================================================================
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| = 28, |V| = 64) [
     robot locations: {1#23 2#16 3#53 4#7 5#6 6#41 7#60 8#54 9#33 10#3 11#18 12#51 13#17 14#4 15#37 16#56 17#35 18#14 19#52 20#57 21#48 22#32 23#5 24#1 25#61 26#58 27#8 28#50 }
     vertex occupancy: {0#0 24#1 0#2 10#3 14#4 23#5 5#6 4#7 27#8 0#9 0#10 0#11 0#12 0#13 18#14 0#15 2#16 13#17 11#18 0#19 0#20 0#21 0#22 1#23 0#24 0#25 0#26 0#27 0#28 0#29 0#30 0#31 22#32 9#33 0#34 17#35 0#36 15#37 0#38 0#39 0#40 6#41 0#42 0#43 0#44 0#45 0#46 0#47 21#48 0#49 28#50 12#51 19#52 3#53 8#54 0#55 16#56 20#57 26#58 0#59 7#60 25#61 0#62 0#63 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 28, |V| = 64) [
    robot goals: {
        1#{60}
        2#{51}
        3#{20}
        4#{42}
        5#{44}
        6#{30}
        7#{22}
        8#{50}
        9#{2}
        10#{63}
        11#{31}
        12#{47}
        13#{57}
        14#{38}
        15#{24}
        16#{13}
        17#{9}
        18#{21}
        19#{62}
        20#{17}
        21#{53}
        22#{34}
        23#{32}
        24#{19}
        25#{46}
        26#{56}
        27#{26}
        28#{61}
    }
    vertex compatibilities: {
        0@{}
        1@{}
        2@{9}
        3@{}
        4@{}
        5@{}
        6@{}
        7@{}
        8@{}
        9@{17}
        10@{}
        11@{}
        12@{}
        13@{16}
        14@{}
        15@{}
        16@{}
        17@{20}
        18@{}
        19@{24}
        20@{3}
        21@{18}
        22@{7}
        23@{}
        24@{15}
        25@{}
        26@{27}
        27@{}
        28@{}
        29@{}
        30@{6}
        31@{11}
        32@{23}
        33@{}
        34@{22}
        35@{}
        36@{}
        37@{}
        38@{14}
        39@{}
        40@{}
        41@{}
        42@{4}
        43@{}
        44@{5}
        45@{}
        46@{25}
        47@{12}
        48@{}
        49@{}
        50@{8}
        51@{2}
        52@{}
        53@{21}
        54@{}
        55@{}
        56@{26}
        57@{13}
        58@{}
        59@{}
        60@{1}
        61@{28}
        62@{19}
        63@{10}
    }
]
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): 43/19/43 (20)
Open/close/exp size (steps): 57/27/57 (28)
Open/close/exp size (steps): 11/3/11 (38)
Open/close/exp size (steps): 37/15/37 (50)
Open/close/exp size (steps): 13/3/13 (65)
Open/close/exp size (steps): 28/11/28 (83)
Open/close/exp size (steps): 66/33/66 (105)
Open/close/exp size (steps): 14/4/14 (132)
Open/close/exp size (steps): 37/14/37 (165)
Open/close/exp size (steps): 17/4/17 (205)
Open/close/exp size (steps): 85/42/85 (253)
Open/close/exp size (steps): 24/9/24 (311)
Open/close/exp size (steps): 90/48/90 (381)
Open/close/exp size (steps): 69/34/69 (465)
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 

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

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

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

Groups 0 and 4 collide.
Solution of group 0
Mulirobot solution: (|moves| = 8, paralellism = 1.000) [
    Step 0: 1#23->22 
    Step 1: 1#22->21 
    Step 2: 1#21->20 
    Step 3: 1#20->28 
    Step 4: 1#28->36 
    Step 5: 1#36->44 
    Step 6: 1#44->52 
    Step 7: 1#52->60 
]
Solution of group 4
Mulirobot solution: (|moves| = 7, paralellism = 1.000) [
    Step 0: 1#6->5 
    Step 1: 1#5->4 
    Step 2: 1#4->12 
    Step 3: 1#12->20 
    Step 4: 1#20->28 
    Step 5: 1#28->36 
    Step 6: 1#36->44 
]
Occupation table complementary for group 0
0 1 0 1 1 1 1 1 1 0 0 0 0 0 1 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 1 0 0 0 1 0 0 0 0 0 0 1 0 1 1 1 1 1 0 1 1 1 0 1 1 0 0 
0 0 1 0 1 1 1 0 0 1 0 0 0 1 0 0 0 1 0 1 0 0 0 0 0 1 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 1 1 0 1 1 1 0 0 0 1 0 0 0 0 0 0 
0 0 0 1 1 1 1 0 0 0 1 0 0 0 0 0 0 1 1 1 1 1 0 0 0 1 0 0 1 0 0 0 0 1 1 0 0 1 0 0 1 1 0 0 1 1 0 0 0 0 1 0 1 0 1 0 1 0 0 0 0 0 0 0 
0 0 1 0 1 0 1 0 0 1 0 1 1 0 1 0 0 0 1 1 0 1 0 0 0 0 1 1 0 1 0 0 1 1 1 0 1 0 0 0 0 1 0 0 0 1 1 0 0 0 0 1 0 1 0 0 1 0 0 0 0 0 1 0 
0 1 0 1 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 1 1 1 0 1 1 1 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 1 0 1 0 0 0 1 0 0 0 0 1 1 0 
1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 1 1 0 1 1 1 0 1 0 1 1 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 1 1 0 0 0 1 1 0 
0 0 1 0 0 0 0 0 1 1 1 0 0 0 0 0 0 1 0 1 1 1 0 1 1 0 1 0 0 1 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 0 1 1 0 0 1 0 0 1 0 0 1 1 0 0 0 1 1 0 
0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 1 1 1 1 1 0 1 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 1 0 
0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 1 0 1 1 1 1 0 1 0 1 0 0 0 1 1 0 0 1 0 0 0 1 1 0 0 0 0 1 0 1 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 1 0 
0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 0 1 0 1 1 1 1 0 1 0 1 0 0 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 1 0 1 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 1 0 
0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 1 1 1 1 0 1 0 1 0 0 0 1 1 1 0 1 0 0 0 1 0 0 0 1 0 1 0 1 1 0 0 1 1 0 1 0 1 1 1 0 0 0 1 1 0 
0 0 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 1 0 1 1 1 1 0 1 0 1 0 0 0 1 1 1 0 1 0 0 0 1 0 0 0 1 0 1 0 1 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 1 1 

** Open/close/exp size (steps): 4/1/4 (2)
** Open/close/exp size (steps): 11/4/11 (5)
** Open/close/exp size (steps): 14/8/14 (9)
** Open/close/exp size (steps): 20/13/20 (14)
** Open/close/exp size (steps): 16/19/16 (20)
** Open/close/exp size (steps): 11/27/11 (28)
** Open/close/exp size (steps): 1/37/1 (38)
Occupation table complementary for group 4
0 1 0 1 1 1 0 1 1 0 0 0 0 0 1 0 1 1 1 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 1 0 1 0 0 0 1 0 0 0 0 0 0 1 0 1 1 1 1 1 0 1 1 1 0 1 1 0 0 
0 0 1 0 1 1 1 0 0 1 0 0 0 1 0 0 0 1 0 1 0 0 1 0 0 1 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 1 1 0 1 1 1 0 0 0 1 0 0 0 0 0 0 
0 0 0 1 0 1 1 0 0 0 1 0 0 0 0 0 0 1 1 1 1 1 0 0 0 1 0 0 1 0 0 0 0 1 1 0 0 1 0 0 1 1 0 0 1 1 0 0 0 0 1 0 1 0 1 0 1 0 0 0 0 0 0 0 
0 0 1 0 1 0 1 0 0 1 0 1 0 0 1 0 0 0 1 1 1 1 0 0 0 0 1 1 0 1 0 0 1 1 1 0 1 0 0 0 0 1 0 0 0 1 1 0 0 0 0 1 0 1 0 0 1 0 0 0 0 0 1 0 
0 1 0 1 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 1 1 0 1 1 1 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 1 0 1 0 0 0 1 0 0 0 0 1 1 0 
1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 1 1 0 1 1 1 0 1 0 1 1 0 1 0 1 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 1 1 0 0 0 1 1 0 
0 0 1 0 0 0 0 0 1 1 1 0 0 0 0 0 0 1 0 1 1 1 0 1 1 0 1 0 0 1 0 1 0 0 1 0 0 0 1 0 0 0 0 1 1 0 1 1 0 0 1 0 0 1 0 0 1 1 0 0 0 1 1 0 
0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 1 1 1 1 1 0 1 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 1 1 0 0 1 1 1 1 0 0 1 1 0 0 0 1 1 0 
0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 1 0 1 1 1 1 0 1 0 1 0 0 0 1 1 0 0 1 0 0 0 1 1 0 0 0 0 0 0 1 1 0 0 1 1 0 1 0 0 1 1 0 0 1 1 1 0 
0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 0 1 0 1 1 1 1 0 1 0 1 0 0 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 1 1 0 0 1 1 0 1 0 0 1 1 0 0 1 1 1 0 
0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 1 1 1 1 0 1 0 1 0 0 0 1 1 1 0 1 0 0 0 1 0 0 0 1 0 0 0 1 1 0 0 1 1 0 1 0 1 1 1 0 0 1 1 1 0 
0 0 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 1 0 1 1 1 1 0 1 0 1 0 0 0 1 1 1 0 1 0 0 0 1 0 0 0 1 0 0 0 1 1 0 0 1 1 0 1 0 0 1 1 0 0 1 1 1 1 

Unable to resolve collision between groups 0 and 4.
Merging groups 0 and 4.
Searching solution for merged group 0+4.
Open/close/exp size (steps): 145/61/145 (566)
Open/close/exp size (steps): 314/183/314 (688)
Open/close/exp size (steps): 498/330/498 (835)
Open/close/exp size (steps): 726/507/726 (1012)
Open/close/exp size (steps): 908/720/908 (1225)
Open/close/exp size (steps): 1242/976/1242 (1481)
Open/close/exp size (steps): 1536/1284/1536 (1789)
Open/close/exp size (steps): 1910/1654/1910 (2159)
Open/close/exp size (steps): 2387/2098/2387 (2603)
Open/close/exp size (steps): 2819/2631/2819 (3136)
Open/close/exp size (steps): 3471/3271/3471 (3776)
0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 

Groups 0 and 2 collide.
Solution of group 0
Mulirobot solution: (|moves| = 15, paralellism = 1.875) [
    Step 0: 1#23->22 2#6->5 
    Step 1: 1#22->21 2#5->4 
    Step 2: 1#21->29 2#4->12 
    Step 3: 1#29->37 2#12->20 
    Step 4: 1#37->45 2#20->28 
    Step 5: 1#45->53 2#28->36 
    Step 6: 1#53->52 2#36->44 
    Step 7: 1#52->60 
]
Solution of group 2
Mulirobot solution: (|moves| = 5, paralellism = 1.000) [
    Step 0: 1#53->45 
    Step 1: 1#45->37 
    Step 2: 1#37->29 
    Step 3: 1#29->21 
    Step 4: 1#21->20 
]
Occupation table complementary for group 0
0 1 0 1 1 1 0 1 1 0 0 0 0 0 1 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 1 0 0 0 1 0 0 0 0 0 0 1 0 1 1 1 1 1 0 1 1 1 0 1 1 0 0 
0 0 1 0 1 1 1 0 0 1 0 0 0 1 0 0 0 1 0 1 0 0 0 0 0 1 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 1 1 0 1 1 1 0 0 0 1 0 0 0 0 0 0 
0 0 0 1 0 1 1 0 0 0 1 0 0 0 0 0 0 1 1 1 1 1 0 0 0 1 0 0 1 0 0 0 0 1 1 0 0 1 0 0 1 1 0 0 1 1 0 0 0 0 1 0 1 0 1 0 1 0 0 0 0 0 0 0 
0 0 1 0 1 0 1 0 0 1 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 0 1 1 0 1 0 0 1 1 1 0 1 0 0 0 0 1 0 0 0 1 1 0 0 0 0 1 0 1 0 0 1 0 0 0 0 0 1 0 
0 1 0 1 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 1 1 0 1 1 1 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 1 0 1 0 0 0 1 0 0 0 0 1 1 0 
1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 1 1 0 1 1 1 0 1 0 1 1 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 1 1 0 0 0 1 1 0 
0 0 1 0 0 0 0 0 1 1 1 0 0 0 0 0 0 1 0 1 1 1 0 1 1 0 1 0 0 1 0 1 0 0 1 0 0 0 1 0 0 0 0 1 0 0 1 1 0 0 1 0 0 1 0 0 1 1 0 0 0 1 1 0 
0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 1 1 1 1 1 0 1 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 1 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 1 0 
0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 1 0 1 1 1 1 0 1 0 1 0 0 0 1 1 0 0 1 0 0 0 1 1 0 0 0 0 0 0 1 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 1 0 
0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 0 1 0 1 1 1 1 0 1 0 1 0 0 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 1 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 1 0 
0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 1 1 1 1 0 1 0 1 0 0 0 1 1 1 0 1 0 0 0 1 0 0 0 1 0 0 0 1 1 0 0 1 1 0 1 0 1 1 1 0 0 0 1 1 0 
0 0 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 1 0 1 1 1 1 0 1 0 1 0 0 0 1 1 1 0 1 0 0 0 1 0 0 0 1 0 0 0 1 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 1 1 

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

Unable to resolve collision between groups 0 and 2.
Merging groups 0 and 2.
Searching solution for merged group 0+2.
Open/close/exp size (steps): 450/267/450 (4544)
Open/close/exp size (steps): 1237/1189/1237 (5466)
Open/close/exp size (steps): 2034/2296/2034 (6573)
Open/close/exp size (steps): 2979/3625/2979 (7902)
Open/close/exp size (steps): 3940/5220/3940 (9497)
Open/close/exp size (steps): 5313/7134/5313 (11411)
Open/close/exp size (steps): 6785/9431/6785 (13708)
Open/close/exp size (steps): 8539/12188/8539 (16465)
Open/close/exp size (steps): 10800/15497/10800 (19774)
Open/close/exp size (steps): 13423/19468/13423 (23745)
Open/close/exp size (steps): 17055/24234/17055 (28511)
Open/close/exp size (steps): 21085/29954/21085 (34231)
Open/close/exp size (steps): 26145/36818/26145 (41095)
Open/close/exp size (steps): 36961/45055/36961 (49332)
Open/close/exp size (steps): 40354/54940/40354 (59217)
Open/close/exp size (steps): 37621/66802/37621 (71079)
Open/close/exp size (steps): 44911/81037/44911 (85314)
Open/close/exp size (steps): 72586/98119/72586 (102396)
Open/close/exp size (steps): 105689/118618/105689 (122895)
Open/close/exp size (steps): 126383/143217/126383 (147494)
Open/close/exp size (steps): 108933/172736/108933 (177013)
Open/close/exp size (steps): 88827/208159/88827 (212436)
Open/close/exp size (steps): 84730/250667/84730 (254944)
0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 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 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 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 3 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 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 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 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 3 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 
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 3 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 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 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 

0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 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 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 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 3 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 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 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 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 3 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 
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 3 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 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 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 

0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 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 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 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 3 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 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 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 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 3 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 
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 3 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 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 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 

Groups 0 and 3 collide.
Solution of group 0
Mulirobot solution: (|moves| = 20, paralellism = 2.500) [
    Step 0: 1#23->22 2#53->45 3#6->5 
    Step 1: 1#22->30 2#45->37 3#5->13 
    Step 2: 1#30->38 2#37->36 3#13->21 
    Step 3: 1#38->46 2#36->28 3#21->29 
    Step 4: 1#46->45 2#28->20 3#29->37 
    Step 5: 1#45->53 3#37->36 
    Step 6: 1#53->52 3#36->44 
    Step 7: 1#52->60 
]
Solution of group 3
Mulirobot solution: (|moves| = 10, paralellism = 1.000) [
    Step 0: 1#7->6 
    Step 1: 1#6->5 
    Step 2: 1#5->4 
    Step 3: 1#4->3 
    Step 4: 1#3->2 
    Step 5: 1#2->10 
    Step 6: 1#10->18 
    Step 7: 1#18->26 
    Step 8: 1#26->34 
    Step 9: 1#34->42 
]
Occupation table complementary for group 0
0 1 0 1 1 1 0 1 1 0 0 0 0 0 1 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 1 0 0 0 1 0 0 0 0 0 0 1 0 1 1 1 0 1 0 1 1 1 0 1 1 0 0 
0 0 1 0 1 1 1 0 0 1 0 0 0 1 0 0 0 1 0 1 0 0 0 0 0 1 0 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 1 1 1 0 0 0 1 0 0 0 0 0 0 
0 0 0 1 0 1 1 0 0 0 1 0 0 0 0 0 0 1 1 1 1 1 0 0 0 1 0 0 1 0 0 0 0 1 1 0 0 0 0 0 1 1 0 0 1 1 0 0 0 0 1 0 1 0 1 0 1 0 0 0 0 0 0 0 
0 0 1 0 1 0 1 0 0 1 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 0 1 1 0 0 0 0 1 1 1 0 1 0 0 0 0 1 0 0 0 1 1 0 0 0 0 1 0 1 0 0 1 0 0 0 0 0 1 0 
0 1 0 1 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 1 0 1 1 0 1 1 1 1 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 1 0 1 0 0 0 1 0 0 0 0 1 1 0 
1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 1 1 0 1 1 1 0 1 0 1 1 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 0 0 1 1 0 0 0 1 1 0 
0 0 1 0 0 0 0 0 1 1 1 0 0 0 0 0 0 1 0 1 0 1 0 1 1 0 1 0 0 1 0 1 0 0 1 0 0 0 1 0 0 0 0 1 0 0 1 1 0 0 1 0 0 1 0 0 1 1 0 0 0 1 1 0 
0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 1 1 0 1 1 0 1 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 0 0 0 0 1 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 1 0 
0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 1 1 0 1 0 1 0 0 0 1 1 0 0 1 0 0 0 1 1 0 0 0 0 0 0 1 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 1 0 
0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 0 1 0 1 0 1 1 0 1 0 1 0 0 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 1 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 1 0 
0 0 1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 1 0 1 1 0 1 0 1 0 0 0 1 1 1 0 1 0 0 0 1 0 0 0 1 0 0 0 1 1 0 0 1 1 0 1 0 1 1 1 0 0 0 1 1 0 
0 0 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 1 0 1 0 1 1 0 1 0 1 0 0 0 1 1 1 0 1 0 0 0 1 0 0 0 1 0 0 0 1 1 0 0 1 1 0 1 0 0 1 1 0 0 0 1 1 1 

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

** Open/close/exp size (steps): 2/10/2 (50)
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): 10345/23542/10345 (305954)
Open/close/exp size (steps): 28752/84754/28752 (367166)
Open/close/exp size (steps): 46315/158209/46315 (440621)
Open/close/exp size (steps): 69800/246355/69800 (528767)
Open/close/exp size (steps): 99900/352131/99900 (634543)
Open/close/exp size (steps): 137934/479063/137934 (761475)
Open/close/exp size (steps): 186375/631382/186375 (913794)
Open/close/exp size (steps): 241760/814165/241760 (1096577)
Open/close/exp size (steps): 690617/1033505/690617 (1315917)
Open/close/exp size (steps): 967317/1296713/967317 (1579125)
Open/close/exp size (steps): 1035118/1612563/1035118 (1894975)
Open/close/exp size (steps): 942996/1991583/942996 (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     = [ 27 ]
    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)      = 6.462
            CPU/machine TIME (seconds)     = 6.460
        ]
        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                = 7458243
                Produced CNF variables         = 0
                Produced CNF clauses           = 0
                Search steps                   = 0
                Wall clock TIME (seconds)      = 64.010
                CPU/machine TIME (seconds)     = 64.010
            ]
        }
]
----------------------------------------------------------------