================================================================
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| = 23, |V| = 64) [
robot locations: {1#13 2#6 3#62 4#52 5#17 6#4 7#48 8#23 9#40 10#58 11#46 12#37 13#38 14#8 15#61 16#28 17#27 18#47 19#35 20#11 21#22 22#18 23#57 }
vertex occupancy: {0#0 0#1 0#2 0#3 6#4 0#5 2#6 0#7 14#8 0#9 0#10 20#11 0#12 1#13 0#14 0#15 0#16 5#17 22#18 0#19 0#20 0#21 21#22 8#23 0#24 0#25 0#26 17#27 16#28 0#29 0#30 0#31 0#32 0#33 0#34 19#35 0#36 12#37 13#38 0#39 9#40 0#41 0#42 0#43 0#44 0#45 11#46 18#47 7#48 0#49 0#50 0#51 4#52 0#53 0#54 0#55 0#56 23#57 10#58 0#59 0#60 15#61 3#62 0#63 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
robot locations: {}
vertex occupancy: {}
]
Robot goal: (|R| = 23, |V| = 64) [
robot goals: {
1#{40}
2#{16}
3#{49}
4#{15}
5#{60}
6#{32}
7#{11}
8#{34}
9#{31}
10#{5}
11#{29}
12#{35}
13#{17}
14#{63}
15#{25}
16#{4}
17#{38}
18#{18}
19#{20}
20#{14}
21#{45}
22#{2}
23#{23}
}
vertex compatibilities: {
0@{}
1@{}
2@{22}
3@{}
4@{16}
5@{10}
6@{}
7@{}
8@{}
9@{}
10@{}
11@{7}
12@{}
13@{}
14@{20}
15@{4}
16@{2}
17@{13}
18@{18}
19@{}
20@{19}
21@{}
22@{}
23@{23}
24@{}
25@{15}
26@{}
27@{}
28@{}
29@{11}
30@{}
31@{9}
32@{6}
33@{}
34@{8}
35@{12}
36@{}
37@{}
38@{17}
39@{}
40@{1}
41@{}
42@{}
43@{}
44@{}
45@{21}
46@{}
47@{}
48@{}
49@{3}
50@{}
51@{}
52@{}
53@{}
54@{}
55@{}
56@{}
57@{}
58@{}
59@{}
60@{5}
61@{}
62@{}
63@{14}
}
]
Open/close/exp size (steps): 5/1/5 (2)
Open/close/exp size (steps): 17/4/17 (5)
Open/close/exp size (steps): 28/8/28 (9)
Open/close/exp size (steps): 38/13/38 (14)
Open/close/exp size (steps): 52/19/52 (20)
Open/close/exp size (steps): 68/27/68 (28)
Open/close/exp size (steps): 82/37/82 (38)
Open/close/exp size (steps): 14/4/14 (50)
Open/close/exp size (steps): 46/19/46 (65)
Open/close/exp size (steps): 23/9/23 (83)
Open/close/exp size (steps): 47/18/47 (105)
Open/close/exp size (steps): 35/11/35 (132)
Open/close/exp size (steps): 27/10/27 (165)
Open/close/exp size (steps): 37/14/37 (205)
Open/close/exp size (steps): 18/5/18 (253)
Open/close/exp size (steps): 67/30/67 (311)
Open/close/exp size (steps): 58/23/58 (381)
Open/close/exp size (steps): 38/14/38 (465)
Open/close/exp size (steps): 48/19/48 (566)
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 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| = 9, paralellism = 1.000) [
Step 0: 1#13->12
Step 1: 1#12->11
Step 2: 1#11->10
Step 3: 1#10->9
Step 4: 1#9->8
Step 5: 1#8->16
Step 6: 1#16->24
Step 7: 1#24->32
Step 8: 1#32->40
]
Solution of group 5
Mulirobot solution: (|moves| = 8, paralellism = 1.000) [
Step 0: 1#4->3
Step 1: 1#3->2
Step 2: 1#2->1
Step 3: 1#1->0
Step 4: 1#0->8
Step 5: 1#8->16
Step 6: 1#16->24
Step 7: 1#24->32
]
Occupation table complementary for group 0
0 0 0 0 1 0 1 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 1 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 1 0 1 0 0 0 0 0 1 1 1 0 0 0 1 0 0 0 0 1 1 0 0 1 1 0
0 0 0 1 0 1 0 0 0 1 1 0 1 0 0 0 0 0 1 0 1 1 1 0 0 0 0 1 1 0 1 0 1 0 0 0 1 0 1 0 1 0 0 0 1 0 1 0 0 1 1 0 0 1 1 0 0 0 0 0 0 0 0 0
0 0 1 0 1 0 0 0 0 0 1 0 1 1 0 0 0 0 0 1 0 1 1 0 1 0 0 0 0 1 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 1 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 1 1 0 0 1 1 1 0 0 1 1 1 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
1 0 1 0 1 0 0 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 1 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0
0 1 1 0 1 0 0 0 1 0 0 0 1 1 1 0 0 1 1 1 1 1 0 0 0 0 0 1 1 1 0 0 0 0 0 1 1 0 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 1 0 1 0 0 0 0 1 1 0 0 1 1 0 1 0 1 0 1 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 1 0 0 0 1 0 1 0 0 0 1 1 0 1 0 1 1 0 0 0 1 0 1 0 0 1 0 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 0 0 0 0 0 0 0
0 0 1 1 1 0 0 0 0 0 0 1 0 0 1 1 1 1 1 0 1 0 0 1 0 1 0 0 0 1 1 0 1 0 1 1 0 0 1 0 0 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 1 0 1 0 0 0 0 0 0 1 0 0 1 1 1 1 1 0 1 1 0 0 0 1 0 0 0 1 0 1 1 0 1 1 0 0 1 0 0 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 1 0 1 1 0 0 0 0 0 1 0 0 1 1 1 1 1 0 1 0 1 0 0 1 0 0 0 1 0 1 1 0 1 1 0 0 1 1 0 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 1 0 1 1 0 0 0 0 0 1 0 0 1 1 1 1 1 0 1 0 0 1 0 1 0 0 0 1 0 1 1 0 1 1 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 1 0 1 1 0 0 0 0 0 1 0 0 1 1 1 1 1 0 1 0 0 1 0 1 0 0 0 1 0 1 1 0 1 1 0 0 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0
0 0 1 0 1 1 0 0 0 0 0 1 0 0 1 1 1 1 1 0 1 0 0 1 0 1 0 0 0 1 0 1 1 0 1 1 0 0 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1
** Open/close/exp size (steps): 1/1/1 (2)
** Open/close/exp size (steps): 6/4/6 (5)
** Open/close/exp size (steps): 14/8/14 (9)
** Open/close/exp size (steps): 19/13/19 (14)
** Open/close/exp size (steps): 13/19/13 (20)
** Open/close/exp size (steps): 11/27/11 (28)
** Open/close/exp size (steps): 12/37/12 (38)
** Open/close/exp size (steps): 25/49/25 (50)
** Open/close/exp size (steps): 19/64/19 (65)
** Open/close/exp size (steps): 13/82/13 (83)
Occupation table complementary for group 5
0 0 0 0 0 0 1 0 1 0 0 1 0 1 0 0 0 1 1 0 0 0 1 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 1 0 1 0 0 0 0 0 1 1 1 0 0 0 1 0 0 0 0 1 1 0 0 1 1 0
0 0 0 0 0 1 0 0 0 1 1 0 1 0 0 0 0 0 1 0 1 1 1 0 0 0 0 1 1 0 1 0 1 0 0 0 1 0 1 0 1 0 0 0 1 0 1 0 0 1 1 0 0 1 1 0 0 0 0 0 0 0 0 0
0 0 1 0 1 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 1 1 0 1 0 0 0 0 1 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 1 1 1 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 1 1 0 0 1 1 0 0 1 1 1 0 0 1 1 1 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 1 0 1 0 0 0 0 1 0 0 1 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 1 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0
0 1 1 0 1 0 0 0 1 0 0 0 1 1 1 0 0 1 1 1 1 1 0 0 0 0 0 1 1 1 0 0 0 0 0 1 1 0 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 1 0 1 0 0 0 0 1 1 0 0 1 1 0 1 0 1 0 1 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 1 0 0 0 1 0 1 0 0 0 1 1 0 1 0 1 1 0 0 0 1 0 1 0 0 1 0 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 0 0 0 0 0 0 0
0 0 1 1 1 0 0 0 0 0 0 1 0 0 1 1 1 1 1 0 1 0 0 1 0 1 0 0 0 1 1 0 1 0 1 1 0 0 1 0 0 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 1 0 1 0 0 0 0 0 0 1 0 0 1 1 1 1 1 0 1 1 0 0 0 1 0 0 0 1 0 1 0 0 1 1 0 0 1 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 1 0 1 1 0 0 0 0 0 1 0 0 1 1 1 1 1 0 1 0 1 0 0 1 0 0 0 1 0 1 0 0 1 1 0 0 1 1 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 1 0 1 1 0 0 0 0 0 1 0 0 1 1 1 1 1 0 1 0 0 1 0 1 0 0 0 1 0 1 0 0 1 1 0 0 1 0 1 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 1 0 1 1 0 0 0 0 0 1 0 0 1 1 1 1 1 0 1 0 0 1 0 1 0 0 0 1 0 1 0 0 1 1 0 0 1 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0
0 0 1 0 1 1 0 0 0 0 0 1 0 0 1 1 1 1 1 0 1 0 0 1 0 1 0 0 0 1 0 1 0 0 1 1 0 0 1 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1
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): 169/74/169 (688)
Open/close/exp size (steps): 411/221/411 (835)
Open/close/exp size (steps): 602/398/602 (1012)
Open/close/exp size (steps): 826/611/826 (1225)
Open/close/exp size (steps): 1183/867/1183 (1481)
Open/close/exp size (steps): 1423/1175/1423 (1789)
Open/close/exp size (steps): 1749/1545/1749 (2159)
Open/close/exp size (steps): 2237/1989/2237 (2603)
Open/close/exp size (steps): 2680/2522/2680 (3136)
Open/close/exp size (steps): 3109/3162/3109 (3776)
Open/close/exp size (steps): 3884/3930/3884 (4544)
Open/close/exp size (steps): 4613/4852/4613 (5466)
Open/close/exp size (steps): 5302/5959/5302 (6573)
Open/close/exp size (steps): 6386/7288/6386 (7902)
Open/close/exp size (steps): 7386/8883/7386 (9497)
0 0 0 0 2 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 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 1 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 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 1 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 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 1 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 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 1 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 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 1 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| = 17, paralellism = 1.889) [
Step 0: 1#13->12 2#4->3
Step 1: 1#12->11 2#3->2
Step 2: 1#11->10 2#2->1
Step 3: 1#10->9 2#1->0
Step 4: 1#9->17 2#0->8
Step 5: 1#17->25 2#8->16
Step 6: 1#25->33 2#16->24
Step 7: 1#33->41 2#24->32
Step 8: 1#41->40
]
Solution of group 5
Mulirobot solution: (|moves| = 11, paralellism = 1.000) [
Step 0: 1#57->49
Step 1: 1#49->41
Step 2: 1#41->33
Step 3: 1#33->25
Step 4: 1#25->17
Step 5: 1#17->18
Step 6: 1#18->19
Step 7: 1#19->20
Step 8: 1#20->21
Step 9: 1#21->22
Step 10: 1#22->23
]
Occupation table complementary for group 0
0 0 0 0 0 0 1 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 1 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 1 0 1 0 0 0 0 0 1 1 1 0 0 0 1 0 0 0 0 1 1 0 0 1 1 0
0 0 0 0 0 1 0 0 0 1 1 0 1 0 0 0 0 0 1 0 1 1 1 0 0 0 0 1 1 0 1 0 1 0 0 0 1 0 1 0 1 0 0 0 1 0 1 0 0 1 1 0 0 1 1 0 0 0 0 0 0 0 0 0
0 0 1 0 1 0 0 0 0 0 1 0 1 1 0 0 0 0 0 1 0 1 1 0 1 0 0 0 0 1 1 0 1 0 0 1 1 0 1 0 0 1 1 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 1 1 0 0 1 1 1 0 0 1 1 1 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 1 0 1 0 0 0 0 0 0 0 1 0 1 0 1 0 0 1 1 0 1 0 0 1 1 0 1 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0
0 1 1 0 1 0 0 0 1 0 0 0 1 1 1 0 0 1 1 1 1 1 0 0 0 0 0 1 1 1 0 0 0 0 0 1 1 0 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 1 0 1 0 0 0 0 1 1 0 0 1 1 0 0 0 1 0 1 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 1 0 0 0 1 0 1 0 0 0 1 1 0 1 0 1 1 0 0 0 0 0 1 0 0 1 0 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 0 0 0 0 0 0 0
0 0 1 1 1 0 0 0 0 0 0 1 0 0 1 1 1 1 1 0 1 0 0 1 0 1 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 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 1 0 1 0 0 0 0 0 0 1 0 0 1 1 1 1 1 0 1 1 0 0 0 1 0 0 0 1 0 1 0 0 1 1 0 0 1 0 0 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 1 0 1 1 0 0 0 0 0 1 0 0 1 1 1 1 1 0 1 0 1 0 0 1 0 0 0 1 0 1 0 0 1 1 0 0 1 1 0 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 1 0 1 1 0 0 0 0 0 1 0 0 1 1 1 1 1 0 1 0 0 1 0 1 0 0 0 1 0 1 0 0 1 1 0 0 1 0 0 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 1 0 1 1 0 0 0 0 0 1 0 0 1 1 1 1 1 0 1 0 0 1 0 1 0 0 0 1 0 1 0 0 1 1 0 0 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0
0 0 1 0 1 1 0 0 0 0 0 1 0 0 1 1 1 1 1 0 1 0 0 1 0 1 0 0 0 1 0 1 0 0 1 1 0 0 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1
Occupation table complementary for group 5
0 0 0 0 2 0 1 0 1 0 0 1 0 1 0 0 0 1 1 0 0 0 1 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 1 0 1 0 0 0 0 0 1 1 1 0 0 0 1 0 0 0 0 0 1 0 0 1 1 0
0 0 0 2 0 1 0 0 0 1 1 0 1 0 0 0 0 0 1 0 1 1 1 0 0 0 0 1 1 0 1 0 1 0 0 0 1 0 1 0 1 0 0 0 1 0 1 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0
0 0 1 0 1 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 0 1 1 0 1 0 0 0 0 1 1 0 1 0 0 1 1 0 1 0 0 0 1 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
0 2 1 1 1 0 0 0 0 0 1 1 0 0 1 0 0 0 0 0 1 1 0 0 1 1 0 0 1 1 1 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 0 0 0 0 0 0 0 0
2 0 1 0 1 0 0 0 0 1 0 0 1 0 1 0 1 0 0 1 1 0 1 0 0 0 1 0 1 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0
0 1 1 0 1 0 0 0 1 0 0 0 1 1 1 0 0 1 1 1 1 1 0 0 0 0 0 1 1 1 0 0 0 0 0 1 1 0 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 1 0 1 0 0 0 0 1 1 0 0 1 1 0 2 0 1 0 1 0 0 0 0 1 1 1 1 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 1 0 0 0 1 0 1 0 0 0 1 1 0 1 0 1 1 0 0 0 2 0 1 0 0 1 0 0 0 1 1 1 0 0 1 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 0 1 1 1 0 0 0 0 0 0 1 0 0 1 1 1 1 1 0 1 0 0 1 0 1 0 0 0 1 1 0 2 0 1 1 0 0 1 0 0 1 0 0 0 1 0 0 0 1 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 1 0 0 1 1 1 1 1 0 1 0 0 0 0 1 0 0 0 1 0 1 2 0 1 1 0 0 1 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 1 0 1 1 0 0 0 0 0 1 0 0 1 1 1 1 1 0 1 0 0 0 0 1 0 0 0 1 0 1 2 0 1 1 0 0 1 1 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 1 0 1 1 0 0 0 0 0 1 0 0 1 1 1 1 1 0 1 0 0 0 0 1 0 0 0 1 0 1 2 0 1 1 0 0 1 0 1 0 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 1 0 1 1 0 0 0 0 0 1 0 0 1 1 1 1 1 0 1 0 0 0 0 1 0 0 0 1 0 1 2 0 1 1 0 0 1 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0
0 0 1 0 1 1 0 0 0 0 0 1 0 0 1 1 1 1 1 0 1 0 0 0 0 1 0 0 0 1 0 1 2 0 1 1 0 0 1 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1
** Open/close/exp size (steps): 1/0/1 (105)
** Open/close/exp size (steps): 39/27/39 (132)
** Open/close/exp size (steps): 28/60/28 (165)
** Open/close/exp size (steps): 11/100/11 (205)
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): 925/661/925 (11411)
Open/close/exp size (steps): 2661/2958/2661 (13708)
Open/close/exp size (steps): 4028/5715/4028 (16465)
Open/close/exp size (steps): 5515/9024/5515 (19774)
Open/close/exp size (steps): 7124/12995/7124 (23745)
Open/close/exp size (steps): 10076/17761/10076 (28511)
Open/close/exp size (steps): 12596/23481/12596 (34231)
Open/close/exp size (steps): 15212/30345/15212 (41095)
Open/close/exp size (steps): 18576/38582/18576 (49332)
Open/close/exp size (steps): 22654/48467/22654 (59217)
Open/close/exp size (steps): 27456/60329/27456 (71079)
Open/close/exp size (steps): 34368/74564/34368 (85314)
Open/close/exp size (steps): 41540/91646/41540 (102396)
Open/close/exp size (steps): 49147/112145/49147 (122895)
Open/close/exp size (steps): 58500/136744/58500 (147494)
Open/close/exp size (steps): 72544/166263/72544 (177013)
Open/close/exp size (steps): 89402/201686/89402 (212436)
Open/close/exp size (steps): 109732/244194/109732 (254944)
Open/close/exp size (steps): 132775/295204/132775 (305954)
Open/close/exp size (steps): 165021/356416/165021 (367166)
Open/close/exp size (steps): 198269/429871/198269 (440621)
Open/close/exp size (steps): 221916/518017/221916 (528767)
Open/close/exp size (steps): 270449/623793/270449 (634543)
Open/close/exp size (steps): 303484/750725/303484 (761475)
Open/close/exp size (steps): 349018/903044/349018 (913794)
Open/close/exp size (steps): 307309/1085827/307309 (1096577)
Open/close/exp size (steps): 329156/1305167/329156 (1315917)
Open/close/exp size (steps): 324086/1568375/324086 (1579125)
Open/close/exp size (steps): 624334/1884225/624334 (1894975)
Open/close/exp size (steps): 957258/2263245/957258 (2273995)
Cannot decide existence of solution..
Multirobot solution analysis: (
total makespan = 0
total distance = 0
total trajectory = 0
average parallelism = -nan
average distance = 0.000
average trajectory = 0.000
parallelism distribution = [ ]
distance distribution = [ 22 ]
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) = 7.291
CPU/machine TIME (seconds) = 7.290
]
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 = 8845929
Produced CNF variables = 0
Produced CNF clauses = 0
Search steps = 0
Wall clock TIME (seconds) = 64.014
CPU/machine TIME (seconds) = 64.010
]
}
]
----------------------------------------------------------------