================================================================
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| = 8, |V| = 36) [
robot locations: {1#13 2#5 3#29 4#26 5#0 6#1 7#28 8#32 }
vertex occupancy: {5#0 6#1 0#2 0#3 0#4 2#5 0#6 0#7 0#8 0#9 0#10 0#11 0#12 1#13 0#14 0#15 0#16 0#17 0#18 0#19 0#20 0#21 0#22 0#23 0#24 0#25 4#26 0#27 7#28 3#29 0#30 0#31 8#32 0#33 0#34 0#35 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
robot locations: {}
vertex occupancy: {}
]
Robot goal: (|R| = 8, |V| = 36) [
robot goals: {
1#{22}
2#{19}
3#{5}
4#{13}
5#{15}
6#{23}
7#{27}
8#{29}
}
vertex compatibilities: {
0@{}
1@{}
2@{}
3@{}
4@{}
5@{3}
6@{}
7@{}
8@{}
9@{}
10@{}
11@{}
12@{}
13@{4}
14@{}
15@{5}
16@{}
17@{}
18@{}
19@{2}
20@{}
21@{}
22@{1}
23@{6}
24@{}
25@{}
26@{}
27@{7}
28@{}
29@{8}
30@{}
31@{}
32@{}
33@{}
34@{}
35@{}
}
]
Open/close/exp size (steps): 5/1/5 (2)
Open/close/exp size (steps): 17/4/17 (5)
Open/close/exp size (steps): 3/1/3 (9)
Open/close/exp size (steps): 15/6/15 (14)
Open/close/exp size (steps): 27/12/27 (20)
Open/close/exp size (steps): 42/20/42 (28)
Open/close/exp size (steps): 10/3/10 (38)
Open/close/exp size (steps): 18/7/18 (50)
Open/close/exp size (steps): 28/9/28 (65)
Open/close/exp size (steps): 1/0/1 (83)
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 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| = 4, paralellism = 1.000) [
Step 0: 1#13->14
Step 1: 1#14->15
Step 2: 1#15->16
Step 3: 1#16->22
]
Solution of group 3
Mulirobot solution: (|moves| = 3, paralellism = 1.000) [
Step 0: 1#26->20
Step 1: 1#20->14
Step 2: 1#14->13
]
Occupation table complementary for group 0
1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 1 0 0 0
0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0
0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0
0 0 1 1 1 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0
0 1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0
0 0 0 0 0 1 0 1 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 1 0 0 0 1 0 0 0 1 0 1 0 0 0 0 0 0
** Open/close/exp size (steps): 4/1/4 (2)
** Open/close/exp size (steps): 5/4/5 (5)
Alternative solution of group 0
Mulirobot solution: (|moves| = 4, paralellism = 0.800) [
Step 0: 1#13->19
Step 1:
Step 2: 1#19->20
Step 3: 1#20->21
Step 4: 1#21->22
]
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Groups 1 and 3 collide.
Solution of group 1
Mulirobot solution: (|moves| = 7, paralellism = 1.000) [
Step 0: 1#5->4
Step 1: 1#4->3
Step 2: 1#3->2
Step 3: 1#2->1
Step 4: 1#1->7
Step 5: 1#7->13
Step 6: 1#13->19
]
Solution of group 3
Mulirobot solution: (|moves| = 3, paralellism = 1.000) [
Step 0: 1#26->20
Step 1: 1#20->14
Step 2: 1#14->13
]
Occupation table complementary for group 1
1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 1 0 0 0
0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0
0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0
0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 1 0 0 0 1 0 1 0 0 0 0 0 0
** Open/close/exp size (steps): 4/2/4 (9)
** Open/close/exp size (steps): 6/7/6 (14)
** Open/close/exp size (steps): 3/13/3 (20)
** Open/close/exp size (steps): 1/21/1 (28)
Occupation table complementary for group 3
1 1 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 0
0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0
0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0
0 0 1 1 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0
0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 0 0
0 0 0 0 0 1 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 1 0 0 0 1 0 1 0 0 0 0 0 0
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): 38/14/38 (105)
Open/close/exp size (steps): 99/41/99 (132)
Open/close/exp size (steps): 155/74/155 (165)
Open/close/exp size (steps): 227/114/227 (205)
Open/close/exp size (steps): 301/162/301 (253)
Open/close/exp size (steps): 395/220/395 (311)
Open/close/exp size (steps): 471/290/471 (381)
Open/close/exp size (steps): 526/374/526 (465)
Open/close/exp size (steps): 538/475/538 (566)
Open/close/exp size (steps): 594/597/594 (688)
Open/close/exp size (steps): 634/744/634 (835)
Open/close/exp size (steps): 757/921/757 (1012)
Open/close/exp size (steps): 838/1134/838 (1225)
Open/close/exp size (steps): 1010/1390/1010 (1481)
Open/close/exp size (steps): 1200/1698/1200 (1789)
Open/close/exp size (steps): 1579/2068/1579 (2159)
Open/close/exp size (steps): 1568/2512/1568 (2603)
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0
0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 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 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 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 2 1 0 0 0 0 0 0 0 0 0 0 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 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0
0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 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 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 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 2 1 0 0 0 0 0 0 0 0 0 0 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 2 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Groups 1 and 3 collide.
Solution of group 1
Mulirobot solution: (|moves| = 10, paralellism = 1.429) [
Step 0: 1#5->4 2#26->20
Step 1: 1#4->3 2#20->14
Step 2: 1#3->2 2#14->13
Step 3: 1#2->8
Step 4: 1#8->14
Step 5: 1#14->20
Step 6: 1#20->19
]
Solution of group 3
Mulirobot solution: (|moves| = 4, paralellism = 1.000) [
Step 0: 1#32->26
Step 1: 1#26->27
Step 2: 1#27->28
Step 3: 1#28->29
]
Occupation table complementary for group 1
1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 0
0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0
0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0
0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 1 0 1 0 0 0 0 0 0
Occupation table complementary for group 3
1 1 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 2 0 1 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 0 1 2 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0
0 0 1 1 0 0 0 0 0 0 0 0 0 0 2 0 0 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0
0 0 1 1 1 0 0 0 0 0 0 1 0 2 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0
0 0 0 0 0 1 0 0 1 1 0 0 0 2 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 0 0 0 0 0 1 0 2 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 1 0 0 0 0 0 0 0 2 0 1 0 1 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 1 0 0 0 1 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 0
Alternative solution of group 3
Mulirobot solution: (|moves| = 4, paralellism = 1.000) [
Step 0: 1#32->33
Step 1: 1#33->34
Step 2: 1#34->28
Step 3: 1#28->29
]
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0
0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 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 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 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 2 1 0 0 0 0 0 0 0 0 0 0 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 2 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Collision between groups 1 and 3 resolved.
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0
0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 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 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 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 2 1 0 0 0 0 0 0 0 0 0 0 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 2 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Groups 1 and 4 collide.
Solution of group 1
Mulirobot solution: (|moves| = 10, paralellism = 1.429) [
Step 0: 1#5->4 2#26->20
Step 1: 1#4->3 2#20->14
Step 2: 1#3->2 2#14->13
Step 3: 1#2->8
Step 4: 1#8->14
Step 5: 1#14->20
Step 6: 1#20->19
]
Solution of group 4
Mulirobot solution: (|moves| = 5, paralellism = 1.000) [
Step 0: 1#0->1
Step 1: 1#1->2
Step 2: 1#2->3
Step 3: 1#3->9
Step 4: 1#9->15
]
Occupation table complementary for group 1
1 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 0
0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0
0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0
0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 1 0 1 0 0 0 0 0 0
** Open/close/exp size (steps): 7/5/7 (38)
** Open/close/exp size (steps): 18/17/18 (50)
** Open/close/exp size (steps): 42/32/42 (65)
** Open/close/exp size (steps): 60/50/60 (83)
** Open/close/exp size (steps): 58/72/58 (105)
** Open/close/exp size (steps): 71/99/71 (132)
** Open/close/exp size (steps): 74/132/74 (165)
** Open/close/exp size (steps): 87/172/87 (205)
** Open/close/exp size (steps): 138/220/138 (253)
** Open/close/exp size (steps): 168/278/168 (311)
** Open/close/exp size (steps): 163/348/163 (381)
** Open/close/exp size (steps): 154/432/154 (465)
** Open/close/exp size (steps): 237/533/237 (566)
** Open/close/exp size (steps): 234/655/234 (688)
** Open/close/exp size (steps): 314/802/314 (835)
** Open/close/exp size (steps): 301/979/301 (1012)
** Open/close/exp size (steps): 318/1192/318 (1225)
** Open/close/exp size (steps): 268/1448/268 (1481)
** Open/close/exp size (steps): 283/1756/283 (1789)
** Open/close/exp size (steps): 97/2126/97 (2159)
Occupation table complementary for group 4
0 1 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 2 0 1 1 0 0 1 0 0 0
0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 2 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0
0 0 0 1 0 0 0 0 0 0 0 0 0 0 2 0 0 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0
0 0 1 0 1 0 0 0 0 0 0 1 0 2 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0
0 0 0 0 0 1 0 0 1 0 0 0 0 2 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 1 0 2 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 0 0 1 0 0 0 0 0 0 0 2 0 0 0 1 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 0 0 0 0 1 0 0 1 1 0 0 0 1 0 1 0 0 0 0 0 0
Unable to resolve collision between groups 1 and 4.
Merging groups 1 and 4.
Searching solution for merged group 1+4.
Open/close/exp size (steps): 376/285/376 (3136)
Open/close/exp size (steps): 878/925/878 (3776)
Open/close/exp size (steps): 1490/1693/1490 (4544)
Open/close/exp size (steps): 3121/2615/3121 (5466)
Open/close/exp size (steps): 4366/3722/4366 (6573)
Open/close/exp size (steps): 4086/5051/4086 (7902)
Open/close/exp size (steps): 5252/6646/5252 (9497)
Open/close/exp size (steps): 8788/8560/8788 (11411)
Open/close/exp size (steps): 10843/10857/10843 (13708)
Open/close/exp size (steps): 13833/13614/13833 (16465)
Open/close/exp size (steps): 12517/16923/12517 (19774)
Open/close/exp size (steps): 10690/20894/10690 (23745)
Open/close/exp size (steps): 10864/25660/10864 (28511)
Open/close/exp size (steps): 14699/31380/14699 (34231)
Open/close/exp size (steps): 20329/38244/20329 (41095)
Open/close/exp size (steps): 22378/46481/22378 (49332)
Open/close/exp size (steps): 25541/56366/25541 (59217)
Open/close/exp size (steps): 33739/68228/33739 (71079)
Open/close/exp size (steps): 31812/82463/31812 (85314)
Open/close/exp size (steps): 59289/99545/59289 (102396)
Open/close/exp size (steps): 62188/120044/62188 (122895)
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
3 0 0 0 0 1 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
3 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 3 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 3 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 3 0 0 0 0 1 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 3 0 0 0 2 1 0 0 0 0 0 0 0 0 0 0 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 3 0 0 0 0 1 0 0 0 0 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 3 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
3 0 0 0 0 1 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
3 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 3 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 3 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 3 0 0 0 0 1 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 3 0 0 0 2 1 0 0 0 0 0 0 0 0 0 0 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 3 0 0 0 0 1 0 0 0 0 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 3 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
3 0 0 0 0 1 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
3 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 3 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 3 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 3 0 0 0 0 1 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 3 0 0 0 2 1 0 0 0 0 0 0 0 0 0 0 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 3 0 0 0 0 1 0 0 0 0 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 3 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
3 0 0 0 0 1 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
3 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 3 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 3 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 3 0 0 0 0 1 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 3 0 0 0 2 1 0 0 0 0 0 0 0 0 0 0 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 3 0 0 0 0 1 0 0 0 0 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 3 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Groups 1 and 5 collide.
Solution of group 1
Mulirobot solution: (|moves| = 15, paralellism = 2.143) [
Step 0: 1#5->4 2#26->20
Step 1: 1#4->3 2#20->14 3#0->1
Step 2: 1#3->9 2#14->13 3#1->2
Step 3: 1#9->8 3#2->3
Step 4: 1#8->14 3#3->9
Step 5: 1#14->20 3#9->15
Step 6: 1#20->19
]
Solution of group 5
Mulirobot solution: (|moves| = 7, paralellism = 1.000) [
Step 0: 1#1->2
Step 1: 1#2->3
Step 2: 1#3->4
Step 3: 1#4->5
Step 4: 1#5->11
Step 5: 1#11->17
Step 6: 1#17->23
]
Occupation table complementary for group 1
0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 0
0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0
0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 1 0 0 0 0 0 0
** Open/close/exp size (steps): 58/61/58 (2603)
** Open/close/exp size (steps): 894/594/894 (3136)
** Open/close/exp size (steps): 1644/1234/1644 (3776)
** Open/close/exp size (steps): 2767/2002/2767 (4544)
** Open/close/exp size (steps): 2877/2924/2877 (5466)
** Open/close/exp size (steps): 3550/4031/3550 (6573)
** Open/close/exp size (steps): 3097/5360/3097 (7902)
** Open/close/exp size (steps): 5672/6955/5672 (9497)
** Open/close/exp size (steps): 6238/8869/6238 (11411)
** Open/close/exp size (steps): 7303/11166/7303 (13708)
** Open/close/exp size (steps): 8555/13923/8555 (16465)
** Open/close/exp size (steps): 9165/17232/9165 (19774)
** Open/close/exp size (steps): 13372/21203/13372 (23745)
** Open/close/exp size (steps): 16126/25969/16126 (28511)
Alternative solution of group 1
Mulirobot solution: (|moves| = 15, paralellism = 2.143) [
Step 0: 1#5->4 2#26->20
Step 1: 1#4->10 2#20->14 3#0->1
Step 2: 1#10->9 2#14->13 3#1->2
Step 3: 1#9->8 3#2->3
Step 4: 1#8->14 3#3->9
Step 5: 1#14->20 3#9->15
Step 6: 1#20->19
]
3 0 0 0 0 1 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
3 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 3 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 3 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 3 0 0 0 0 1 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 3 0 0 0 2 1 0 0 0 0 0 0 0 0 0 0 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 3 0 0 0 0 1 0 0 0 0 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 3 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Collision between groups 1 and 5 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 1 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Groups 2 and 5 collide.
Solution of group 2
Mulirobot solution: (|moves| = 4, paralellism = 1.000) [
Step 0: 1#29->23
Step 1: 1#23->17
Step 2: 1#17->11
Step 3: 1#11->5
]
Solution of group 5
Mulirobot solution: (|moves| = 7, paralellism = 1.000) [
Step 0: 1#1->2
Step 1: 1#2->3
Step 2: 1#3->4
Step 3: 1#4->5
Step 4: 1#5->11
Step 5: 1#11->17
Step 6: 1#17->23
]
Occupation table complementary for group 2
3 1 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 2 0 1 0 0 0 1 0 0 0
3 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 2 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0
0 3 0 1 0 0 0 0 0 0 1 0 0 0 2 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0
0 0 3 0 1 0 0 0 0 1 0 0 0 2 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0
0 0 0 3 0 1 0 0 1 0 0 0 0 2 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 3 0 1 0 2 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 0 0 0 0 0 0 0 0 0 0 2 0 3 0 1 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 3 0 0 0 1 0 0 1 1 0 0 0 1 0 1 0 0 0 0 0 0
Alternative solution of group 2
Mulirobot solution: (|moves| = 6, paralellism = 1.000) [
Step 0: 1#29->23
Step 1: 1#23->17
Step 2: 1#17->11
Step 3: 1#11->10
Step 4: 1#10->4
Step 5: 1#4->5
]
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Collision between groups 2 and 5 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 0 0 0 0 0 0 0 1 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0
Computed optimal makespan:7
Makespan optimal solution:
Mulirobot solution: (|moves| = 37, paralellism = 5.286) [
Step 0: 1#13->19 2#5->4 4#26->20 3#29->23 8#32->33 7#28->27 6#1->2
Step 1: 2#4->10 4#20->14 5#0->1 3#23->17 8#33->34 6#2->3
Step 2: 1#19->20 2#10->9 4#14->13 5#1->2 3#17->11 8#34->28 6#3->4
Step 3: 1#20->21 2#9->8 5#2->3 3#11->10 8#28->29 6#4->5
Step 4: 1#21->22 2#8->14 5#3->9 3#10->4 6#5->11
Step 5: 2#14->20 5#9->15 3#4->5 6#11->17
Step 6: 2#20->19 6#17->23
]
Multirobot solution analysis: (
total makespan = 7
total distance = 31
total trajectory = 37
average parallelism = 5.286
average distance = 3.875
average trajectory = 4.625
parallelism distribution = [ 0 1 0 1 1 2 2 ]
distance distribution = [ 1 0 1 2 1 0 2 ]
trajectory distribution = [ 1 0 1 2 1 1 2 ]
)
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 = 37
Produced CNF variables = 0
Produced CNF clauses = 0
Search steps = 0
Wall clock TIME (seconds) = 0.002
CPU/machine TIME (seconds) = 0.000
]
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 = 509550
Produced CNF variables = 0
Produced CNF clauses = 0
Search steps = 0
Wall clock TIME (seconds) = 3.274
CPU/machine TIME (seconds) = 3.270
]
}
]
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