================================================================
reLOC 0.09-vegas : Multirobot Solution solver
(C) Copyright 2011-2013 Pavel Surynek
----------------------------------------------------------------
Reading graph...
1,0
6,0
2,1
7,1
3,2
8,2
4,3
9,3
5,4
10,4
7,6
12,6
8,7
13,7
9,8
14,8
10,9
15,9
11,10
16,10
13,12
18,12
14,13
19,13
15,14
20,14
16,15
21,15
17,16
22,16
19,18
24,18
20,19
25,19
21,20
26,20
22,21
27,21
23,22
28,22
25,24
30,24
26,25
31,25
27,26
32,26
28,27
33,27
29,28
34,28
11,5
17,11
23,17
29,23
35,29
31,30
32,31
33,32
34,33
35,34
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=36 |E|=60) [
Vertex: (id = 0) {1 6 }
Vertex: (id = 1) {0 2 7 }
Vertex: (id = 2) {1 3 8 }
Vertex: (id = 3) {2 4 9 }
Vertex: (id = 4) {3 5 10 }
Vertex: (id = 5) {4 11 }
Vertex: (id = 6) {0 7 12 }
Vertex: (id = 7) {1 6 8 13 }
Vertex: (id = 8) {2 7 9 14 }
Vertex: (id = 9) {3 8 10 15 }
Vertex: (id = 10) {4 9 11 16 }
Vertex: (id = 11) {10 5 17 }
Vertex: (id = 12) {6 13 18 }
Vertex: (id = 13) {7 12 14 19 }
Vertex: (id = 14) {8 13 15 20 }
Vertex: (id = 15) {9 14 16 21 }
Vertex: (id = 16) {10 15 17 22 }
Vertex: (id = 17) {16 11 23 }
Vertex: (id = 18) {12 19 24 }
Vertex: (id = 19) {13 18 20 25 }
Vertex: (id = 20) {14 19 21 26 }
Vertex: (id = 21) {15 20 22 27 }
Vertex: (id = 22) {16 21 23 28 }
Vertex: (id = 23) {22 17 29 }
Vertex: (id = 24) {18 25 30 }
Vertex: (id = 25) {19 24 26 31 }
Vertex: (id = 26) {20 25 27 32 }
Vertex: (id = 27) {21 26 28 33 }
Vertex: (id = 28) {22 27 29 34 }
Vertex: (id = 29) {28 23 35 }
Vertex: (id = 30) {24 31 }
Vertex: (id = 31) {25 30 32 }
Vertex: (id = 32) {26 31 33 }
Vertex: (id = 33) {27 32 34 }
Vertex: (id = 34) {28 33 35 }
Vertex: (id = 35) {29 34 }
Edge 0: 1 <-> 0
Edge 1: 6 <-> 0
Edge 2: 2 <-> 1
Edge 3: 7 <-> 1
Edge 4: 3 <-> 2
Edge 5: 8 <-> 2
Edge 6: 4 <-> 3
Edge 7: 9 <-> 3
Edge 8: 5 <-> 4
Edge 9: 10 <-> 4
Edge 10: 7 <-> 6
Edge 11: 12 <-> 6
Edge 12: 8 <-> 7
Edge 13: 13 <-> 7
Edge 14: 9 <-> 8
Edge 15: 14 <-> 8
Edge 16: 10 <-> 9
Edge 17: 15 <-> 9
Edge 18: 11 <-> 10
Edge 19: 16 <-> 10
Edge 20: 13 <-> 12
Edge 21: 18 <-> 12
Edge 22: 14 <-> 13
Edge 23: 19 <-> 13
Edge 24: 15 <-> 14
Edge 25: 20 <-> 14
Edge 26: 16 <-> 15
Edge 27: 21 <-> 15
Edge 28: 17 <-> 16
Edge 29: 22 <-> 16
Edge 30: 19 <-> 18
Edge 31: 24 <-> 18
Edge 32: 20 <-> 19
Edge 33: 25 <-> 19
Edge 34: 21 <-> 20
Edge 35: 26 <-> 20
Edge 36: 22 <-> 21
Edge 37: 27 <-> 21
Edge 38: 23 <-> 22
Edge 39: 28 <-> 22
Edge 40: 25 <-> 24
Edge 41: 30 <-> 24
Edge 42: 26 <-> 25
Edge 43: 31 <-> 25
Edge 44: 27 <-> 26
Edge 45: 32 <-> 26
Edge 46: 28 <-> 27
Edge 47: 33 <-> 27
Edge 48: 29 <-> 28
Edge 49: 34 <-> 28
Edge 50: 11 <-> 5
Edge 51: 17 <-> 11
Edge 52: 23 <-> 17
Edge 53: 29 <-> 23
Edge 54: 35 <-> 29
Edge 55: 31 <-> 30
Edge 56: 32 <-> 31
Edge 57: 33 <-> 32
Edge 58: 34 <-> 33
Edge 59: 35 <-> 34
]
Robot arrangement: (|R| = 10, |V| = 36) [
robot locations: {1#32 2#20 3#14 4#26 5#23 6#13 7#1 8#16 9#34 10#30 }
vertex occupancy: {0#0 7#1 0#2 0#3 0#4 0#5 0#6 0#7 0#8 0#9 0#10 0#11 0#12 6#13 3#14 0#15 8#16 0#17 0#18 0#19 2#20 0#21 0#22 5#23 0#24 0#25 4#26 0#27 0#28 0#29 10#30 0#31 1#32 0#33 9#34 0#35 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
robot locations: {}
vertex occupancy: {}
]
Robot goal: (|R| = 10, |V| = 36) [
robot goals: {
1#{10}
2#{31}
3#{7}
4#{3}
5#{35}
6#{26}
7#{24}
8#{15}
9#{8}
10#{27}
}
vertex compatibilities: {
0@{}
1@{}
2@{}
3@{4}
4@{}
5@{}
6@{}
7@{3}
8@{9}
9@{}
10@{1}
11@{}
12@{}
13@{}
14@{}
15@{8}
16@{}
17@{}
18@{}
19@{}
20@{}
21@{}
22@{}
23@{}
24@{7}
25@{}
26@{6}
27@{10}
28@{}
29@{}
30@{}
31@{2}
32@{}
33@{}
34@{}
35@{5}
}
]
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): 35/13/35 (14)
Open/close/exp size (steps): 5/1/5 (20)
Open/close/exp size (steps): 13/3/13 (28)
Open/close/exp size (steps): 5/1/5 (38)
Open/close/exp size (steps): 22/9/22 (50)
Open/close/exp size (steps): 35/13/35 (65)
0 0 0 0 0 0 0 0 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 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 0 0 0 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 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 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 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 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 0 0 0 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 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 0 0 0 0 0 0 0 0 0 0 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 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 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 0 0 0 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 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 0 0 0 0 0 0 0 0 0 0 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 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
Groups 0 and 3 collide.
Solution of group 0
Mulirobot solution: (|moves| = 6, paralellism = 1.000) [
Step 0: 1#32->26
Step 1: 1#26->20
Step 2: 1#20->14
Step 3: 1#14->8
Step 4: 1#8->9
Step 5: 1#9->10
]
Solution of group 3
Mulirobot solution: (|moves| = 5, paralellism = 1.000) [
Step 0: 1#26->20
Step 1: 1#20->14
Step 2: 1#14->8
Step 3: 1#8->2
Step 4: 1#2->3
]
Occupation table complementary for group 0
0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 1 0 0 1 0 0 1 0 0 0 1 0 0 0 1 0
1 0 0 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 0 1 1 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0
0 0 0 0 0 0 1 1 0 0 0 0 0 0 1 1 0 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 1 1 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1
0 0 1 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 1
0 0 0 1 0 0 0 1 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 1 0 0 0 1
0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 1 0 0 0 1
** Open/close/exp size (steps): 3/1/3 (2)
** Open/close/exp size (steps): 10/4/10 (5)
** Open/close/exp size (steps): 18/8/18 (9)
Alternative solution of group 0
Mulirobot solution: (|moves| = 6, paralellism = 1.000) [
Step 0: 1#32->33
Step 1: 1#33->27
Step 2: 1#27->21
Step 3: 1#21->22
Step 4: 1#22->16
Step 5: 1#16->10
]
0 0 0 0 0 0 0 0 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 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 0 0 0 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 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 0 0 0 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
Collision between groups 0 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 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 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 0 0 0 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 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 0 0 0 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 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 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 0 0 0 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 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 0 0 0 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 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 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 0 0 0 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 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 0 0 0 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 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 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 0 0 0 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 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 0 0 0 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 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 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 0 0 0 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 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 0 0 0 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 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 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 0 0 0 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 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 0 0 0 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 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 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 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 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 0 0 0 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 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 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 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 1 0 0 0 0
Groups 1 and 3 collide.
Solution of group 1
Mulirobot solution: (|moves| = 3, paralellism = 1.000) [
Step 0: 1#20->19
Step 1: 1#19->25
Step 2: 1#25->31
]
Solution of group 3
Mulirobot solution: (|moves| = 5, paralellism = 1.000) [
Step 0: 1#26->20
Step 1: 1#20->14
Step 2: 1#14->8
Step 3: 1#8->2
Step 4: 1#2->3
]
Occupation table complementary for group 1
0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 0 1 0 1 0
1 0 0 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 1 0 0 0 1 1 0 0 0 1 0 0
0 0 0 0 0 0 1 1 0 0 0 0 0 0 1 1 0 0 0 0 1 0 1 0 0 1 0 1 0 0 0 0 0 0 0 1
0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 1
0 0 1 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 1
0 0 0 1 0 0 0 1 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 1
0 0 0 1 0 0 0 1 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 1
Occupation table complementary for group 3
0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0
1 0 0 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 1 0 0 0 1 1 0 0 0 1 0 0
0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 1 0 1 0 0 0 0 0 0 0 1
0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 1
0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 1 1 0 0 0 1 0 0 0 1
0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 1 1 0 0 0 1 0 0 0 1
0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 1 0 0 0 1
** Open/close/exp size (steps): 2/3/2 (14)
** Open/close/exp size (steps): 6/9/6 (20)
Unable to resolve collision between groups 1 and 3.
Merging groups 1 and 3.
Searching solution for merged group 1+3.
Open/close/exp size (steps): 22/6/22 (83)
Open/close/exp size (steps): 78/28/78 (105)
Open/close/exp size (steps): 102/55/102 (132)
Open/close/exp size (steps): 195/88/195 (165)
Open/close/exp size (steps): 208/128/208 (205)
Open/close/exp size (steps): 195/176/195 (253)
Open/close/exp size (steps): 249/234/249 (311)
Open/close/exp size (steps): 237/304/237 (381)
Open/close/exp size (steps): 285/388/285 (465)
Open/close/exp size (steps): 328/489/328 (566)
0 0 0 0 0 0 0 0 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 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 0 0 0 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 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 0 0 0 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
Groups 0 and 1 collide.
Solution of group 0
Mulirobot solution: (|moves| = 6, paralellism = 1.000) [
Step 0: 1#32->33
Step 1: 1#33->27
Step 2: 1#27->21
Step 3: 1#21->22
Step 4: 1#22->16
Step 5: 1#16->10
]
Solution of group 1
Mulirobot solution: (|moves| = 8, paralellism = 1.600) [
Step 0: 1#20->19 2#26->27
Step 1: 1#19->25 2#27->21
Step 2: 1#25->31 2#21->15
Step 3: 2#15->9
Step 4: 2#9->3
]
Occupation table complementary for group 0
0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 1 0 0 1 0 0 2 0 0 0 1 0 0 0 1 0
1 0 0 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 1 0 0 2 1 1 0 0 0 0 0 0
0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 1 2 1 0 0 1 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 1 1 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 1 0 2 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 1 1 0 0 0 1 0 0 0 1
0 0 0 2 0 0 0 1 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 1 0 0 0 1
0 0 0 2 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 1 0 0 0 1
** Open/close/exp size (steps): 5/2/5 (28)
Alternative solution of group 0
Mulirobot solution: (|moves| = 6, paralellism = 1.000) [
Step 0: 1#32->33
Step 1: 1#33->34
Step 2: 1#34->28
Step 3: 1#28->22
Step 4: 1#22->16
Step 5: 1#16->10
]
0 0 0 0 0 0 0 0 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 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 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 0 0 0 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 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 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 0 and 1 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 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 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 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 0 0 0 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 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 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 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 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 0 0 0 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 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 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 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 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 0 0 0 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 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 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 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 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 0 0 0 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 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 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 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 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 0 0 0 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 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 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 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 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 0 0 0 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 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 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 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 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 0 0 0 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 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 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 1 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 2 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 2 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 2 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 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 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 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 1 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 2 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 2 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 2 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 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 1 0 0 0 0
Groups 1 and 3 collide.
Solution of group 1
Mulirobot solution: (|moves| = 8, paralellism = 1.600) [
Step 0: 1#20->19 2#26->27
Step 1: 1#19->25 2#27->21
Step 2: 1#25->31 2#21->15
Step 3: 2#15->9
Step 4: 2#9->3
]
Solution of group 3
Mulirobot solution: (|moves| = 4, paralellism = 1.000) [
Step 0: 1#30->24
Step 1: 1#24->25
Step 2: 1#25->26
Step 3: 1#26->27
]
Occupation table complementary for group 1
0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0
1 0 0 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 1 0 0
0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 1 1
0 0 0 0 0 0 0 1 0 0 0 0 1 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 0 0 1 0 0 1 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 1
0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 1
0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 1
** Open/close/exp size (steps): 9/6/9 (38)
** Open/close/exp size (steps): 17/18/17 (50)
** Open/close/exp size (steps): 33/33/33 (65)
** Open/close/exp size (steps): 44/51/44 (83)
** Open/close/exp size (steps): 44/73/44 (105)
** Open/close/exp size (steps): 73/100/73 (132)
** Open/close/exp size (steps): 93/133/93 (165)
** Open/close/exp size (steps): 104/173/104 (205)
** Open/close/exp size (steps): 154/221/154 (253)
** Open/close/exp size (steps): 116/279/116 (311)
** Open/close/exp size (steps): 93/349/93 (381)
** Open/close/exp size (steps): 212/433/212 (465)
** Open/close/exp size (steps): 190/534/190 (566)
** Open/close/exp size (steps): 162/656/162 (688)
** Open/close/exp size (steps): 158/803/158 (835)
** Open/close/exp size (steps): 157/980/157 (1012)
** Open/close/exp size (steps): 171/1193/171 (1225)
** Open/close/exp size (steps): 155/1449/155 (1481)
** Open/close/exp size (steps): 27/1757/27 (1789)
Occupation table complementary for group 3
0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 1 0 0 1 0 0 2 0 0 0 0 0 1 0 1 0
1 0 0 0 0 0 0 0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 2 1 1 0 0 0 1 0 0
0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 1 2 1 0 0 1 0 0 0 0 0 0 0 0 1 1
0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 1 0 0 0 1
0 0 0 0 0 0 0 1 0 2 1 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 1 0 0 0 1
0 0 0 2 0 0 0 1 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 1
0 0 0 2 0 0 0 1 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 1
Alternative solution of group 3
Mulirobot solution: (|moves| = 4, paralellism = 1.000) [
Step 0: 1#30->31
Step 1: 1#31->32
Step 2: 1#32->33
Step 3: 1#33->27
]
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 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 1 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 2 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 2 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 2 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 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 1 0 0 0 0
Collision between groups 1 and 3 resolved.
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 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 1 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 2 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 2 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 2 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 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 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 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 1 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 2 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 2 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 2 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 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 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 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 1 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 2 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 2 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 2 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 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 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 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 1 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 2 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 2 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 2 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 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 1 0 0 0 0
Groups 1 and 7 collide.
Solution of group 1
Mulirobot solution: (|moves| = 8, paralellism = 1.600) [
Step 0: 1#20->19 2#26->27
Step 1: 1#19->25 2#27->21
Step 2: 1#25->31 2#21->15
Step 3: 2#15->9
Step 4: 2#9->3
]
Solution of group 7
Mulirobot solution: (|moves| = 1, paralellism = 1.000) [
Step 0: 1#16->15
]
Occupation table complementary for group 1
0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0
1 0 0 0 0 0 0 0 1 0 0 0 0 0 1 1 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 1 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 1 1
0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 1 0 1
0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 1 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 1
0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 1
0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 1
** Open/close/exp size (steps): 125/308/125 (2159)
** Open/close/exp size (steps): 104/752/104 (2603)
** Open/close/exp size (steps): 136/1285/136 (3136)
Occupation table complementary for group 7
0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 1 0 0 2 0 0 0 1 0 1 0 1 0
1 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 2 1 1 0 1 0 1 0 0
0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 2 1 0 0 1 0 0 0 0 0 0 1 0 1 1
0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 2 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 1 0 1 0 1
0 0 0 0 0 0 0 1 0 2 1 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 1 1 0 0 0 1 0 0 0 1
0 0 0 2 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 1 0 0 0 1 0 0 0 1
0 0 0 2 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 1 0 0 0 1
Alternative solution of group 7
Mulirobot solution: (|moves| = 1, paralellism = 1.000) [
Step 0: 1#16->15
]
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 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 1 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 2 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 2 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 2 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 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 1 0 0 0 0
Unable to resolve collision between groups 1 and 7.
Merging groups 1 and 7.
Searching solution for merged group 1+7.
Open/close/exp size (steps): 159/46/159 (688)
Open/close/exp size (steps): 676/193/676 (835)
Open/close/exp size (steps): 1288/370/1288 (1012)
Open/close/exp size (steps): 1558/583/1558 (1225)
Open/close/exp size (steps): 1957/839/1957 (1481)
Open/close/exp size (steps): 2430/1147/2430 (1789)
Open/close/exp size (steps): 2594/1517/2594 (2159)
Open/close/exp size (steps): 2817/1961/2817 (2603)
Open/close/exp size (steps): 4248/2494/4248 (3136)
Open/close/exp size (steps): 5608/3134/5608 (3776)
Open/close/exp size (steps): 8315/3902/8315 (4544)
Open/close/exp size (steps): 11421/4824/11421 (5466)
Open/close/exp size (steps): 11549/5931/11549 (6573)
Open/close/exp size (steps): 11083/7260/11083 (7902)
Open/close/exp size (steps): 11295/8855/11295 (9497)
Open/close/exp size (steps): 16912/10769/16912 (11411)
Open/close/exp size (steps): 17203/13066/17203 (13708)
Open/close/exp size (steps): 16227/15823/16227 (16465)
Open/close/exp size (steps): 18957/19132/18957 (19774)
Open/close/exp size (steps): 23454/23103/23454 (23745)
Open/close/exp size (steps): 30334/27869/30334 (28511)
Open/close/exp size (steps): 38346/33589/38346 (34231)
Open/close/exp size (steps): 59690/40453/59690 (41095)
Open/close/exp size (steps): 54918/48690/54918 (49332)
Open/close/exp size (steps): 50174/58575/50174 (59217)
Open/close/exp size (steps): 49339/70437/49339 (71079)
Open/close/exp size (steps): 65312/84672/65312 (85314)
Open/close/exp size (steps): 55741/101754/55741 (102396)
Open/close/exp size (steps): 57077/122253/57077 (122895)
Open/close/exp size (steps): 86699/146852/86699 (147494)
Open/close/exp size (steps): 145245/176371/145245 (177013)
0 0 0 0 0 0 0 0 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 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 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 0 0 0 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 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 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 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 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 0 0 0 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 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 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
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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 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 0 0 0 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 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 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 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 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 0 0 0 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 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 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 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 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 0 0 0 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 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 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 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 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 0 0 0 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 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 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 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 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 0 0 0 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 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 1 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 3 0 0 0 1 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 3 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 2 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 2 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 3 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 3 0 0 0 1 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 3 0 0 0 1 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 3 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 2 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 2 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 3 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 3 0 0 0 1 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 3 0 0 0 1 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 3 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 2 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 2 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 3 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 3 0 0 0 1 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 3 0 0 0 1 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 3 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 2 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 2 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 3 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 3 0 0 0 1 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 3 0 0 0 1 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 3 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 2 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 2 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 3 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 3 0 0 0 1 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 3 0 0 0 1 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 3 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 2 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 2 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
Groups 1 and 7 collide.
Solution of group 1
Mulirobot solution: (|moves| = 13, paralellism = 2.600) [
Step 0: 1#20->19 2#26->27 3#16->15
Step 1: 1#19->25 2#27->21 3#15->9
Step 2: 1#25->31 2#21->15 3#9->8
Step 3: 2#15->9 3#8->14
Step 4: 2#9->3 3#14->15
]
Solution of group 7
Mulirobot solution: (|moves| = 6, paralellism = 1.000) [
Step 0: 1#34->28
Step 1: 1#28->22
Step 2: 1#22->16
Step 3: 1#16->10
Step 4: 1#10->9
Step 5: 1#9->8
]
Occupation table complementary for group 1
0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0
1 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 1 1 0 1 0 1 0 0
0 0 0 0 0 0 1 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 1 0 1 1
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 1 0 0 0 0 1 0 1
0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 1
0 0 0 0 0 0 0 1 0 1 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 1
0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 1
** Open/close/exp size (steps): 244/256/244 (3776)
** Open/close/exp size (steps): 858/1024/858 (4544)
** Open/close/exp size (steps): 1449/1946/1449 (5466)
** Open/close/exp size (steps): 1845/3053/1845 (6573)
** Open/close/exp size (steps): 2838/4382/2838 (7902)
** Open/close/exp size (steps): 4515/5977/4515 (9497)
** Open/close/exp size (steps): 4276/7891/4276 (11411)
** Open/close/exp size (steps): 4988/10188/4988 (13708)
** Open/close/exp size (steps): 3688/12945/3688 (16465)
** Open/close/exp size (steps): 6061/16254/6061 (19774)
** Open/close/exp size (steps): 11411/20225/11411 (23745)
** Open/close/exp size (steps): 7997/24991/7997 (28511)
** Open/close/exp size (steps): 5398/30711/5398 (34231)
** Open/close/exp size (steps): 8746/37575/8746 (41095)
** Open/close/exp size (steps): 13311/45812/13311 (49332)
** Open/close/exp size (steps): 6914/55697/6914 (59217)
** Open/close/exp size (steps): 8453/67559/8453 (71079)
** Open/close/exp size (steps): 7033/81794/7033 (85314)
** Open/close/exp size (steps): 5328/98876/5328 (102396)
Occupation table complementary for group 7
0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 3 0 0 0 1 0 0 1 0 0 2 0 0 0 1 0 1 0 0 0
1 0 0 0 0 0 0 0 1 0 0 0 0 0 1 3 0 0 0 1 0 0 0 0 0 0 0 2 0 1 0 1 0 1 0 0
0 0 0 0 0 0 1 1 0 3 0 0 0 0 0 0 0 0 0 0 1 2 0 0 0 1 0 0 0 0 0 0 1 0 1 1
0 0 0 0 0 0 0 1 3 0 0 0 1 0 0 2 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 1 0 1 0 1
0 0 0 0 0 0 0 1 0 2 0 0 0 0 3 0 0 0 1 0 0 0 1 0 0 0 1 1 0 0 0 1 0 0 0 1
0 0 0 2 0 0 0 1 0 0 0 0 0 0 0 3 1 0 0 0 0 0 0 0 1 0 1 1 0 0 0 1 0 0 0 1
0 0 0 2 0 0 0 1 0 0 1 0 0 0 0 3 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 1 0 0 0 1
Unable to resolve collision between groups 1 and 7.
Merging groups 1 and 7.
Searching solution for merged group 1+7.
Open/close/exp size (steps): 31185/34206/31185 (212436)
Open/close/exp size (steps): 113148/76714/113148 (254944)
Open/close/exp size (steps): 91188/127724/91188 (305954)
Open/close/exp size (steps): 152101/188936/152101 (367166)
Open/close/exp size (steps): 309235/262391/309235 (440621)
Open/close/exp size (steps): 350360/350537/350360 (528767)
Open/close/exp size (steps): 398452/456313/398452 (634543)
Open/close/exp size (steps): 399858/583245/399858 (761475)
Open/close/exp size (steps): 433349/735564/433349 (913794)
Open/close/exp size (steps): 946859/918347/946859 (1096577)
Open/close/exp size (steps): 829806/1137687/829806 (1315917)
Open/close/exp size (steps): 618657/1400895/618657 (1579125)
Open/close/exp size (steps): 542570/1716745/542570 (1894975)
Open/close/exp size (steps): 591837/2095765/591837 (2273995)
Cannot decide existence of solution..
Multirobot solution analysis: (
total makespan = 0
total distance = 0
total trajectory = 0
average parallelism = -nan
average distance = 0.000
average trajectory = 0.000
parallelism distribution = [ ]
distance distribution = [ 9 ]
trajectory distribution = [ ]
)
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 = 0
Produced CNF variables = 0
Produced CNF clauses = 0
Search steps = 0
Wall clock TIME (seconds) = 5.713
CPU/machine TIME (seconds) = 5.710
]
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 = 7487007
Produced CNF variables = 0
Produced CNF clauses = 0
Search steps = 0
Wall clock TIME (seconds) = 64.010
CPU/machine TIME (seconds) = 64.010
]
}
]
----------------------------------------------------------------