================================================================
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| = 14, |V| = 36) [
robot locations: {1#25 2#8 3#6 4#19 5#17 6#21 7#22 8#16 9#13 10#4 11#14 12#12 13#32 14#9 }
vertex occupancy: {0#0 0#1 0#2 0#3 10#4 0#5 3#6 0#7 2#8 14#9 0#10 0#11 12#12 9#13 11#14 0#15 8#16 5#17 0#18 4#19 0#20 6#21 7#22 0#23 0#24 1#25 0#26 0#27 0#28 0#29 0#30 0#31 13#32 0#33 0#34 0#35 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
robot locations: {}
vertex occupancy: {}
]
Robot goal: (|R| = 14, |V| = 36) [
robot goals: {
1#{32}
2#{29}
3#{5}
4#{35}
5#{7}
6#{28}
7#{19}
8#{21}
9#{20}
10#{25}
11#{8}
12#{33}
13#{1}
14#{0}
}
vertex compatibilities: {
0@{14}
1@{13}
2@{}
3@{}
4@{}
5@{3}
6@{}
7@{5}
8@{11}
9@{}
10@{}
11@{}
12@{}
13@{}
14@{}
15@{}
16@{}
17@{}
18@{}
19@{7}
20@{9}
21@{8}
22@{}
23@{}
24@{}
25@{10}
26@{}
27@{}
28@{6}
29@{2}
30@{}
31@{}
32@{1}
33@{12}
34@{}
35@{4}
}
]
Open/close/exp size (steps): 5/1/5 (2)
Open/close/exp size (steps): 9/2/9 (5)
Open/close/exp size (steps): 20/6/20 (9)
Open/close/exp size (steps): 34/11/34 (14)
Open/close/exp size (steps): 42/17/42 (20)
Open/close/exp size (steps): 12/5/12 (28)
Open/close/exp size (steps): 9/2/9 (38)
Open/close/exp size (steps): 39/14/39 (50)
Open/close/exp size (steps): 5/1/5 (65)
Open/close/exp size (steps): 27/10/27 (83)
Open/close/exp size (steps): 15/4/15 (105)
Open/close/exp size (steps): 33/11/33 (132)
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
Groups 0 and 12 collide.
Solution of group 0
Mulirobot solution: (|moves| = 2, paralellism = 1.000) [
Step 0: 1#25->26
Step 1: 1#26->32
]
Solution of group 12
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->2
Step 5: 1#2->1
]
Occupation table complementary for group 0
0 0 0 0 1 0 1 0 1 1 0 0 1 1 1 0 1 1 0 1 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0
1 0 0 1 0 0 0 0 1 1 0 0 0 1 1 1 1 0 0 0 1 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0
0 1 1 0 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0
0 1 1 0 0 0 0 0 1 1 0 1 0 0 1 1 0 0 0 1 1 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0
1 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 1 1 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0
1 0 1 0 1 0 0 1 1 0 0 0 0 1 0 0 0 0 0 1 1 1 0 1 0 0 0 1 1 1 0 0 0 0 0 0
1 1 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 1 1 0 0 0 1 0 1
1 1 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 1 0 0 1 1 0 0 0 1 0 1
** Open/close/exp size (steps): 3/1/3 (2)
Alternative solution of group 0
Mulirobot solution: (|moves| = 2, paralellism = 1.000) [
Step 0: 1#25->31
Step 1: 1#31->32
]
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
Collision between groups 0 and 12 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 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0
Groups 1 and 3 collide.
Solution of group 1
Mulirobot solution: (|moves| = 6, paralellism = 1.000) [
Step 0: 1#8->9
Step 1: 1#9->10
Step 2: 1#10->11
Step 3: 1#11->17
Step 4: 1#17->23
Step 5: 1#23->29
]
Solution of group 3
Mulirobot solution: (|moves| = 6, paralellism = 1.000) [
Step 0: 1#19->20
Step 1: 1#20->21
Step 2: 1#21->22
Step 3: 1#22->23
Step 4: 1#23->29
Step 5: 1#29->35
]
Occupation table complementary for group 1
0 0 0 0 1 0 1 0 0 1 0 0 1 1 1 0 1 1 0 1 0 1 1 0 0 1 0 0 0 0 0 0 1 0 0 0
1 0 0 1 0 0 0 0 1 0 0 0 0 1 1 1 1 0 0 0 1 1 1 0 0 0 1 0 0 0 0 1 0 0 0 0
0 1 1 0 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0
0 1 1 0 0 0 0 0 1 1 0 0 0 0 1 1 0 0 0 1 1 1 1 0 0 0 0 0 1 0 0 0 1 0 0 0
1 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 1 0 0 0 0 1 0 0 0 1 0 0 0
1 0 1 0 1 0 0 1 1 0 0 0 0 1 0 0 0 0 0 1 1 1 0 0 0 0 0 1 1 1 0 0 1 0 0 0
1 1 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 1 0 0 0 1 1 0 1
1 1 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 1 0 0 1 0 0 0 1 1 0 1
Occupation table complementary for group 3
0 0 0 0 1 0 1 0 1 1 0 0 1 1 1 0 1 1 0 0 0 1 1 0 0 1 0 0 0 0 0 0 1 0 0 0
1 0 0 1 0 0 0 0 1 1 0 0 0 1 1 1 1 0 0 0 0 1 1 0 0 0 1 0 0 0 0 1 0 0 0 0
0 1 1 0 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0
0 1 1 0 0 0 0 0 1 1 0 1 0 0 1 1 0 0 0 1 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0
1 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0
1 0 1 0 1 0 0 1 1 0 0 0 0 1 0 0 0 0 0 1 1 1 0 1 0 0 0 1 1 0 0 0 1 0 0 0
1 1 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 1 1 0 0 1 1 0 0
1 1 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 1 0 0 1 1 0 0 1 1 0 0
** Open/close/exp size (steps): 2/2/2 (5)
** Open/close/exp size (steps): 10/6/10 (9)
** Open/close/exp size (steps): 9/11/9 (14)
** Open/close/exp size (steps): 6/17/6 (20)
** Open/close/exp size (steps): 3/25/3 (28)
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): 93/24/93 (165)
Open/close/exp size (steps): 181/64/181 (205)
Open/close/exp size (steps): 191/112/191 (253)
Open/close/exp size (steps): 375/170/375 (311)
Open/close/exp size (steps): 487/240/487 (381)
Open/close/exp size (steps): 488/324/488 (465)
Open/close/exp size (steps): 475/425/475 (566)
Open/close/exp size (steps): 726/547/726 (688)
Open/close/exp size (steps): 844/694/844 (835)
Open/close/exp size (steps): 804/871/804 (1012)
Open/close/exp size (steps): 826/1084/826 (1225)
Open/close/exp size (steps): 991/1340/991 (1481)
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 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 1 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 1 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 1 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 1 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 1 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 1 0 0 0 0 0 2
0 0 0 0 0 0 0 0 1 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 1 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 1 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 1 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 1 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 1 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 1 0 0 0 0 0 2
Groups 1 and 3 collide.
Solution of group 1
Mulirobot solution: (|moves| = 12, paralellism = 2.000) [
Step 0: 1#8->9 2#19->20
Step 1: 1#9->10 2#20->21
Step 2: 1#10->11 2#21->22
Step 3: 1#11->17 2#22->28
Step 4: 1#17->23 2#28->34
Step 5: 1#23->29 2#34->35
]
Solution of group 3
Mulirobot solution: (|moves| = 4, paralellism = 1.000) [
Step 0: 1#9->3
Step 1: 1#3->2
Step 2: 1#2->1
Step 3: 1#1->0
]
Occupation table complementary for group 1
0 0 0 0 1 0 1 0 0 1 0 0 1 1 1 0 1 1 0 0 0 1 1 0 0 1 0 0 0 0 0 0 1 0 0 0
1 0 0 1 0 0 0 0 1 0 0 0 0 1 1 1 1 0 0 0 0 1 1 0 0 0 1 0 0 0 0 1 0 0 0 0
0 1 1 0 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0
0 1 1 0 0 0 0 0 1 1 0 0 0 0 1 1 0 0 0 1 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0
1 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0
1 0 1 0 1 0 0 1 1 0 0 0 0 1 0 0 0 0 0 1 1 1 0 0 0 0 0 1 1 0 0 0 1 0 0 0
1 1 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 1 0 0 0 1 1 0 0
1 1 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 1 0 0 1 0 0 0 1 1 0 0
Occupation table complementary for group 3
0 0 0 0 1 0 1 0 1 0 0 0 1 1 1 0 1 1 0 2 0 1 1 0 0 1 0 0 0 0 0 0 1 0 0 0
1 0 0 1 0 0 0 0 1 1 0 0 0 1 1 1 1 0 0 0 2 1 1 0 0 0 1 0 0 0 0 1 0 0 0 0
0 1 1 0 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0
0 1 1 0 0 0 0 0 1 1 0 1 0 0 1 1 0 0 0 1 1 1 2 0 0 0 0 0 1 0 0 0 1 0 0 0
0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0
0 0 1 0 1 0 0 1 1 0 0 0 0 1 0 0 0 0 0 1 1 1 0 1 0 0 0 1 1 0 0 0 1 0 2 0
0 1 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 1 1 0 0 1 1 0 2
0 1 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 1 0 0 1 1 0 0 1 1 0 2
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): 146/46/146 (1789)
Open/close/exp size (steps): 1053/416/1053 (2159)
Open/close/exp size (steps): 1743/860/1743 (2603)
Open/close/exp size (steps): 2736/1393/2736 (3136)
Open/close/exp size (steps): 3726/2033/3726 (3776)
Open/close/exp size (steps): 4679/2801/4679 (4544)
Open/close/exp size (steps): 5786/3723/5786 (5466)
Open/close/exp size (steps): 7256/4830/7256 (6573)
Open/close/exp size (steps): 9196/6159/9196 (7902)
Open/close/exp size (steps): 10289/7754/10289 (9497)
Open/close/exp size (steps): 12540/9668/12540 (11411)
Open/close/exp size (steps): 15168/11965/15168 (13708)
Open/close/exp size (steps): 18150/14722/18150 (16465)
Open/close/exp size (steps): 22042/18031/22042 (19774)
Open/close/exp size (steps): 25505/22002/25505 (23745)
Open/close/exp size (steps): 27372/26768/27372 (28511)
Open/close/exp size (steps): 37800/32488/37800 (34231)
Open/close/exp size (steps): 45436/39352/45436 (41095)
Open/close/exp size (steps): 38497/47589/38497 (49332)
Open/close/exp size (steps): 39166/57474/39166 (59217)
Open/close/exp size (steps): 36688/69336/36688 (71079)
Open/close/exp size (steps): 25821/83571/25821 (85314)
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 3 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 3 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 3 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 3 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
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 0 0 0 2 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 0 0 1 0 0 0 0 0 0 0 0 0 0 2 0
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 1 0 0 0 0 0 2
Groups 1 and 2 collide.
Solution of group 1
Mulirobot solution: (|moves| = 16, paralellism = 2.667) [
Step 0: 1#8->14 2#19->20 3#9->3
Step 1: 1#14->15 2#20->21 3#3->2
Step 2: 1#15->16 2#21->22 3#2->1
Step 3: 1#16->17 2#22->28 3#1->0
Step 4: 1#17->23 2#28->34
Step 5: 1#23->29 2#34->35
]
Solution of group 2
Mulirobot solution: (|moves| = 6, paralellism = 1.000) [
Step 0: 1#6->0
Step 1: 1#0->1
Step 2: 1#1->2
Step 3: 1#2->3
Step 4: 1#3->4
Step 5: 1#4->5
]
Occupation table complementary for group 1
0 0 0 0 1 0 1 0 0 0 0 0 1 1 1 0 1 1 0 0 0 1 1 0 0 1 0 0 0 0 0 0 1 0 0 0
1 0 0 1 0 0 0 0 1 0 0 0 0 1 1 1 1 0 0 0 0 1 1 0 0 0 1 0 0 0 0 1 0 0 0 0
0 1 1 0 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0
0 1 1 0 0 0 0 0 1 1 0 0 0 0 1 1 0 0 0 1 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0
0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0
0 0 1 0 1 0 0 1 1 0 0 0 0 1 0 0 0 0 0 1 1 1 0 0 0 0 0 1 1 0 0 0 1 0 0 0
0 1 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 1 0 0 0 1 1 0 0
0 1 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 1 0 0 1 0 0 0 1 1 0 0
Occupation table complementary for group 2
0 0 0 0 1 0 0 0 1 3 0 0 1 1 1 0 1 1 0 2 0 1 1 0 0 1 0 0 0 0 0 0 1 0 0 0
0 0 0 1 0 0 0 0 1 0 0 0 0 1 1 1 1 0 0 0 2 1 1 0 0 0 1 0 0 0 0 1 0 0 0 0
0 0 1 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0
0 1 0 0 0 0 0 0 1 1 0 0 0 0 1 1 1 0 0 1 1 1 2 0 0 0 0 0 1 0 0 0 1 0 0 0
3 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0
3 0 1 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 1 1 1 0 1 0 0 0 1 1 0 0 0 1 0 2 0
3 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 1 1 0 0 1 1 0 2
3 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 1 0 0 1 1 0 0 1 1 0 2
** Open/close/exp size (steps): 4/5/4 (38)
** Open/close/exp size (steps): 1/17/1 (50)
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): 19560/14515/19560 (102396)
Open/close/exp size (steps): 59901/35014/59901 (122895)
Open/close/exp size (steps): 85426/59613/85426 (147494)
Open/close/exp size (steps): 121406/89132/121406 (177013)
Open/close/exp size (steps): 126981/124555/126981 (212436)
Open/close/exp size (steps): 206952/167063/206952 (254944)
Open/close/exp size (steps): 290103/218073/290103 (305954)
Open/close/exp size (steps): 347648/279285/347648 (367166)
Open/close/exp size (steps): 419747/352740/419747 (440621)
Open/close/exp size (steps): 507525/440886/507525 (528767)
Open/close/exp size (steps): 572131/546662/572131 (634543)
Open/close/exp size (steps): 546148/673594/546148 (761475)
Open/close/exp size (steps): 898906/825913/898906 (913794)
Open/close/exp size (steps): 1244430/1008696/1244430 (1096577)
Open/close/exp size (steps): 1634580/1228036/1634580 (1315917)
Open/close/exp size (steps): 2044610/1491244/2044610 (1579125)
Open/close/exp size (steps): 1752026/1807094/1752026 (1894975)
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 = [ 13 ]
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) = 7.495
CPU/machine TIME (seconds) = 7.490
]
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 = 5767836
Produced CNF variables = 0
Produced CNF clauses = 0
Search steps = 0
Wall clock TIME (seconds) = 64.017
CPU/machine TIME (seconds) = 64.010
]
}
]
----------------------------------------------------------------