54 15#65->66 16#17->5 17#51->52 20#40->41 19#70->58
Step 4: 1#107->119 12#71->83 2#111->112 3#86->74 4#31->30 5#109->110 6#3->2 7#18->17 8#106->105 18#39->51 10#88->89 11#122->121 21#81->93 13#75->87 14#54->55 15#66->67 16#5->4 17#52->53 20#41->42 19#58->46
Step 5: 1#119->118 12#83->95 2#112->113 3#74->62 4#30->29 5#110->111 6#2->1 7#17->5 8#105->104 18#51->52 10#89->90 11#121->120 13#87->75 14#55->56 15#67->68 16#4->3 17#53->65 20#42->54 19#46->34
Step 6: 1#118->117 12#95->107 2#113->114 3#62->50 4#29->41 5#111->112 6#1->0 7#5->17 8#104->103 18#52->53 21#93->94 13#75->74 14#56->57 15#68->69 16#3->2 17#65->77 20#54->66 19#34->33
Step 7: 1#117->129 12#107->106 2#114->115 3#50->38 4#41->40 5#112->113 7#17->29 8#103->102 18#53->54 10#90->91 21#94->95 13#74->62 14#57->58 15#69->70 17#77->65 20#66->78
Step 8: 1#129->141 12#106->118 2#115->103 3#38->39 4#40->52 5#113->114 7#29->28 8#102->101 18#54->55 10#91->92 21#95->107 13#62->50 14#58->59 17#65->66 20#78->90
Step 9: 1#141->140 12#118->130 2#103->91 3#39->27 4#52->40 5#114->115 7#28->16 8#101->89 18#55->67 10#92->93 21#107->119 13#50->38 14#59->71 20#90->102
Step 10: 1#140->139 12#130->142 2#91->92 3#27->15 4#40->39 5#115->103 7#16->28 8#89->77 18#67->79 10#93->94 21#119->131 13#38->26 14#71->83 20#102->114
Step 11: 1#139->138 2#92->93 4#39->38 5#103->104 7#28->27 8#77->65 18#79->91 21#131->143 13#26->14 14#83->95
Step 12: 1#138->137 2#93->81 5#104->105 7#27->26 8#65->64 18#91->92 13#14->13 14#95->107
Step 13: 1#137->136 2#81->82 7#26->14 8#64->63 18#92->104 13#13->1
Step 14: 1#136->135 2#82->83 8#63->62 18#104->116
Step 15: 1#135->134 2#83->95 8#62->61 18#116->128
]
Multirobot solution analysis: (
total makespan = 16
total distance = 189
total trajectory = 228
average parallelism = 14.250
average distance = 9.000
average trajectory = 10.857
parallelism distribution = [ 0 0 0 2 0 1 0 1 0 1 0 0 0 2 1 1 0 1 2 3 1 ]
distance distribution = [ 0 0 1 0 0 2 4 2 1 3 3 1 0 1 0 2 ]
trajectory distribution = [ 0 0 1 0 0 1 3 1 1 2 3 2 2 1 0 4 ]
)
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 = 228
Produced CNF variables = 0
Produced CNF clauses = 0
Search steps = 0
Wall clock TIME (seconds) = 0.020
CPU/machine TIME (seconds) = 0.020
]
Sub-phases {
Phase (name = 'independent_solving') [
Total SAT solver calls = 0
Satisfiable SAT solver calls = 0
Unsatisfiable SAT solver calls = 0
Indeterminate SAT solver calls = 0
Move executions = 757473
Produced CNF variables = 0
Produced CNF clauses = 0
Search steps = 0
Wall clock TIME (seconds) = 4.203
CPU/machine TIME (seconds) = 4.200
]
}
]
----------------------------------------------------------------