================================================================
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| = 24, |V| = 64) [
robot locations: {1#8 2#4 3#29 4#63 5#52 6#54 7#17 8#22 9#56 10#31 11#23 12#44 13#1 14#37 15#25 16#35 17#47 18#3 19#27 20#9 21#61 22#28 23#50 24#57 }
vertex occupancy: {0#0 13#1 0#2 18#3 2#4 0#5 0#6 0#7 1#8 20#9 0#10 0#11 0#12 0#13 0#14 0#15 0#16 7#17 0#18 0#19 0#20 0#21 8#22 11#23 0#24 15#25 0#26 19#27 22#28 3#29 0#30 10#31 0#32 0#33 0#34 16#35 0#36 14#37 0#38 0#39 0#40 0#41 0#42 0#43 12#44 0#45 0#46 17#47 0#48 0#49 23#50 0#51 5#52 0#53 6#54 0#55 9#56 24#57 0#58 0#59 0#60 21#61 0#62 4#63 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
robot locations: {}
vertex occupancy: {}
]
Robot goal: (|R| = 24, |V| = 64) [
robot goals: {
1#{63}
2#{23}
3#{25}
4#{46}
5#{15}
6#{47}
7#{26}
8#{7}
9#{28}
10#{49}
11#{0}
12#{32}
13#{18}
14#{30}
15#{57}
16#{10}
17#{2}
18#{39}
19#{56}
20#{54}
21#{31}
22#{9}
23#{42}
24#{58}
}
vertex compatibilities: {
0@{11}
1@{}
2@{17}
3@{}
4@{}
5@{}
6@{}
7@{8}
8@{}
9@{22}
10@{16}
11@{}
12@{}
13@{}
14@{}
15@{5}
16@{}
17@{}
18@{13}
19@{}
20@{}
21@{}
22@{}
23@{2}
24@{}
25@{3}
26@{7}
27@{}
28@{9}
29@{}
30@{14}
31@{21}
32@{12}
33@{}
34@{}
35@{}
36@{}
37@{}
38@{}
39@{18}
40@{}
41@{}
42@{23}
43@{}
44@{}
45@{}
46@{4}
47@{6}
48@{}
49@{10}
50@{}
51@{}
52@{}
53@{}
54@{20}
55@{}
56@{19}
57@{15}
58@{24}
59@{}
60@{}
61@{}
62@{}
63@{1}
}
]
Open/close/exp size (steps): 4/1/4 (2)
Open/close/exp size (steps): 15/4/15 (5)
Open/close/exp size (steps): 25/8/25 (9)
Open/close/exp size (steps): 34/13/34 (14)
Open/close/exp size (steps): 48/19/48 (20)
Open/close/exp size (steps): 64/27/64 (28)
Open/close/exp size (steps): 83/37/83 (38)
Open/close/exp size (steps): 103/49/103 (50)
Open/close/exp size (steps): 121/64/121 (65)
Open/close/exp size (steps): 144/82/144 (83)
Open/close/exp size (steps): 30/11/30 (105)
Open/close/exp size (steps): 48/17/48 (132)
Open/close/exp size (steps): 21/8/21 (165)
Open/close/exp size (steps): 31/12/31 (205)
Open/close/exp size (steps): 40/19/40 (253)
Open/close/exp size (steps): 45/17/45 (311)
Open/close/exp size (steps): 62/31/62 (381)
Open/close/exp size (steps): 109/52/109 (465)
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1
Groups 0 and 1 collide.
Solution of group 0
Mulirobot solution: (|moves| = 13, paralellism = 1.000) [
Step 0: 1#8->9
Step 1: 1#9->10
Step 2: 1#10->11
Step 3: 1#11->12
Step 4: 1#12->13
Step 5: 1#13->14
Step 6: 1#14->15
Step 7: 1#15->23
Step 8: 1#23->31
Step 9: 1#31->39
Step 10: 1#39->47
Step 11: 1#47->55
Step 12: 1#55->63
]
Solution of group 1
Mulirobot solution: (|moves| = 5, paralellism = 1.000) [
Step 0: 1#4->5
Step 1: 1#5->6
Step 2: 1#6->7
Step 3: 1#7->15
Step 4: 1#15->23
]
Occupation table complementary for group 0
0 1 0 1 1 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 1 0 1 1 1 0 1 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 0 1 0 1 1 0 0 0 1 0 1
0 0 1 0 1 1 0 0 0 0 1 0 0 0 1 0 0 0 1 0 1 0 1 0 0 0 1 1 1 1 1 0 0 1 0 0 1 0 0 0 0 0 1 0 1 0 1 0 1 0 0 0 0 1 0 1 0 0 1 0 0 0 0 0
0 0 0 0 0 1 1 0 0 0 1 1 1 0 1 0 0 0 0 1 0 0 0 0 0 1 1 1 0 1 1 0 0 0 0 1 1 0 1 0 1 1 1 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 1 0 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 1 0 1 0 1 0 1 0 1 0 1 0 0 1 0 0 0 0 1 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0
0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 1 0 0 1 0 1 0 1 0 1 1 1 1 0 1 1 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0
0 0 0 0 1 0 0 1 0 1 1 0 1 0 1 1 0 0 1 0 0 0 0 1 0 1 1 0 0 0 1 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0
0 0 0 1 0 0 1 1 0 1 1 0 0 1 0 0 0 0 1 0 0 0 1 1 0 1 1 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 1 1 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0
0 0 1 0 0 1 0 1 0 1 1 0 0 0 1 0 0 0 1 0 0 0 0 1 0 1 1 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0
0 1 0 0 1 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 1 0 1 1 0 1 0 1 1 1 0 0 0 0 0 1 1 0 1 1 0 0 0 1 1 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0
1 0 0 1 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 1 0 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 0 0 0 1 1 1 0 0 0 0 0
1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 1 0 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 0 1 0 1 1 1 0 0 0 0 0
1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 1 0 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 0 1 0 1 1 1 0 0 0 0 0
1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 1 0 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 0 1 0 1 1 1 0 0 0 0 0
1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 1 0 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 0 1 0 1 1 1 0 0 0 0 0
** Open/close/exp size (steps): 3/1/3 (2)
** Open/close/exp size (steps): 7/4/7 (5)
** Open/close/exp size (steps): 7/8/7 (9)
** Open/close/exp size (steps): 5/13/5 (14)
** Open/close/exp size (steps): 10/19/10 (20)
** Open/close/exp size (steps): 31/27/31 (28)
** Open/close/exp size (steps): 26/37/26 (38)
** Open/close/exp size (steps): 27/49/27 (50)
** Open/close/exp size (steps): 17/64/17 (65)
** Open/close/exp size (steps): 21/82/21 (83)
** Open/close/exp size (steps): 10/104/10 (105)
Occupation table complementary for group 1
0 1 0 1 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 1 0 1 1 1 0 1 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 0 1 0 1 1 0 0 0 1 0 1
0 0 1 0 1 0 0 0 0 1 1 0 0 0 1 0 0 0 1 0 1 0 1 0 0 0 1 1 1 1 1 0 0 1 0 0 1 0 0 0 0 0 1 0 1 0 1 0 1 0 0 0 0 1 0 1 0 0 1 0 0 0 0 0
0 0 0 0 0 1 1 0 0 0 1 1 1 0 1 0 0 0 0 1 0 0 0 0 0 1 1 1 0 1 1 0 0 0 0 1 1 0 1 0 1 1 1 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 1 0 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 1 0 1 0 1 0 1 0 1 0 1 0 0 1 0 0 0 0 1 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0
0 0 0 0 0 1 0 1 0 0 1 0 1 1 0 0 0 0 1 0 1 0 1 0 1 1 1 1 0 1 1 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0
0 0 0 0 1 0 0 1 0 1 1 0 1 1 1 1 0 0 1 0 0 0 0 0 0 1 1 0 0 0 1 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0
0 0 0 1 0 0 1 1 0 1 1 0 0 1 1 0 0 0 1 0 0 0 1 1 0 1 1 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 1 1 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0
0 0 1 0 0 1 0 1 0 1 1 0 0 0 1 1 0 0 1 0 0 0 0 0 0 1 1 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0
0 1 0 0 1 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 1 0 1 1 0 1 0 1 1 1 0 0 0 0 0 1 1 0 1 1 0 0 0 1 1 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0
1 0 0 1 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 0 0 0 1 1 1 0 0 0 0 0
1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 0 1 0 1 1 1 0 0 0 0 0
1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 0 1 0 1 1 1 0 0 0 0 0
1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 0 1 1 1 1 1 0 0 0 0 0
1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 0 1 0 1 1 1 0 0 0 0 1
Unable to resolve collision between groups 0 and 1.
Merging groups 0 and 1.
Searching solution for merged group 0+1.
Open/close/exp size (steps): 128/64/128 (566)
Open/close/exp size (steps): 318/186/318 (688)
Open/close/exp size (steps): 481/333/481 (835)
Open/close/exp size (steps): 700/510/700 (1012)
Open/close/exp size (steps): 866/723/866 (1225)
Open/close/exp size (steps): 1148/979/1148 (1481)
Open/close/exp size (steps): 1358/1287/1358 (1789)
Open/close/exp size (steps): 1698/1657/1698 (2159)
Open/close/exp size (steps): 1697/2101/1697 (2603)
Open/close/exp size (steps): 1610/2634/1610 (3136)
Open/close/exp size (steps): 1580/3274/1580 (3776)
Open/close/exp size (steps): 1629/4042/1629 (4544)
Open/close/exp size (steps): 1967/4964/1967 (5466)
Open/close/exp size (steps): 2515/6071/2515 (6573)
Open/close/exp size (steps): 2697/7400/2697 (7902)
Open/close/exp size (steps): 2397/8995/2397 (9497)
Open/close/exp size (steps): 2860/10909/2860 (11411)
Open/close/exp size (steps): 3432/13206/3432 (13708)
Open/close/exp size (steps): 4659/15963/4659 (16465)
Open/close/exp size (steps): 3599/19272/3599 (19774)
Open/close/exp size (steps): 3854/23243/3854 (23745)
Open/close/exp size (steps): 6497/28009/6497 (28511)
0 0 0 0 2 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 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 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 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 1
0 0 0 0 2 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 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 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 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 1
0 0 0 0 2 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 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 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 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 1
0 0 0 0 2 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 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 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 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 1
Groups 0 and 4 collide.
Solution of group 0
Mulirobot solution: (|moves| = 18, paralellism = 1.385) [
Step 0: 1#8->9 2#4->5
Step 1: 1#9->10 2#5->6
Step 2: 1#10->11 2#6->7
Step 3: 1#11->12 2#7->15
Step 4: 1#12->13 2#15->23
Step 5: 1#13->14
Step 6: 1#14->22
Step 7: 1#22->30
Step 8: 1#30->31
Step 9: 1#31->39
Step 10: 1#39->47
Step 11: 1#47->55
Step 12: 1#55->63
]
Solution of group 4
Mulirobot solution: (|moves| = 8, paralellism = 1.000) [
Step 0: 1#52->44
Step 1: 1#44->36
Step 2: 1#36->28
Step 3: 1#28->20
Step 4: 1#20->12
Step 5: 1#12->13
Step 6: 1#13->14
Step 7: 1#14->15
]
Occupation table complementary for group 0
0 1 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 1 0 1 1 1 0 1 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 0 1 0 1 1 0 0 0 1 0 1
0 0 1 0 1 0 0 0 0 0 1 0 0 0 1 0 0 0 1 0 1 0 1 0 0 0 1 1 1 1 1 0 0 1 0 0 1 0 0 0 0 0 1 0 1 0 1 0 1 0 0 0 0 1 0 1 0 0 1 0 0 0 0 0
0 0 0 0 0 1 1 0 0 0 1 1 1 0 1 0 0 0 0 1 0 0 0 0 0 1 1 1 0 1 1 0 0 0 0 1 1 0 1 0 1 1 1 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 1 0 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 1 0 1 0 1 0 1 0 1 0 1 0 0 1 0 0 0 0 1 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0
0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 0 0 0 1 0 1 0 1 0 1 1 1 1 0 1 1 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0
0 0 0 0 1 0 0 1 0 1 1 0 1 0 1 1 0 0 1 0 0 0 0 0 0 1 1 0 0 0 1 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0
0 0 0 1 0 0 1 1 0 1 1 0 0 1 0 0 0 0 1 0 0 0 1 1 0 1 1 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 1 1 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0
0 0 1 0 0 1 0 1 0 1 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 1 1 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0
0 1 0 0 1 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 1 0 1 0 1 1 1 0 0 0 0 0 1 1 0 1 1 0 0 0 1 1 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0
1 0 0 1 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 0 0 0 1 1 1 0 0 0 0 0
1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 0 1 0 1 1 1 0 0 0 0 0
1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 0 1 0 1 1 1 0 0 0 0 0
1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 0 1 0 1 1 1 0 0 0 0 0
1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 0 1 0 1 1 1 0 0 0 0 0
Occupation table complementary for group 4
0 1 0 1 2 0 0 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 1 0 1 1 1 0 1 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 1 0 1 1 0 0 0 1 0 1
0 0 1 0 1 2 0 0 0 1 1 0 0 0 1 0 0 0 1 0 1 0 1 0 0 0 1 1 1 1 1 0 0 1 0 0 1 0 0 0 0 0 1 0 0 0 1 0 1 0 0 0 0 1 0 1 0 0 1 0 0 0 0 0
0 0 0 0 0 1 1 0 0 0 1 1 1 0 1 0 0 0 0 1 0 0 0 0 0 1 1 1 0 1 1 0 0 0 0 1 0 0 1 0 1 1 1 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 1 0 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 1 0 1 0 1 0 1 0 1 0 1 0 0 1 0 0 0 0 1 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0
0 0 0 0 0 1 0 1 0 0 1 0 1 1 0 2 0 0 1 0 0 0 1 0 1 1 1 1 0 1 1 0 1 1 0 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0
0 0 0 0 1 0 0 1 0 1 1 0 0 1 1 1 0 0 1 0 0 0 0 2 0 1 1 0 0 0 1 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0
0 0 0 1 0 0 1 1 0 1 1 0 0 0 1 0 0 0 1 0 0 0 1 1 0 1 1 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 1 1 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0
0 0 1 0 0 1 0 1 0 1 1 0 0 0 0 0 0 0 1 0 0 0 1 2 0 1 1 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0
0 1 0 0 1 0 0 1 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 2 0 1 1 0 1 0 1 1 1 0 0 0 0 0 1 1 0 1 1 0 0 0 1 1 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0
1 0 0 1 0 0 0 1 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 2 0 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 0 0 0 1 1 1 0 0 0 0 0
1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 2 0 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 0 1 0 1 1 1 0 0 0 0 0
1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 2 0 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 0 1 0 1 1 1 0 0 0 0 0
1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 2 0 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 0 1 1 1 1 1 0 0 0 0 0
1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 2 0 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 0 1 0 1 1 1 0 0 0 0 1
** Open/close/exp size (steps): 16/8/16 (132)
Alternative solution of group 4
Mulirobot solution: (|moves| = 8, paralellism = 0.800) [
Step 0:
Step 1: 1#52->44
Step 2: 1#44->36
Step 3:
Step 4: 1#36->28
Step 5: 1#28->20
Step 6: 1#20->12
Step 7: 1#12->13
Step 8: 1#13->14
Step 9: 1#14->15
]
0 0 0 0 2 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 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 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 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 1
Collision between groups 0 and 4 resolved.
0 0 0 0 2 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 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 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 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 1
Groups 0 and 5 collide.
Solution of group 0
Mulirobot solution: (|moves| = 18, paralellism = 1.385) [
Step 0: 1#8->9 2#4->5
Step 1: 1#9->10 2#5->6
Step 2: 1#10->11 2#6->7
Step 3: 1#11->12 2#7->15
Step 4: 1#12->13 2#15->23
Step 5: 1#13->14
Step 6: 1#14->22
Step 7: 1#22->30
Step 8: 1#30->31
Step 9: 1#31->39
Step 10: 1#39->47
Step 11: 1#47->55
Step 12: 1#55->63
]
Solution of group 5
Mulirobot solution: (|moves| = 2, paralellism = 1.000) [
Step 0: 1#54->46
Step 1: 1#46->47
]
Occupation table complementary for group 0
0 1 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 1 0 1 1 1 0 1 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 0 1 0 1 1 0 0 0 1 0 1
0 0 1 0 1 0 0 0 0 0 1 0 0 0 1 0 0 0 1 0 1 0 1 0 0 0 1 1 1 1 1 0 0 1 0 0 1 0 0 0 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 1 0 0 1 0 0 0 0 0
0 0 0 0 0 1 1 0 0 0 1 1 1 0 1 0 0 0 0 1 0 0 0 0 0 1 1 1 0 1 1 0 0 0 0 1 0 0 1 0 1 1 1 0 1 1 0 1 0 0 0 0 0 0 1 0 0 0 1 0 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 1 0 1 0 1 0 1 0 1 0 1 0 1 1 0 0 0 0 1 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0
0 0 0 0 0 1 0 1 0 0 1 0 0 1 0 0 0 0 1 0 0 0 1 0 1 1 1 1 0 1 1 0 1 1 0 0 1 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0
0 0 0 0 1 0 0 1 0 1 1 0 0 0 1 1 0 0 1 0 0 0 0 0 0 1 1 0 1 0 1 0 1 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0
0 0 0 1 0 0 1 1 0 1 1 0 0 0 0 0 0 0 1 0 1 0 1 1 0 1 1 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 1 1 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0
0 0 1 0 0 1 0 1 0 1 1 0 1 0 0 0 0 0 1 0 0 0 0 0 0 1 1 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0
0 1 0 0 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 1 0 1 1 1 0 0 0 0 0 1 1 0 1 1 0 0 0 1 1 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0
1 0 0 1 0 0 0 1 0 1 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 0 0 0 1 1 1 0 0 0 0 0
1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 0 1 0 1 1 1 0 0 0 0 0
1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 0 1 0 1 1 1 0 0 0 0 0
1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 0 1 0 1 1 1 0 0 0 0 0
1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 0 0 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 0 1 0 1 1 1 0 0 0 0 0
Occupation table complementary for group 5
0 1 0 1 2 0 0 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 1 0 1 1 1 0 1 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 1 0 0 1 0 1 0 0 0 1 1 0 0 0 1 0 1
0 0 1 0 1 2 0 0 0 1 1 0 0 0 1 0 0 0 1 0 1 0 1 0 0 0 1 1 1 1 1 0 0 1 0 0 1 0 0 0 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 1 0 0 1 0 0 0 0 0
0 0 0 0 0 1 1 0 0 0 1 1 1 0 1 0 0 0 0 1 0 0 0 0 0 1 1 1 0 1 1 0 0 0 0 1 0 0 1 0 1 1 1 0 1 1 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 1 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 0 1 0 1 0 1 0 1 0 1 0 1 0 1 1 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0
0 0 0 0 0 1 0 1 0 0 1 0 1 1 0 2 0 0 1 0 0 0 1 0 1 1 1 1 0 1 1 0 1 1 0 0 1 0 0 0 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 1 0 0 1 0 1 1 0 0 1 1 1 0 0 1 0 0 0 0 2 0 1 1 0 1 0 1 0 1 0 0 0 0 0 0 0 1 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 1 0 0 1 1 0 1 1 0 0 0 1 0 0 0 1 0 1 0 1 1 0 1 1 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 1 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0
0 0 1 0 0 1 0 1 0 1 1 0 1 0 0 0 0 0 1 0 0 0 1 2 0 1 1 1 0 0 1 1 1 1 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0
0 1 0 0 1 0 0 1 0 1 1 0 0 1 0 0 0 0 1 0 0 0 0 2 0 1 1 0 1 0 1 1 1 0 0 0 0 0 1 1 0 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0
1 0 0 1 0 0 0 1 0 1 1 0 0 0 1 0 0 0 1 0 0 0 0 2 0 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 1 0 0 0 0 0 0 1 1 1 0 0 0 0 0
1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 2 0 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 1 0 0 0 0 1 0 1 1 1 0 0 0 0 0
1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 2 0 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 0 1 0 1 1 1 0 0 0 0 0
1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 2 0 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 1 0 0 0 0 1 1 1 1 1 0 0 0 0 0
1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0 2 0 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 0 0 1 0 0 0 0 1 0 1 1 1 0 0 0 0 1
Alternative solution of group 5
Mulirobot solution: (|moves| = 4, paralellism = 1.000) [
Step 0: 1#54->62
Step 1: 1#62->63
Step 2: 1#63->55
Step 3: 1#55->47
]
0 0 0 0 2 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 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 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 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 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): 4359/2499/4359 (34231)
Open/close/exp size (steps): 6944/9363/6944 (41095)
Open/close/exp size (steps): 17952/17600/17952 (49332)
Open/close/exp size (steps): 28749/27485/28749 (59217)
Open/close/exp size (steps): 22004/39347/22004 (71079)
Open/close/exp size (steps): 34633/53582/34633 (85314)
Open/close/exp size (steps): 53434/70664/53434 (102396)
Open/close/exp size (steps): 58554/91163/58554 (122895)
Open/close/exp size (steps): 71082/115762/71082 (147494)
Open/close/exp size (steps): 51933/145281/51933 (177013)
Open/close/exp size (steps): 59542/180704/59542 (212436)
Open/close/exp size (steps): 96300/223212/96300 (254944)
Open/close/exp size (steps): 147411/274222/147411 (305954)
Open/close/exp size (steps): 124430/335434/124430 (367166)
Open/close/exp size (steps): 166539/408889/166539 (440621)
Open/close/exp size (steps): 185871/497035/185871 (528767)
Open/close/exp size (steps): 271494/602811/271494 (634543)
Open/close/exp size (steps): 270440/729743/270440 (761475)
Open/close/exp size (steps): 201003/882062/201003 (913794)
Open/close/exp size (steps): 246893/1064845/246893 (1096577)
Open/close/exp size (steps): 304755/1284185/304755 (1315917)
Open/close/exp size (steps): 471934/1547393/471934 (1579125)
Open/close/exp size (steps): 494838/1863243/494838 (1894975)
Open/close/exp size (steps): 462742/2242263/462742 (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 = [ 23 ]
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) = 6.560
CPU/machine TIME (seconds) = 6.550
]
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 = 8264943
Produced CNF variables = 0
Produced CNF clauses = 0
Search steps = 0
Wall clock TIME (seconds) = 64.006
CPU/machine TIME (seconds) = 64.010
]
}
]
----------------------------------------------------------------