================================================================
reLOC 0.09-vegas : Multirobot Solution solver
(C) Copyright 2011-2013 Pavel Surynek
----------------------------------------------------------------
Reading graph...
1,0
8,0
2,1
9,1
3,2
10,2
4,3
11,3
5,4
12,4
6,5
13,5
7,6
14,6
9,8
16,8
10,9
17,9
11,10
18,10
12,11
19,11
13,12
20,12
14,13
21,13
15,14
22,14
17,16
24,16
18,17
25,17
19,18
26,18
20,19
27,19
21,20
28,20
22,21
29,21
23,22
30,22
25,24
32,24
26,25
33,25
27,26
34,26
28,27
35,27
29,28
36,28
30,29
37,29
31,30
38,30
33,32
40,32
34,33
41,33
35,34
42,34
36,35
43,35
37,36
44,36
38,37
45,37
39,38
46,38
41,40
48,40
42,41
49,41
43,42
50,42
44,43
51,43
45,44
52,44
46,45
53,45
47,46
54,46
49,48
56,48
50,49
57,49
51,50
58,50
52,51
59,51
53,52
60,52
54,53
61,53
55,54
62,54
15,7
23,15
31,23
39,31
47,39
55,47
63,55
57,56
58,57
59,58
60,59
61,60
62,61
63,62
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=64 |E|=112) [
    Vertex: (id = 0) {1 8 }
    Vertex: (id = 1) {0 2 9 }
    Vertex: (id = 2) {1 3 10 }
    Vertex: (id = 3) {2 4 11 }
    Vertex: (id = 4) {3 5 12 }
    Vertex: (id = 5) {4 6 13 }
    Vertex: (id = 6) {5 7 14 }
    Vertex: (id = 7) {6 15 }
    Vertex: (id = 8) {0 9 16 }
    Vertex: (id = 9) {1 8 10 17 }
    Vertex: (id = 10) {2 9 11 18 }
    Vertex: (id = 11) {3 10 12 19 }
    Vertex: (id = 12) {4 11 13 20 }
    Vertex: (id = 13) {5 12 14 21 }
    Vertex: (id = 14) {6 13 15 22 }
    Vertex: (id = 15) {14 7 23 }
    Vertex: (id = 16) {8 17 24 }
    Vertex: (id = 17) {9 16 18 25 }
    Vertex: (id = 18) {10 17 19 26 }
    Vertex: (id = 19) {11 18 20 27 }
    Vertex: (id = 20) {12 19 21 28 }
    Vertex: (id = 21) {13 20 22 29 }
    Vertex: (id = 22) {14 21 23 30 }
    Vertex: (id = 23) {22 15 31 }
    Vertex: (id = 24) {16 25 32 }
    Vertex: (id = 25) {17 24 26 33 }
    Vertex: (id = 26) {18 25 27 34 }
    Vertex: (id = 27) {19 26 28 35 }
    Vertex: (id = 28) {20 27 29 36 }
    Vertex: (id = 29) {21 28 30 37 }
    Vertex: (id = 30) {22 29 31 38 }
    Vertex: (id = 31) {30 23 39 }
    Vertex: (id = 32) {24 33 40 }
    Vertex: (id = 33) {25 32 34 41 }
    Vertex: (id = 34) {26 33 35 42 }
    Vertex: (id = 35) {27 34 36 43 }
    Vertex: (id = 36) {28 35 37 44 }
    Vertex: (id = 37) {29 36 38 45 }
    Vertex: (id = 38) {30 37 39 46 }
    Vertex: (id = 39) {38 31 47 }
    Vertex: (id = 40) {32 41 48 }
    Vertex: (id = 41) {33 40 42 49 }
    Vertex: (id = 42) {34 41 43 50 }
    Vertex: (id = 43) {35 42 44 51 }
    Vertex: (id = 44) {36 43 45 52 }
    Vertex: (id = 45) {37 44 46 53 }
    Vertex: (id = 46) {38 45 47 54 }
    Vertex: (id = 47) {46 39 55 }
    Vertex: (id = 48) {40 49 56 }
    Vertex: (id = 49) {41 48 50 57 }
    Vertex: (id = 50) {42 49 51 58 }
    Vertex: (id = 51) {43 50 52 59 }
    Vertex: (id = 52) {44 51 53 60 }
    Vertex: (id = 53) {45 52 54 61 }
    Vertex: (id = 54) {46 53 55 62 }
    Vertex: (id = 55) {54 47 63 }
    Vertex: (id = 56) {48 57 }
    Vertex: (id = 57) {49 56 58 }
    Vertex: (id = 58) {50 57 59 }
    Vertex: (id = 59) {51 58 60 }
    Vertex: (id = 60) {52 59 61 }
    Vertex: (id = 61) {53 60 62 }
    Vertex: (id = 62) {54 61 63 }
    Vertex: (id = 63) {55 62 }
    Edge  0: 1 <-> 0
    Edge  1: 8 <-> 0
    Edge  2: 2 <-> 1
    Edge  3: 9 <-> 1
    Edge  4: 3 <-> 2
    Edge  5: 10 <-> 2
    Edge  6: 4 <-> 3
    Edge  7: 11 <-> 3
    Edge  8: 5 <-> 4
    Edge  9: 12 <-> 4
    Edge  10: 6 <-> 5
    Edge  11: 13 <-> 5
    Edge  12: 7 <-> 6
    Edge  13: 14 <-> 6
    Edge  14: 9 <-> 8
    Edge  15: 16 <-> 8
    Edge  16: 10 <-> 9
    Edge  17: 17 <-> 9
    Edge  18: 11 <-> 10
    Edge  19: 18 <-> 10
    Edge  20: 12 <-> 11
    Edge  21: 19 <-> 11
    Edge  22: 13 <-> 12
    Edge  23: 20 <-> 12
    Edge  24: 14 <-> 13
    Edge  25: 21 <-> 13
    Edge  26: 15 <-> 14
    Edge  27: 22 <-> 14
    Edge  28: 17 <-> 16
    Edge  29: 24 <-> 16
    Edge  30: 18 <-> 17
    Edge  31: 25 <-> 17
    Edge  32: 19 <-> 18
    Edge  33: 26 <-> 18
    Edge  34: 20 <-> 19
    Edge  35: 27 <-> 19
    Edge  36: 21 <-> 20
    Edge  37: 28 <-> 20
    Edge  38: 22 <-> 21
    Edge  39: 29 <-> 21
    Edge  40: 23 <-> 22
    Edge  41: 30 <-> 22
    Edge  42: 25 <-> 24
    Edge  43: 32 <-> 24
    Edge  44: 26 <-> 25
    Edge  45: 33 <-> 25
    Edge  46: 27 <-> 26
    Edge  47: 34 <-> 26
    Edge  48: 28 <-> 27
    Edge  49: 35 <-> 27
    Edge  50: 29 <-> 28
    Edge  51: 36 <-> 28
    Edge  52: 30 <-> 29
    Edge  53: 37 <-> 29
    Edge  54: 31 <-> 30
    Edge  55: 38 <-> 30
    Edge  56: 33 <-> 32
    Edge  57: 40 <-> 32
    Edge  58: 34 <-> 33
    Edge  59: 41 <-> 33
    Edge  60: 35 <-> 34
    Edge  61: 42 <-> 34
    Edge  62: 36 <-> 35
    Edge  63: 43 <-> 35
    Edge  64: 37 <-> 36
    Edge  65: 44 <-> 36
    Edge  66: 38 <-> 37
    Edge  67: 45 <-> 37
    Edge  68: 39 <-> 38
    Edge  69: 46 <-> 38
    Edge  70: 41 <-> 40
    Edge  71: 48 <-> 40
    Edge  72: 42 <-> 41
    Edge  73: 49 <-> 41
    Edge  74: 43 <-> 42
    Edge  75: 50 <-> 42
    Edge  76: 44 <-> 43
    Edge  77: 51 <-> 43
    Edge  78: 45 <-> 44
    Edge  79: 52 <-> 44
    Edge  80: 46 <-> 45
    Edge  81: 53 <-> 45
    Edge  82: 47 <-> 46
    Edge  83: 54 <-> 46
    Edge  84: 49 <-> 48
    Edge  85: 56 <-> 48
    Edge  86: 50 <-> 49
    Edge  87: 57 <-> 49
    Edge  88: 51 <-> 50
    Edge  89: 58 <-> 50
    Edge  90: 52 <-> 51
    Edge  91: 59 <-> 51
    Edge  92: 53 <-> 52
    Edge  93: 60 <-> 52
    Edge  94: 54 <-> 53
    Edge  95: 61 <-> 53
    Edge  96: 55 <-> 54
    Edge  97: 62 <-> 54
    Edge  98: 15 <-> 7
    Edge  99: 23 <-> 15
    Edge  100: 31 <-> 23
    Edge  101: 39 <-> 31
    Edge  102: 47 <-> 39
    Edge  103: 55 <-> 47
    Edge  104: 63 <-> 55
    Edge  105: 57 <-> 56
    Edge  106: 58 <-> 57
    Edge  107: 59 <-> 58
    Edge  108: 60 <-> 59
    Edge  109: 61 <-> 60
    Edge  110: 62 <-> 61
    Edge  111: 63 <-> 62
]
Robot arrangement: (|R| = 14, |V| = 64) [
     robot locations: {1#20 2#3 3#5 4#19 5#17 6#21 7#39 8#22 9#40 10#58 11#45 12#16 13#50 14#28 }
     vertex occupancy: {0#0 0#1 0#2 2#3 0#4 3#5 0#6 0#7 0#8 0#9 0#10 0#11 0#12 0#13 0#14 0#15 12#16 5#17 0#18 4#19 1#20 6#21 8#22 0#23 0#24 0#25 0#26 0#27 14#28 0#29 0#30 0#31 0#32 0#33 0#34 0#35 0#36 0#37 0#38 7#39 9#40 0#41 0#42 0#43 0#44 11#45 0#46 0#47 0#48 0#49 13#50 0#51 0#52 0#53 0#54 0#55 0#56 0#57 10#58 0#59 0#60 0#61 0#62 0#63 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 14, |V| = 64) [
    robot goals: {
        1#{3}
        2#{43}
        3#{54}
        4#{36}
        5#{0}
        6#{32}
        7#{55}
        8#{5}
        9#{23}
        10#{61}
        11#{30}
        12#{27}
        13#{9}
        14#{58}
    }
    vertex compatibilities: {
        0@{5}
        1@{}
        2@{}
        3@{1}
        4@{}
        5@{8}
        6@{}
        7@{}
        8@{}
        9@{13}
        10@{}
        11@{}
        12@{}
        13@{}
        14@{}
        15@{}
        16@{}
        17@{}
        18@{}
        19@{}
        20@{}
        21@{}
        22@{}
        23@{9}
        24@{}
        25@{}
        26@{}
        27@{12}
        28@{}
        29@{}
        30@{11}
        31@{}
        32@{6}
        33@{}
        34@{}
        35@{}
        36@{4}
        37@{}
        38@{}
        39@{}
        40@{}
        41@{}
        42@{}
        43@{2}
        44@{}
        45@{}
        46@{}
        47@{}
        48@{}
        49@{}
        50@{}
        51@{}
        52@{}
        53@{}
        54@{3}
        55@{7}
        56@{}
        57@{}
        58@{14}
        59@{}
        60@{}
        61@{10}
        62@{}
        63@{}
    }
]
Open/close/exp size (steps): 5/1/5 (2)
Open/close/exp size (steps): 1/0/1 (5)
Open/close/exp size (steps): 16/4/16 (9)
Open/close/exp size (steps): 15/4/15 (14)
Open/close/exp size (steps): 29/10/29 (20)
Open/close/exp size (steps): 9/2/9 (28)
Open/close/exp size (steps): 17/4/17 (38)
Open/close/exp size (steps): 45/16/45 (50)
Open/close/exp size (steps): 7/2/7 (65)
Open/close/exp size (steps): 47/20/47 (83)
Open/close/exp size (steps): 89/42/89 (105)
Open/close/exp size (steps): 24/7/24 (132)
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

Groups 0 and 3 collide.
Solution of group 0
Mulirobot solution: (|moves| = 3, paralellism = 1.000) [
    Step 0: 1#20->12 
    Step 1: 1#12->4 
    Step 2: 1#4->3 
]
Solution of group 3
Mulirobot solution: (|moves| = 3, paralellism = 1.000) [
    Step 0: 1#19->20 
    Step 1: 1#20->28 
    Step 2: 1#28->36 
]
Occupation table complementary for group 0
0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 
0 0 0 0 0 0 1 0 0 1 0 1 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 1 0 1 0 1 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 
1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 1 0 0 0 1 1 0 0 1 0 0 0 1 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 1 0 0 
1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 
1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 0 
1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 
1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 
1 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 0 1 0 1 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 
1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 
1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 

Occupation table complementary for group 3
0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 
0 0 0 0 0 0 1 0 0 1 0 1 1 0 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 1 0 0 1 0 1 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 1 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 
1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 
1 0 0 1 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 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 

Unable to resolve collision between groups 0 and 3.
Merging groups 0 and 3.
Searching solution for merged group 0+3.
Open/close/exp size (steps): 32/9/32 (165)
Open/close/exp size (steps): 112/49/112 (205)
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 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

Groups 0 and 3 collide.
Solution of group 0
Mulirobot solution: (|moves| = 6, paralellism = 2.000) [
    Step 0: 1#20->12 2#19->27 
    Step 1: 1#12->4 2#27->28 
    Step 2: 1#4->3 2#28->36 
]
Solution of group 3
Mulirobot solution: (|moves| = 6, paralellism = 1.000) [
    Step 0: 1#28->27 
    Step 1: 1#27->26 
    Step 2: 1#26->34 
    Step 3: 1#34->42 
    Step 4: 1#42->50 
    Step 5: 1#50->58 
]
Occupation table complementary for group 0
0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 
0 0 0 0 0 0 1 0 0 1 0 1 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 1 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 
1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 
1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 
1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 0 
1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 
1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 
1 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 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 
1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 
1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 

Occupation table complementary for group 3
0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 2 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 
0 0 0 0 0 0 1 0 0 1 0 1 1 0 1 0 0 1 0 0 1 0 0 0 0 0 0 2 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 1 0 0 1 0 1 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 1 0 0 0 2 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 
1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 1 0 0 0 1 1 0 0 1 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 1 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 1 0 0 
1 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 2 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 2 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 2 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 
1 0 0 1 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 0 1 0 1 0 0 0 2 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 1 0 0 0 2 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 1 0 0 0 2 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 

** Open/close/exp size (steps): 1/0/1 (2)
** Open/close/exp size (steps): 2/3/2 (5)
** Open/close/exp size (steps): 10/7/10 (9)
Alternative solution of group 3
Mulirobot solution: (|moves| = 6, paralellism = 1.000) [
    Step 0: 1#28->36 
    Step 1: 1#36->35 
    Step 2: 1#35->43 
    Step 3: 1#43->42 
    Step 4: 1#42->50 
    Step 5: 1#50->58 
]
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 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

Collision between groups 0 and 3 resolved.
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

Groups 0 and 5 collide.
Solution of group 0
Mulirobot solution: (|moves| = 6, paralellism = 2.000) [
    Step 0: 1#20->12 2#19->27 
    Step 1: 1#12->4 2#27->28 
    Step 2: 1#4->3 2#28->36 
]
Solution of group 5
Mulirobot solution: (|moves| = 7, paralellism = 1.000) [
    Step 0: 1#21->20 
    Step 1: 1#20->19 
    Step 2: 1#19->18 
    Step 3: 1#18->17 
    Step 4: 1#17->16 
    Step 5: 1#16->24 
    Step 6: 1#24->32 
]
Occupation table complementary for group 0
0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 
0 0 0 0 0 0 1 0 0 1 0 1 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 1 0 0 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 0 0 0 1 0 0 0 0 1 0 0 0 
1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1 1 0 0 1 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 
1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 
1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 0 
1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 
1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 
1 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 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 
1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 
1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 

Occupation table complementary for group 5
0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 2 1 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 
0 0 0 0 0 0 1 0 0 1 0 1 1 0 1 0 0 1 0 0 0 0 0 0 0 0 0 2 0 0 0 0 1 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 1 0 0 1 0 1 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 1 0 0 0 2 1 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 
1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 1 1 0 0 1 0 0 0 0 0 2 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 1 2 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 2 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 2 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 2 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 
1 0 0 1 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 0 1 0 0 0 0 0 2 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 2 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 0 0 2 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 

** Open/close/exp size (steps): 1/0/1 (14)
** Open/close/exp size (steps): 4/6/4 (20)
** Open/close/exp size (steps): 12/14/12 (28)
** Open/close/exp size (steps): 8/24/8 (38)
** Open/close/exp size (steps): 10/36/10 (50)
** Open/close/exp size (steps): 19/51/19 (65)
** Open/close/exp size (steps): 18/69/18 (83)
** Open/close/exp size (steps): 4/91/4 (105)
Unable to resolve collision between groups 0 and 5.
Merging groups 0 and 5.
Searching solution for merged group 0+5.
Open/close/exp size (steps): 118/35/118 (253)
Open/close/exp size (steps): 336/93/336 (311)
Open/close/exp size (steps): 595/163/595 (381)
Open/close/exp size (steps): 829/247/829 (465)
Open/close/exp size (steps): 908/348/908 (566)
Open/close/exp size (steps): 956/470/956 (688)
Open/close/exp size (steps): 964/617/964 (835)
Open/close/exp size (steps): 959/794/959 (1012)
Open/close/exp size (steps): 1726/1007/1726 (1225)
Open/close/exp size (steps): 2658/1263/2658 (1481)
Open/close/exp size (steps): 3795/1571/3795 (1789)
Open/close/exp size (steps): 5145/1941/5145 (2159)
Open/close/exp size (steps): 5417/2385/5417 (2603)
Open/close/exp size (steps): 4972/2918/4972 (3136)
Open/close/exp size (steps): 4553/3558/4553 (3776)
Open/close/exp size (steps): 4047/4326/4047 (4544)
Open/close/exp size (steps): 3346/5248/3346 (5466)
Open/close/exp size (steps): 2480/6355/2480 (6573)
Open/close/exp size (steps): 4162/7684/4162 (7902)
Open/close/exp size (steps): 7103/9279/7103 (9497)
Open/close/exp size (steps): 11036/11193/11036 (11411)
Open/close/exp size (steps): 19272/13490/19272 (13708)
Open/close/exp size (steps): 23090/16247/23090 (16465)
Open/close/exp size (steps): 23895/19556/23895 (19774)
Open/close/exp size (steps): 24468/23527/24468 (23745)
Open/close/exp size (steps): 20819/28293/20819 (28511)
Open/close/exp size (steps): 22880/34013/22880 (34231)
Open/close/exp size (steps): 23842/40877/23842 (41095)
Open/close/exp size (steps): 30809/49114/30809 (49332)
Open/close/exp size (steps): 21097/58999/21097 (59217)
Open/close/exp size (steps): 36046/70861/36046 (71079)
Open/close/exp size (steps): 57026/85096/57026 (85314)
Open/close/exp size (steps): 91853/102178/91853 (102396)
Open/close/exp size (steps): 84247/122677/84247 (122895)
Open/close/exp size (steps): 116222/147276/116222 (147494)
Open/close/exp size (steps): 100118/176795/100118 (177013)
Open/close/exp size (steps): 71047/212218/71047 (212436)
Open/close/exp size (steps): 121196/254726/121196 (254944)
Open/close/exp size (steps): 73668/305736/73668 (305954)
Open/close/exp size (steps): 114314/366948/114314 (367166)
Open/close/exp size (steps): 141609/440403/141609 (440621)
Open/close/exp size (steps): 224819/528549/224819 (528767)
Open/close/exp size (steps): 328460/634325/328460 (634543)
Open/close/exp size (steps): 220541/761257/220541 (761475)
Open/close/exp size (steps): 233941/913576/233941 (913794)
Open/close/exp size (steps): 309066/1096359/309066 (1096577)
Open/close/exp size (steps): 412318/1315699/412318 (1315917)
Open/close/exp size (steps): 429483/1578907/429483 (1579125)
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 1 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 2 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 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 0 0 0 0 0 0 0 0 0 0 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 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
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 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 1 0 0 0 0 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

Groups 0 and 1 collide.
Solution of group 0
Mulirobot solution: (|moves| = 13, paralellism = 1.857) [
    Step 0: 1#20->12 3#21->29 
    Step 1: 1#12->4 3#29->28 
    Step 2: 1#4->3 3#28->27 
    Step 3: 3#27->26 
    Step 4: 2#19->20 3#26->25 
    Step 5: 2#20->28 3#25->24 
    Step 6: 2#28->36 3#24->32 
]
Solution of group 1
Mulirobot solution: (|moves| = 5, paralellism = 1.000) [
    Step 0: 1#3->11 
    Step 1: 1#11->19 
    Step 2: 1#19->27 
    Step 3: 1#27->35 
    Step 4: 1#35->43 
]
Occupation table complementary for group 0
0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 
0 0 0 0 0 0 1 0 0 1 0 1 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 1 0 0 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 0 0 0 1 0 0 0 0 1 0 0 0 
1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 
1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 
1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 0 
1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 
1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 
1 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 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 
1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 
1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 

** Open/close/exp size (steps): 31/23/31 (132)
** Open/close/exp size (steps): 71/56/71 (165)
** Open/close/exp size (steps): 109/96/109 (205)
** Open/close/exp size (steps): 172/144/172 (253)
** Open/close/exp size (steps): 204/202/204 (311)
** Open/close/exp size (steps): 307/272/307 (381)
** Open/close/exp size (steps): 489/356/489 (465)
** Open/close/exp size (steps): 692/457/692 (566)
** Open/close/exp size (steps): 738/579/738 (688)
** Open/close/exp size (steps): 811/726/811 (835)
** Open/close/exp size (steps): 844/903/844 (1012)
** Open/close/exp size (steps): 811/1116/811 (1225)
** Open/close/exp size (steps): 747/1372/747 (1481)
** Open/close/exp size (steps): 1285/1680/1285 (1789)
** Open/close/exp size (steps): 1859/2050/1859 (2159)
** Open/close/exp size (steps): 2411/2494/2411 (2603)
** Open/close/exp size (steps): 2587/3027/2587 (3136)
** Open/close/exp size (steps): 3531/3667/3531 (3776)
** Open/close/exp size (steps): 3632/4435/3632 (4544)
** Open/close/exp size (steps): 2954/5357/2954 (5466)
** Open/close/exp size (steps): 3985/6464/3985 (6573)
** Open/close/exp size (steps): 2656/7793/2656 (7902)
** Open/close/exp size (steps): 4298/9388/4298 (9497)
** Open/close/exp size (steps): 4922/11302/4922 (11411)
** Open/close/exp size (steps): 7586/13599/7586 (13708)
** Open/close/exp size (steps): 8272/16356/8272 (16465)
** Open/close/exp size (steps): 11833/19665/11833 (19774)
** Open/close/exp size (steps): 8111/23636/8111 (23745)
** Open/close/exp size (steps): 8944/28402/8944 (28511)
** Open/close/exp size (steps): 11001/34122/11001 (34231)
** Open/close/exp size (steps): 14389/40986/14389 (41095)
** Open/close/exp size (steps): 17422/49223/17422 (49332)
** Open/close/exp size (steps): 22583/59108/22583 (59217)
** Open/close/exp size (steps): 13761/70970/13761 (71079)
** Open/close/exp size (steps): 12698/85205/12698 (85314)
** Open/close/exp size (steps): 24447/102287/24447 (102396)
** Open/close/exp size (steps): 34271/122786/34271 (122895)
** Open/close/exp size (steps): 46003/147385/46003 (147494)
** Open/close/exp size (steps): 29853/176904/29853 (177013)
** Open/close/exp size (steps): 49597/212327/49597 (212436)
** Open/close/exp size (steps): 78460/254835/78460 (254944)
Alternative solution of group 0
Mulirobot solution: (|moves| = 15, paralellism = 1.667) [
    Step 0: 1#20->12 2#19->27 
    Step 1: 1#12->4 2#27->28 
    Step 2: 1#4->3 2#28->36 3#21->20 
    Step 3: 2#36->37 3#20->28 
    Step 4: 3#28->36 
    Step 5: 3#36->35 
    Step 6: 3#35->34 
    Step 7: 3#34->33 
    Step 8: 2#37->36 3#33->32 
]
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Collision between groups 0 and 1 resolved.
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Groups 1 and 11 collide.
Solution of group 1
Mulirobot solution: (|moves| = 5, paralellism = 1.000) [
    Step 0: 1#3->11 
    Step 1: 1#11->19 
    Step 2: 1#19->27 
    Step 3: 1#27->35 
    Step 4: 1#35->43 
]
Solution of group 11
Mulirobot solution: (|moves| = 4, paralellism = 1.000) [
    Step 0: 1#16->17 
    Step 1: 1#17->18 
    Step 2: 1#18->19 
    Step 3: 1#19->27 
]
Occupation table complementary for group 1
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 2 1 3 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 
0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 0 0 1 0 0 0 3 0 0 0 0 0 2 0 0 0 0 1 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
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1 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 3 2 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 3 0 2 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 
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Alternative solution of group 1
Mulirobot solution: (|moves| = 7, paralellism = 0.778) [
    Step 0: 1#3->11 
    Step 1: 
    Step 2: 1#11->12 
    Step 3: 
    Step 4: 1#12->20 
    Step 5: 1#20->28 
    Step 6: 1#28->36 
    Step 7: 1#36->35 
    Step 8: 1#35->43 
]
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Collision between groups 1 and 11 resolved.
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0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 

Groups 2 and 7 collide.
Solution of group 2
Mulirobot solution: (|moves| = 7, paralellism = 1.000) [
    Step 0: 1#5->6 
    Step 1: 1#6->14 
    Step 2: 1#14->22 
    Step 3: 1#22->30 
    Step 4: 1#30->38 
    Step 5: 1#38->46 
    Step 6: 1#46->54 
]
Solution of group 7
Mulirobot solution: (|moves| = 3, paralellism = 1.000) [
    Step 0: 1#22->14 
    Step 1: 1#14->6 
    Step 2: 1#6->5 
]
Occupation table complementary for group 2
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 2 1 3 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 1 0 1 1 0 1 0 0 1 0 0 0 3 0 0 0 0 0 2 0 0 0 0 1 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 1 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 1 0 0 3 0 0 1 0 0 0 2 1 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 
1 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 1 0 0 1 3 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 2 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 3 0 1 0 0 0 0 0 0 2 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 3 2 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 3 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 3 0 1 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 
1 0 0 1 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 0 1 0 0 3 0 1 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 3 0 0 0 2 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 3 0 0 0 2 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 

Alternative solution of group 2
Mulirobot solution: (|moves| = 9, paralellism = 0.900) [
    Step 0: 1#5->13 
    Step 1: 
    Step 2: 1#13->14 
    Step 3: 1#14->22 
    Step 4: 1#22->23 
    Step 5: 1#23->31 
    Step 6: 1#31->39 
    Step 7: 1#39->38 
    Step 8: 1#38->46 
    Step 9: 1#46->54 
]
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
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Collision between groups 2 and 7 resolved.
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0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

Groups 4 and 11 collide.
Solution of group 4
Mulirobot solution: (|moves| = 3, paralellism = 1.000) [
    Step 0: 1#17->9 
    Step 1: 1#9->1 
    Step 2: 1#1->0 
]
Solution of group 11
Mulirobot solution: (|moves| = 4, paralellism = 1.000) [
    Step 0: 1#16->17 
    Step 1: 1#17->18 
    Step 2: 1#18->19 
    Step 3: 1#19->27 
]
Occupation table complementary for group 4
0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 2 1 3 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 1 0 0 0 3 0 0 0 0 0 2 0 0 0 0 1 0 0 0 1 1 0 0 0 0 1 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 1 0 1 0 0 0 0 1 0 1 0 0 0 0 1 0 0 3 0 0 1 0 0 0 2 1 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 
0 0 0 1 0 1 0 0 0 0 0 0 1 0 1 0 1 0 0 1 3 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 2 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 
0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 0 1 0 0 0 0 1 3 0 1 0 0 0 0 0 0 2 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 
0 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 1 0 0 0 1 0 0 1 0 0 0 0 0 3 2 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 0 
0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 1 0 1 1 0 0 0 3 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 
0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 3 0 1 2 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 
0 0 0 1 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 0 1 0 0 3 0 1 0 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 
0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 3 0 0 0 2 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 
0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 3 0 0 0 2 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 

Occupation table complementary for group 11
0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 2 1 3 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 1 0 1 1 1 1 0 0 0 0 0 0 3 0 0 0 0 0 2 0 0 0 0 1 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 1 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 3 0 0 1 0 0 0 2 1 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 
1 0 0 1 0 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 3 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 2 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 3 0 1 0 0 0 0 0 0 2 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 3 2 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 1 1 0 0 0 3 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 3 0 1 2 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 3 0 1 0 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 3 0 0 0 2 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 3 0 0 0 2 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 

Alternative solution of group 11
Mulirobot solution: (|moves| = 4, paralellism = 0.667) [
    Step 0: 
    Step 1: 1#16->17 
    Step 2: 1#17->25 
    Step 3: 
    Step 4: 1#25->26 
    Step 5: 1#26->27 
]
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 4 and 11 resolved.
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 5 and 8 collide.
Solution of group 5
Mulirobot solution: (|moves| = 6, paralellism = 1.000) [
    Step 0: 1#50->42 
    Step 1: 1#42->34 
    Step 2: 1#34->26 
    Step 3: 1#26->18 
    Step 4: 1#18->10 
    Step 5: 1#10->9 
]
Solution of group 8
Mulirobot solution: (|moves| = 10, paralellism = 1.000) [
    Step 0: 1#40->32 
    Step 1: 1#32->24 
    Step 2: 1#24->16 
    Step 3: 1#16->17 
    Step 4: 1#17->18 
    Step 5: 1#18->19 
    Step 6: 1#19->20 
    Step 7: 1#20->21 
    Step 8: 1#21->22 
    Step 9: 1#22->23 
]
Occupation table complementary for group 5
0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 2 1 3 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 1 0 1 1 1 1 0 1 0 0 0 0 3 0 0 0 0 0 2 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 1 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 3 0 0 1 0 0 0 2 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 
1 0 0 1 0 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 3 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 2 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 1 0 0 3 0 1 0 0 0 0 0 0 2 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 0 0 1 0 0 0 0 0 3 2 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 0 0 
1 0 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 1 1 0 1 1 0 0 0 3 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 3 0 1 2 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 
1 0 0 1 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 0 1 0 0 3 0 1 0 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 0 3 0 0 0 2 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 
1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 3 0 0 0 2 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 

Alternative solution of group 5
Mulirobot solution: (|moves| = 8, paralellism = 1.000) [
    Step 0: 1#50->42 
    Step 1: 1#42->34 
    Step 2: 1#34->33 
    Step 3: 1#33->32 
    Step 4: 1#32->24 
    Step 5: 1#24->16 
    Step 6: 1#16->8 
    Step 7: 1#8->9 
]
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
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0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
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Collision between groups 5 and 8 resolved.
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Computed optimal makespan:10
Makespan optimal solution:
Mulirobot solution: (|moves| = 73, paralellism = 7.300) [
    Step 0: 1#20->12 4#19->27 2#3->11 3#5->13 14#28->36 5#17->9 13#50->42 7#39->47 8#22->14 9#40->32 10#58->59 11#45->37 
    Step 1: 1#12->4 4#27->28 14#36->35 5#9->1 13#42->34 7#47->55 8#14->6 9#32->24 10#59->60 11#37->29 12#16->17 
    Step 2: 1#4->3 4#28->36 6#21->20 2#11->12 3#13->14 14#35->43 5#1->0 13#34->33 8#6->5 9#24->16 10#60->61 11#29->30 12#17->25 
    Step 3: 4#36->37 6#20->28 3#14->22 14#43->42 13#33->32 9#16->17 
    Step 4: 6#28->36 2#12->20 3#22->23 14#42->50 13#32->24 9#17->18 12#25->26 
    Step 5: 6#36->35 2#20->28 3#23->31 14#50->58 13#24->16 9#18->19 12#26->27 
    Step 6: 6#35->34 2#28->36 3#31->39 13#16->8 9#19->20 
    Step 7: 6#34->33 2#36->35 3#39->38 13#8->9 9#20->21 
    Step 8: 4#37->36 6#33->32 2#35->43 3#38->46 9#21->22 
    Step 9: 3#46->54 9#22->23 
]
Multirobot solution analysis: (
    total makespan           = 10
    total distance           = 59
    total trajectory         = 73
    average parallelism      = 7.300
    average distance         = 4.214
    average trajectory       = 5.214
    parallelism distribution  = [ 0 1 0 0 3 1 2 0 0 0 1 1 1 ]
    distance distribution     = [ 0 1 6 1 1 1 2 0 0 1 ]
    trajectory distribution   = [ 0 1 5 1 1 1 2 1 1 1 ]
)
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                = 73
            Produced CNF variables         = 0
            Produced CNF clauses           = 0
            Search steps                   = 0
            Wall clock TIME (seconds)      = 0.003
            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                = 6675648
                Produced CNF variables         = 0
                Produced CNF clauses           = 0
                Search steps                   = 0
                Wall clock TIME (seconds)      = 53.323
                CPU/machine TIME (seconds)     = 53.320
            ]
        }
]
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