================================================================
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| = 12, |V| = 36) [
robot locations: {1#0 2#20 3#14 4#24 5#12 6#33 7#19 8#3 9#9 10#22 11#4 12#29 }
vertex occupancy: {1#0 0#1 0#2 8#3 11#4 0#5 0#6 0#7 0#8 9#9 0#10 0#11 5#12 0#13 3#14 0#15 0#16 0#17 0#18 7#19 2#20 0#21 10#22 0#23 4#24 0#25 0#26 0#27 0#28 12#29 0#30 0#31 0#32 6#33 0#34 0#35 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
robot locations: {}
vertex occupancy: {}
]
Robot goal: (|R| = 12, |V| = 36) [
robot goals: {
1#{20}
2#{23}
3#{27}
4#{18}
5#{26}
6#{0}
7#{25}
8#{33}
9#{21}
10#{2}
11#{34}
12#{6}
}
vertex compatibilities: {
0@{6}
1@{}
2@{10}
3@{}
4@{}
5@{}
6@{12}
7@{}
8@{}
9@{}
10@{}
11@{}
12@{}
13@{}
14@{}
15@{}
16@{}
17@{}
18@{4}
19@{}
20@{1}
21@{9}
22@{}
23@{2}
24@{}
25@{7}
26@{5}
27@{3}
28@{}
29@{}
30@{}
31@{}
32@{}
33@{8}
34@{11}
35@{}
}
]
Open/close/exp size (steps): 3/1/3 (2)
Open/close/exp size (steps): 12/4/12 (5)
Open/close/exp size (steps): 22/8/22 (9)
Open/close/exp size (steps): 1/0/1 (14)
Open/close/exp size (steps): 13/3/13 (20)
Open/close/exp size (steps): 18/6/18 (28)
Open/close/exp size (steps): 25/8/25 (38)
Open/close/exp size (steps): 45/20/45 (50)
Open/close/exp size (steps): 1/0/1 (65)
Open/close/exp size (steps): 34/11/34 (83)
Open/close/exp size (steps): 42/15/42 (105)
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0
Groups 1 and 2 collide.
Solution of group 1
Mulirobot solution: (|moves| = 3, paralellism = 1.000) [
Step 0: 1#20->21
Step 1: 1#21->22
Step 2: 1#22->23
]
Solution of group 2
Mulirobot solution: (|moves| = 3, paralellism = 1.000) [
Step 0: 1#14->15
Step 1: 1#15->21
Step 2: 1#21->27
]
Occupation table complementary for group 1
1 0 0 1 1 0 0 0 0 1 0 0 1 0 1 0 0 0 0 1 0 0 1 0 1 0 0 0 0 1 0 0 0 1 0 0
0 1 0 0 0 0 0 0 0 1 1 0 0 1 0 1 1 0 1 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 1 0 0 0 1 1 1 0 1 0 0 1 1 0 0 1 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 1 0 1 0 1 1 1 0 0 1 0 1 0 0 0 0 0 0 0 0
0 0 0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 0 1 0 0 1 0 0 0 1 1 1 1 0 0 0 0 0 0 0
0 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 1 1 1 0 0 0 0 0 1 1 0
0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 1 1 1 0 0 0 0 0 1 1 0
0 1 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 1 1 1 0 0 0 0 0 1 1 0
1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 1 1 1 0 0 0 0 0 1 1 0
** Open/close/exp size (steps): 2/1/2 (2)
** Open/close/exp size (steps): 4/4/4 (5)
** Open/close/exp size (steps): 4/8/4 (9)
** Open/close/exp size (steps): 6/13/6 (14)
** Open/close/exp size (steps): 8/19/8 (20)
** Open/close/exp size (steps): 11/27/11 (28)
** Open/close/exp size (steps): 7/37/7 (38)
Occupation table complementary for group 2
1 0 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 1 0 1 0 1 0 0 0 0 1 0 0 0 1 0 0
0 1 0 0 0 0 0 0 0 1 1 0 0 1 0 1 1 0 1 0 0 1 0 0 0 1 0 1 1 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 1 0 0 0 1 1 1 0 1 0 0 1 1 0 0 1 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 1 0 1 0 1 1 1 1 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 0 1 0 0 1 0 1 0 1 1 1 1 0 0 0 0 0 0 0
0 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 1 0 1 0 1 1 0 0 0 0 0 0 1 1 0
0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 1 0 1 0 1 1 0 0 0 0 0 0 1 1 0
0 1 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 1 0 1 1 0 0 0 0 0 0 1 1 0
1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 1 0 1 1 0 0 0 0 0 0 1 1 0
** Open/close/exp size (steps): 8/5/8 (50)
** Open/close/exp size (steps): 11/20/11 (65)
Unable to resolve collision between groups 1 and 2.
Merging groups 1 and 2.
Searching solution for merged group 1+2.
Open/close/exp size (steps): 30/8/30 (132)
Open/close/exp size (steps): 116/41/116 (165)
Open/close/exp size (steps): 140/81/140 (205)
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 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 1 0 0 0 0 0 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 1 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 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 1 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 1 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 1 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 1 0 0 0 2 0 0 0 0 0 0 0 0
Groups 1 and 2 collide.
Solution of group 1
Mulirobot solution: (|moves| = 6, paralellism = 1.500) [
Step 0: 1#20->21
Step 1: 1#21->22 2#14->15
Step 2: 1#22->23 2#15->21
Step 3: 2#21->27
]
Solution of group 2
Mulirobot solution: (|moves| = 8, paralellism = 1.000) [
Step 0: 1#29->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
Step 6: 1#8->7
Step 7: 1#7->6
]
Occupation table complementary for group 1
1 0 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 1 0 0 0 1 0 0
0 1 0 0 0 0 0 0 0 1 1 0 0 1 0 1 1 0 1 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 1 0 0 0 1 1 1 0 1 0 0 1 1 0 0 1 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 1 0 1 0 1 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 0 1 0 0 1 0 0 0 1 1 1 1 0 0 0 0 0 0 0
0 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 1 1 0 0 0 0 0 0 1 1 0
0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 1 1 0 0 0 0 0 0 1 1 0
0 1 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 1 1 0 0 0 0 0 0 1 1 0
1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 1 1 0 0 0 0 0 0 1 1 0
** Open/close/exp size (steps): 3/4/3 (83)
** Open/close/exp size (steps): 19/26/19 (105)
** Open/close/exp size (steps): 59/53/59 (132)
** Open/close/exp size (steps): 62/86/62 (165)
** Open/close/exp size (steps): 85/126/85 (205)
** Open/close/exp size (steps): 86/174/86 (253)
** Open/close/exp size (steps): 65/232/65 (311)
** Open/close/exp size (steps): 115/302/115 (381)
** Open/close/exp size (steps): 111/386/111 (465)
** Open/close/exp size (steps): 133/487/133 (566)
** Open/close/exp size (steps): 113/609/113 (688)
** Open/close/exp size (steps): 36/756/36 (835)
Occupation table complementary for group 2
1 0 0 1 1 0 0 0 0 1 0 0 1 0 2 0 0 0 0 1 1 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0
0 1 0 0 0 0 0 0 0 1 1 0 0 1 2 1 1 0 1 0 0 1 0 0 0 1 0 1 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 1 0 0 0 1 1 1 0 1 0 0 1 1 0 0 1 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 1 1 1 1 0 1 0 0 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 1 0 0 1 0 1 0 1 1 1 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 1 0 1 1 0 1 0 1 1 2 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 1 0 1 1 0 1 0 1 1 2 0 0 0 0 0 1 1 0
0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 1 0 1 1 2 0 0 0 0 0 1 1 0
1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 1 0 1 1 2 0 0 0 0 0 1 1 0
Unable to resolve collision between groups 1 and 2.
Merging groups 1 and 2.
Searching solution for merged group 1+2.
Open/close/exp size (steps): 7/2/7 (253)
Open/close/exp size (steps): 195/60/195 (311)
Open/close/exp size (steps): 385/130/385 (381)
Open/close/exp size (steps): 463/214/463 (465)
Open/close/exp size (steps): 458/315/458 (566)
Open/close/exp size (steps): 636/437/636 (688)
Open/close/exp size (steps): 1037/584/1037 (835)
Open/close/exp size (steps): 1497/761/1497 (1012)
Open/close/exp size (steps): 1509/974/1509 (1225)
Open/close/exp size (steps): 1412/1230/1412 (1481)
Open/close/exp size (steps): 1352/1538/1352 (1789)
Open/close/exp size (steps): 1224/1908/1224 (2159)
Open/close/exp size (steps): 2629/2352/2629 (2603)
Open/close/exp size (steps): 3770/2885/3770 (3136)
Open/close/exp size (steps): 5743/3525/5743 (3776)
Open/close/exp size (steps): 7628/4293/7628 (4544)
Open/close/exp size (steps): 8532/5215/8532 (5466)
Open/close/exp size (steps): 8735/6322/8735 (6573)
Open/close/exp size (steps): 8083/7651/8083 (7902)
Open/close/exp size (steps): 6869/9246/6869 (9497)
Open/close/exp size (steps): 5524/11160/5524 (11411)
Open/close/exp size (steps): 10301/13457/10301 (13708)
Open/close/exp size (steps): 12973/16214/12973 (16465)
Open/close/exp size (steps): 10415/19523/10415 (19774)
Open/close/exp size (steps): 11291/23494/11291 (23745)
Open/close/exp size (steps): 21538/28260/21538 (28511)
Open/close/exp size (steps): 29368/33980/29368 (34231)
Open/close/exp size (steps): 40758/40844/40758 (41095)
Open/close/exp size (steps): 47213/49081/47213 (49332)
Open/close/exp size (steps): 48325/58966/48325 (59217)
Open/close/exp size (steps): 45694/70828/45694 (71079)
Open/close/exp size (steps): 39616/85063/39616 (85314)
Open/close/exp size (steps): 40480/102145/40480 (102396)
Open/close/exp size (steps): 53876/122644/53876 (122895)
Open/close/exp size (steps): 29324/147243/29324 (147494)
Open/close/exp size (steps): 53777/176762/53777 (177013)
Open/close/exp size (steps): 81609/212185/81609 (212436)
Open/close/exp size (steps): 99106/254693/99106 (254944)
Open/close/exp size (steps): 122483/305703/122483 (305954)
Open/close/exp size (steps): 67186/366915/67186 (367166)
Open/close/exp size (steps): 54010/440370/54010 (440621)
Open/close/exp size (steps): 143274/528516/143274 (528767)
Open/close/exp size (steps): 183574/634292/183574 (634543)
Open/close/exp size (steps): 177437/761224/177437 (761475)
Open/close/exp size (steps): 149530/913543/149530 (913794)
Open/close/exp size (steps): 172643/1096326/172643 (1096577)
Open/close/exp size (steps): 204428/1315666/204428 (1315917)
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 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| = 5, paralellism = 1.000) [
Step 0: 1#0->1
Step 1: 1#1->2
Step 2: 1#2->8
Step 3: 1#8->14
Step 4: 1#14->20
]
Solution of group 1
Mulirobot solution: (|moves| = 14, paralellism = 1.750) [
Step 0: 1#20->21 3#29->28
Step 1: 1#21->22 3#28->27
Step 2: 1#22->23 3#27->21
Step 3: 3#21->15
Step 4: 3#15->9
Step 5: 2#14->15 3#9->8
Step 6: 2#15->21 3#8->7
Step 7: 2#21->27 3#7->6
]
Occupation table complementary for group 0
0 0 0 1 1 0 0 0 0 1 0 0 1 0 2 0 0 0 0 1 1 0 1 0 1 0 0 0 0 3 0 0 0 1 0 0
0 0 0 0 0 0 0 0 0 1 1 0 0 1 2 1 1 0 1 0 0 1 0 0 0 1 0 1 3 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 1 1 0 1 0 0 1 1 0 0 1 0 3 0 0 0 0 0 0 0 0
0 0 0 0 1 0 0 0 0 0 0 0 0 0 2 1 0 0 1 0 1 1 1 1 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 1 0 0 0 0 0 1 0 0 0 0 2 3 0 0 1 0 0 1 0 1 0 1 1 1 1 0 0 0 0 0 0 0
0 0 1 1 0 0 0 0 0 3 0 0 0 0 2 0 0 0 1 0 0 1 0 1 0 1 1 0 0 0 0 0 0 1 1 0
0 0 1 0 0 0 0 0 3 0 0 0 0 0 0 2 0 0 1 0 0 1 0 1 0 1 1 0 0 0 0 0 0 1 1 0
0 1 1 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 1 1 0 0 0 0 0 0 1 1 0
1 0 1 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 1 1 2 0 0 0 0 0 1 1 0
Alternative solution of group 0
Mulirobot solution: (|moves| = 5, paralellism = 1.000) [
Step 0: 1#0->1
Step 1: 1#1->7
Step 2: 1#7->13
Step 3: 1#13->19
Step 4: 1#19->20
]
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Collision between groups 0 and 1 resolved.
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 3 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 1 0 0 0 0 0 0 3 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 1 0 0 0 0 3 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 3 0 1 0 0 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 3 0 0 0 0 0 0 0 1 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 0 2 0 0 0 0 0 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 0 0 0 2 0 0 0 0 0 0 0 1 0 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 0 0 0 0 0 0 0 2 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 0 0 0 0 0 0 0 0 0 0 1 0 0 0 2 0 0 0 0 0 0 0 0
Groups 1 and 2 collide.
Solution of group 1
Mulirobot solution: (|moves| = 14, paralellism = 1.750) [
Step 0: 1#20->21 3#29->28
Step 1: 1#21->22 3#28->27
Step 2: 1#22->23 3#27->21
Step 3: 3#21->15
Step 4: 3#15->9
Step 5: 2#14->15 3#9->8
Step 6: 2#15->21 3#8->7
Step 7: 2#21->27 3#7->6
]
Solution of group 2
Mulirobot solution: (|moves| = 5, paralellism = 1.000) [
Step 0: 1#4->10
Step 1: 1#10->16
Step 2: 1#16->22
Step 3: 1#22->28
Step 4: 1#28->34
]
Occupation table complementary for group 1
1 0 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0
0 1 0 0 0 0 0 0 0 1 1 0 0 1 0 1 1 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 1 0 0 1 0 0 0 1 1 1 0 1 0 0 1 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 1 0 0 1 0 1 1 1 0 0 1 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 1 1 0 1 0 0 0 1 1 1 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 1 0 1 1 0 0 0 1 1 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 1 0 1 1 0 0 0 1 1 0 0 0 0 0 0 1 1 0
0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 1 1 0 0 0 0 0 0 1 1 0
1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 1 1 0 0 0 0 0 0 1 1 0
** Open/close/exp size (steps): 54/38/54 (1012)
** Open/close/exp size (steps): 116/251/116 (1225)
** Open/close/exp size (steps): 179/507/179 (1481)
** Open/close/exp size (steps): 399/815/399 (1789)
** Open/close/exp size (steps): 572/1185/572 (2159)
** Open/close/exp size (steps): 1081/1629/1081 (2603)
** Open/close/exp size (steps): 666/2162/666 (3136)
** Open/close/exp size (steps): 1706/2802/1706 (3776)
** Open/close/exp size (steps): 2097/3570/2097 (4544)
** Open/close/exp size (steps): 1590/4492/1590 (5466)
** Open/close/exp size (steps): 1224/5599/1224 (6573)
** Open/close/exp size (steps): 1656/6928/1656 (7902)
** Open/close/exp size (steps): 2080/8523/2080 (9497)
** Open/close/exp size (steps): 2809/10437/2809 (11411)
** Open/close/exp size (steps): 3825/12734/3825 (13708)
** Open/close/exp size (steps): 5496/15491/5496 (16465)
** Open/close/exp size (steps): 4470/18800/4470 (19774)
** Open/close/exp size (steps): 4455/22771/4455 (23745)
** Open/close/exp size (steps): 5751/27537/5751 (28511)
** Open/close/exp size (steps): 2616/33257/2616 (34231)
** Open/close/exp size (steps): 2358/40121/2358 (41095)
** Open/close/exp size (steps): 29/48358/29 (49332)
Occupation table complementary for group 2
1 0 0 1 0 0 0 0 0 1 0 0 1 0 2 0 0 0 0 1 1 0 1 0 1 0 0 0 0 3 0 0 0 1 0 0
0 1 0 0 0 0 0 0 0 1 0 0 0 1 2 1 1 0 1 0 0 1 0 0 0 1 0 1 3 0 0 0 0 0 0 0
0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 0 1 0 0 1 1 0 0 1 0 3 0 0 0 0 0 0 0 0
0 0 0 0 1 0 0 0 0 0 0 0 0 1 2 1 0 0 1 0 1 1 0 1 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 1 0 0 0 0 0 1 0 0 0 0 2 3 0 0 1 1 0 1 0 1 0 1 1 1 0 0 0 0 0 0 0 0
0 0 1 1 0 0 0 0 0 3 0 0 0 0 2 0 0 0 1 0 1 1 0 1 0 1 1 0 0 0 0 0 0 1 0 0
0 0 1 0 0 0 0 0 3 0 0 0 0 0 0 2 0 0 1 0 1 1 0 1 0 1 1 0 0 0 0 0 0 1 0 0
0 1 1 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 1 0 1 1 0 0 0 0 0 0 1 0 0
1 0 1 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 1 0 1 1 2 0 0 0 0 0 1 0 0
Alternative solution of group 2
Mulirobot solution: (|moves| = 7, paralellism = 1.000) [
Step 0: 1#4->5
Step 1: 1#5->11
Step 2: 1#11->17
Step 3: 1#17->16
Step 4: 1#16->22
Step 5: 1#22->28
Step 6: 1#28->34
]
0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 1 0 0 0 0 0 0 0 0 3 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 1 0 0 0 0 0 0 3 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 1 0 0 0 0 3 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 3 0 1 0 0 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 3 0 0 0 0 0 0 0 1 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 0 2 0 0 0 0 0 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 0 0 0 2 0 0 0 0 0 0 0 1 0 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 0 0 0 0 0 0 0 2 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 0 0 0 0 0 0 0 0 0 0 1 0 0 0 2 0 0 0 0 0 0 0 0
Collision between groups 1 and 2 resolved.
0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 1 0 0 0 0 0 0 0 0 3 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 1 0 0 0 0 0 0 3 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 1 0 0 0 0 3 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 3 0 1 0 0 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 3 0 0 0 0 0 0 0 1 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 0 2 0 0 0 0 0 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 0 0 0 2 0 0 0 0 0 0 0 1 0 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 0 0 0 0 0 0 0 2 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 0 0 0 0 0 0 0 0 0 0 1 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 2 0 0 0 0 0 1 0 0 0 0 0 0 0 0 3 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 1 0 0 0 0 0 0 3 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 1 0 0 0 0 3 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 3 0 1 0 0 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 3 0 0 0 0 0 0 0 1 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 0 2 0 0 0 0 0 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 0 0 0 2 0 0 0 0 0 0 0 1 0 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 0 0 0 0 0 0 0 2 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 0 0 0 0 0 0 0 0 0 0 1 0 0 0 2 0 0 0 0 0 0 0 0
Groups 1 and 4 collide.
Solution of group 1
Mulirobot solution: (|moves| = 14, paralellism = 1.750) [
Step 0: 1#20->21 3#29->28
Step 1: 1#21->22 3#28->27
Step 2: 1#22->23 3#27->21
Step 3: 3#21->15
Step 4: 3#15->9
Step 5: 2#14->15 3#9->8
Step 6: 2#15->21 3#8->7
Step 7: 2#21->27 3#7->6
]
Solution of group 4
Mulirobot solution: (|moves| = 4, paralellism = 1.000) [
Step 0: 1#12->13
Step 1: 1#13->14
Step 2: 1#14->20
Step 3: 1#20->26
]
Occupation table complementary for group 1
1 0 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0
0 1 0 0 0 1 0 0 0 1 0 0 0 1 0 1 1 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 1 0 0 1 1 0 0 1 1 0 0 1 0 0 1 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 1 0 1 1 0 1 1 0 0 0 1 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 1 0 1 1 0 1 0 0 0 1 1 1 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 1 1 1 0 0 1 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 1 0 1 1 0 0 0 1 1 0 1 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 1 0 1 1 0 0 0 1 1 0 0 0 0 0 0 1 1 0
1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 1 1 0 0 0 0 0 0 1 1 0
** Open/close/exp size (steps): 4896/9754/4896 (59217)
** Open/close/exp size (steps): 5114/21616/5114 (71079)
** Open/close/exp size (steps): 2007/35851/2007 (85314)
Occupation table complementary for group 4
1 0 0 1 1 0 0 0 0 1 0 0 0 0 2 0 0 0 0 1 1 0 1 0 1 0 0 0 0 3 0 0 0 1 0 0
0 1 0 0 0 1 0 0 0 1 0 0 0 0 2 1 1 0 1 0 0 1 0 0 0 1 0 1 3 0 0 0 0 0 0 0
0 0 0 0 0 0 0 1 0 0 1 1 0 0 2 1 0 0 1 0 0 1 1 0 0 1 0 3 0 0 0 0 0 0 0 0
0 0 0 0 1 0 0 0 0 0 0 0 0 1 2 1 0 1 1 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 1 0 0 0 0 0 1 0 0 0 0 2 3 1 0 1 1 0 1 0 1 0 1 0 1 0 0 0 0 0 0 0 0
0 0 1 1 0 0 0 0 0 3 0 0 0 0 2 0 0 0 1 0 1 1 1 1 0 1 0 0 0 0 0 0 0 1 0 0
0 0 1 0 0 0 0 0 3 0 0 0 0 0 0 2 0 0 1 0 1 1 0 1 0 1 0 0 1 0 0 0 0 1 0 0
0 1 1 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 1 0 1 0 0 0 0 0 0 0 1 1 0
1 0 1 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 1 0 1 0 2 0 0 0 0 0 1 1 0
Alternative solution of group 4
Mulirobot solution: (|moves| = 4, paralellism = 1.000) [
Step 0: 1#12->13
Step 1: 1#13->19
Step 2: 1#19->20
Step 3: 1#20->26
]
0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 1 0 0 0 0 0 0 0 0 3 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 1 0 0 0 0 0 0 3 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 1 0 0 0 0 3 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 3 0 1 0 0 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 3 0 0 0 0 0 0 0 1 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 0 2 0 0 0 0 0 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 0 0 0 2 0 0 0 0 0 0 0 1 0 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 0 0 0 0 0 0 0 2 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 0 0 0 0 0 0 0 0 0 0 1 0 0 0 2 0 0 0 0 0 0 0 0
Collision between groups 1 and 4 resolved.
0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 1 0 0 0 0 0 0 0 0 3 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 1 0 0 0 0 0 0 3 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 1 0 0 0 0 3 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 3 0 1 0 0 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 3 0 0 0 0 0 0 0 1 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 0 2 0 0 0 0 0 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 0 0 0 2 0 0 0 0 0 0 0 1 0 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 0 0 0 0 0 0 0 2 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 0 0 0 0 0 0 0 0 0 0 1 0 0 0 2 0 0 0 0 0 0 0 0
Groups 1 and 5 collide.
Solution of group 1
Mulirobot solution: (|moves| = 14, paralellism = 1.750) [
Step 0: 1#20->21 3#29->28
Step 1: 1#21->22 3#28->27
Step 2: 1#22->23 3#27->21
Step 3: 3#21->15
Step 4: 3#15->9
Step 5: 2#14->15 3#9->8
Step 6: 2#15->21 3#8->7
Step 7: 2#21->27 3#7->6
]
Solution of group 5
Mulirobot solution: (|moves| = 8, paralellism = 1.000) [
Step 0: 1#33->27
Step 1: 1#27->21
Step 2: 1#21->15
Step 3: 1#15->9
Step 4: 1#9->3
Step 5: 1#3->2
Step 6: 1#2->1
Step 7: 1#1->0
]
Occupation table complementary for group 1
1 0 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0
0 1 0 0 0 1 0 0 0 1 0 0 0 1 0 1 1 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 1 0 0 1 1 0 0 0 1 0 0 1 1 0 1 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 1 0 1 1 0 1 1 0 0 0 1 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 1 0 1 1 0 1 0 0 0 1 1 1 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 1 1 1 0 0 1 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 1 0 1 1 0 0 0 1 1 0 1 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 1 0 1 1 0 0 0 1 1 0 0 0 0 0 0 1 1 0
1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 1 1 0 0 0 0 0 0 1 1 0
** Open/close/exp size (steps): 1770/5787/1770 (102396)
** Open/close/exp size (steps): 4091/26286/4091 (122895)
** Open/close/exp size (steps): 12855/50885/12855 (147494)
** Open/close/exp size (steps): 14133/80404/14133 (177013)
** Open/close/exp size (steps): 9328/115827/9328 (212436)
Occupation table complementary for group 5
1 0 0 1 1 0 0 0 0 1 0 0 1 0 2 0 0 0 0 1 1 0 1 0 1 0 0 0 0 3 0 0 0 0 0 0
0 1 0 0 0 1 0 0 0 1 0 0 0 1 2 1 1 0 1 0 0 1 0 0 0 1 0 0 3 0 0 0 0 0 0 0
0 0 0 0 0 0 0 1 0 0 1 1 0 0 2 1 0 0 1 1 0 1 1 0 0 1 0 3 0 0 0 0 0 0 0 0
0 0 0 0 1 0 0 0 0 0 0 0 0 1 2 0 0 1 1 0 1 1 0 1 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 2 3 1 0 1 1 0 1 0 1 0 1 1 1 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 3 0 0 0 0 2 0 0 0 1 0 1 1 1 1 0 1 1 0 0 0 0 0 0 1 0 0
0 0 1 0 0 0 0 0 3 0 0 0 0 0 0 2 0 0 1 0 1 1 0 1 0 1 1 0 1 0 0 0 0 1 0 0
0 0 1 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 1 0 1 1 0 0 0 0 0 0 1 1 0
0 0 1 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 1 0 1 1 2 0 0 0 0 0 1 1 0
Unable to resolve collision between groups 1 and 5.
Merging groups 1 and 5.
Searching solution for merged group 1+5.
Open/close/exp size (steps): 250413/174892/250413 (1579125)
Open/close/exp size (steps): 177941/490742/177941 (1894975)
Open/close/exp size (steps): 244368/869762/244368 (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 = [ 11 ]
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) = 3.506
CPU/machine TIME (seconds) = 3.500
]
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 = 8325188
Produced CNF variables = 0
Produced CNF clauses = 0
Search steps = 0
Wall clock TIME (seconds) = 64.021
CPU/machine TIME (seconds) = 64.010
]
}
]
----------------------------------------------------------------