================================================================
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| = 29, |V| = 64) [
     robot locations: {1#54 2#7 3#38 4#31 5#19 6#45 7#6 8#9 9#34 10#49 11#27 12#0 13#30 14#35 15#46 16#3 17#42 18#39 19#48 20#10 21#60 22#32 23#53 24#37 25#57 26#23 27#62 28#28 29#5 }
     vertex occupancy: {12#0 0#1 0#2 16#3 0#4 29#5 7#6 2#7 0#8 8#9 20#10 0#11 0#12 0#13 0#14 0#15 0#16 0#17 0#18 5#19 0#20 0#21 0#22 26#23 0#24 0#25 0#26 11#27 28#28 0#29 13#30 4#31 22#32 0#33 9#34 14#35 0#36 24#37 3#38 18#39 0#40 0#41 17#42 0#43 0#44 6#45 15#46 0#47 19#48 10#49 0#50 0#51 0#52 23#53 1#54 0#55 0#56 25#57 0#58 0#59 21#60 0#61 27#62 0#63 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 29, |V| = 64) [
    robot goals: {
        1#{45}
        2#{1}
        3#{50}
        4#{47}
        5#{63}
        6#{25}
        7#{4}
        8#{31}
        9#{30}
        10#{21}
        11#{11}
        12#{23}
        13#{58}
        14#{28}
        15#{36}
        16#{32}
        17#{12}
        18#{24}
        19#{29}
        20#{22}
        21#{57}
        22#{9}
        23#{55}
        24#{46}
        25#{26}
        26#{8}
        27#{39}
        28#{7}
        29#{16}
    }
    vertex compatibilities: {
        0@{}
        1@{2}
        2@{}
        3@{}
        4@{7}
        5@{}
        6@{}
        7@{28}
        8@{26}
        9@{22}
        10@{}
        11@{11}
        12@{17}
        13@{}
        14@{}
        15@{}
        16@{29}
        17@{}
        18@{}
        19@{}
        20@{}
        21@{10}
        22@{20}
        23@{12}
        24@{18}
        25@{6}
        26@{25}
        27@{}
        28@{14}
        29@{19}
        30@{9}
        31@{8}
        32@{16}
        33@{}
        34@{}
        35@{}
        36@{15}
        37@{}
        38@{}
        39@{27}
        40@{}
        41@{}
        42@{}
        43@{}
        44@{}
        45@{1}
        46@{24}
        47@{4}
        48@{}
        49@{}
        50@{3}
        51@{}
        52@{}
        53@{}
        54@{}
        55@{23}
        56@{}
        57@{21}
        58@{13}
        59@{}
        60@{}
        61@{}
        62@{}
        63@{5}
    }
]
Open/close/exp size (steps): 5/1/5 (2)
Open/close/exp size (steps): 6/2/6 (5)
Open/close/exp size (steps): 1/0/1 (9)
Open/close/exp size (steps): 21/5/21 (14)
Open/close/exp size (steps): 35/11/35 (20)
Open/close/exp size (steps): 4/1/4 (28)
Open/close/exp size (steps): 32/9/32 (38)
Open/close/exp size (steps): 54/21/54 (50)
Open/close/exp size (steps): 76/36/76 (65)
Open/close/exp size (steps): 27/9/27 (83)
Open/close/exp size (steps): 35/11/35 (105)
Open/close/exp size (steps): 1/0/1 (132)
Open/close/exp size (steps): 73/33/73 (165)
Open/close/exp size (steps): 9/2/9 (205)
Open/close/exp size (steps): 23/8/23 (253)
Open/close/exp size (steps): 7/2/7 (311)
Open/close/exp size (steps): 15/4/15 (381)
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

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

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

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

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

Groups 0 and 14 collide.
Solution of group 0
Mulirobot solution: (|moves| = 2, paralellism = 1.000) [
    Step 0: 1#54->46 
    Step 1: 1#46->45 
]
Solution of group 14
Mulirobot solution: (|moves| = 3, paralellism = 1.000) [
    Step 0: 1#46->38 
    Step 1: 1#38->37 
    Step 2: 1#37->36 
]
Occupation table complementary for group 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 1 1 0 1 1 1 0 1 1 0 1 1 1 0 0 1 0 0 1 1 0 1 1 0 0 0 1 0 0 0 1 0 0 1 0 1 0 
0 1 1 0 1 1 1 0 0 0 1 1 0 0 0 0 0 0 0 1 1 0 1 0 1 0 1 1 0 1 0 0 0 0 1 0 0 1 1 1 1 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 
0 1 1 1 1 1 0 0 0 0 0 1 1 0 1 0 1 0 0 0 0 1 0 0 0 0 1 1 1 1 1 0 1 1 0 0 1 1 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 
1 0 1 1 1 0 0 0 1 0 0 1 1 1 0 0 0 0 1 0 0 0 1 0 1 1 0 1 1 1 0 0 0 1 0 1 1 0 1 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 1 1 1 0 0 1 1 1 1 1 1 1 0 0 1 0 0 0 0 0 1 0 1 1 1 1 1 0 0 0 0 1 0 1 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 
1 0 1 0 1 1 1 0 0 1 0 1 0 0 1 0 1 0 1 0 0 0 1 0 0 0 1 1 1 0 1 1 0 0 1 0 1 0 0 1 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 0 1 0 1 1 1 1 1 1 1 0 0 1 0 0 0 1 0 0 1 0 1 1 1 1 1 0 1 0 0 0 0 0 1 0 0 1 0 0 1 0 0 0 1 1 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 0 1 0 0 1 0 1 0 1 1 0 0 0 1 0 0 0 1 0 1 1 0 1 1 0 1 0 1 0 1 0 0 0 1 0 0 1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 0 1 0 0 1 1 1 0 1 1 0 0 1 1 0 0 0 0 1 1 0 1 1 1 0 1 1 1 1 1 0 0 0 1 0 0 1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 1 0 1 1 0 0 0 0 0 
0 1 0 0 1 0 0 1 1 1 0 1 1 0 0 0 1 0 0 0 0 1 1 1 1 1 1 0 1 1 1 1 1 0 0 0 1 0 0 1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 

Occupation table complementary for group 14
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 1 1 0 1 1 1 0 1 1 0 1 1 1 0 0 1 0 0 1 0 0 1 1 0 0 0 1 1 0 0 1 0 0 1 0 1 0 
0 1 1 0 1 1 1 0 0 0 1 1 0 0 0 0 0 0 0 1 1 0 1 0 1 0 1 1 0 1 0 0 0 0 1 0 0 1 1 1 1 1 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 
0 1 1 1 1 1 0 0 0 0 0 1 1 0 1 0 1 0 0 0 0 1 0 0 0 0 1 1 1 1 1 0 1 1 0 0 1 0 0 0 0 1 0 0 0 1 1 1 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 
1 0 1 1 1 0 0 0 1 0 0 1 1 1 0 0 0 0 1 0 0 0 1 0 1 1 0 1 1 1 0 0 0 1 0 1 0 0 1 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 1 1 1 0 0 1 1 1 1 1 1 1 0 0 1 0 0 0 0 0 1 0 1 1 1 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 
1 0 1 0 1 1 1 0 0 1 0 1 0 0 1 0 1 0 1 0 0 0 1 0 0 0 1 1 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 0 1 0 1 1 1 1 1 1 1 0 0 1 0 0 0 1 0 0 1 0 1 1 1 1 1 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 1 1 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 0 1 0 0 1 0 1 0 1 1 0 0 0 1 0 0 0 1 0 1 1 0 1 1 0 1 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 1 1 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 0 1 0 0 1 1 1 0 1 1 0 0 1 1 0 0 0 0 1 1 0 1 1 1 0 1 1 1 1 1 0 0 0 0 0 0 1 0 0 0 0 0 1 1 1 0 0 1 0 0 0 0 1 0 1 1 0 0 0 0 0 
0 1 0 0 1 0 0 1 1 1 0 1 1 0 0 0 1 0 0 0 0 1 1 1 1 1 1 0 1 1 1 1 1 0 0 0 0 0 0 1 0 0 0 0 0 1 1 1 0 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 

Unable to resolve collision between groups 0 and 14.
Merging groups 0 and 14.
Searching solution for merged group 0+14.
Open/close/exp size (steps): 55/19/55 (465)
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 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 
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 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 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 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 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 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 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 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 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

Groups 0 and 2 collide.
Solution of group 0
Mulirobot solution: (|moves| = 5, paralellism = 1.667) [
    Step 0: 1#54->53 2#46->38 
    Step 1: 1#53->45 2#38->37 
    Step 2: 2#37->36 
]
Solution of group 2
Mulirobot solution: (|moves| = 6, paralellism = 1.000) [
    Step 0: 1#38->37 
    Step 1: 1#37->36 
    Step 2: 1#36->35 
    Step 3: 1#35->34 
    Step 4: 1#34->42 
    Step 5: 1#42->50 
]
Occupation table complementary for group 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 1 1 0 1 1 1 0 1 1 0 1 1 1 0 0 1 0 0 1 0 0 1 1 0 0 0 1 0 0 0 1 0 0 1 0 1 0 
0 1 1 0 1 1 1 0 0 0 1 1 0 0 0 0 0 0 0 1 1 0 1 0 1 0 1 1 0 1 0 0 0 0 1 0 0 1 1 1 1 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 
0 1 1 1 1 1 0 0 0 0 0 1 1 0 1 0 1 0 0 0 0 1 0 0 0 0 1 1 1 1 1 0 1 1 0 0 1 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 
1 0 1 1 1 0 0 0 1 0 0 1 1 1 0 0 0 0 1 0 0 0 1 0 1 1 0 1 1 1 0 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 1 1 1 0 0 1 1 1 1 1 1 1 0 0 1 0 0 0 0 0 1 0 1 1 1 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 
1 0 1 0 1 1 1 0 0 1 0 1 0 0 1 0 1 0 1 0 0 0 1 0 0 0 1 1 1 0 1 1 0 0 1 0 0 0 0 1 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 0 1 0 1 1 1 1 1 1 1 0 0 1 0 0 0 1 0 0 1 0 1 1 1 1 1 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 0 1 0 0 1 0 1 0 1 1 0 0 0 1 0 0 0 1 0 1 1 0 1 1 0 1 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 0 1 0 0 1 1 1 0 1 1 0 0 1 1 0 0 0 0 1 1 0 1 1 1 0 1 1 1 1 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 1 0 1 1 0 0 0 0 0 
0 1 0 0 1 0 0 1 1 1 0 1 1 0 0 0 1 0 0 0 0 1 1 1 1 1 1 0 1 1 1 1 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 

Occupation table complementary for group 2
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 1 1 0 1 1 1 0 1 1 0 1 0 1 0 0 1 0 0 1 2 0 1 1 0 0 0 1 1 0 0 1 0 0 1 0 1 0 
0 1 1 0 1 1 1 0 0 0 1 1 0 0 0 0 0 0 0 1 1 0 1 0 1 0 1 1 0 1 0 0 0 0 1 0 0 1 1 1 1 1 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 1 0 0 0 0 
0 1 1 1 1 1 0 0 0 0 0 1 1 0 1 0 1 0 0 0 0 1 0 0 0 0 1 1 1 1 1 0 1 1 0 0 0 2 0 0 0 1 0 0 0 1 1 1 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 
1 0 1 1 1 0 0 0 1 0 0 1 1 1 0 0 0 0 1 0 0 0 1 0 1 1 0 1 1 1 0 0 0 1 0 0 2 0 1 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 1 1 1 0 0 1 1 1 1 1 1 1 0 0 1 0 0 0 0 0 1 0 1 1 1 1 1 0 0 0 0 0 0 2 0 0 1 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 
1 0 1 0 1 1 1 0 0 1 0 1 0 0 1 0 1 0 1 0 0 0 1 0 0 0 1 1 1 0 1 1 0 0 1 0 2 0 0 1 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 0 1 0 1 1 1 1 1 1 1 0 0 1 0 0 0 1 0 0 1 0 1 1 1 1 1 0 1 0 0 0 0 0 2 0 0 1 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 0 1 0 0 1 0 1 0 1 1 0 0 0 1 0 0 0 1 0 1 1 0 1 1 0 1 0 1 0 1 0 0 0 2 0 0 1 0 0 0 0 0 1 1 1 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 0 1 0 0 1 1 1 0 1 1 0 0 1 1 0 0 0 0 1 1 0 1 1 1 0 1 1 1 1 1 0 0 0 2 0 0 1 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 
0 1 0 0 1 0 0 1 1 1 0 1 1 0 0 0 1 0 0 0 0 1 1 1 1 1 1 0 1 1 1 1 1 0 0 0 2 0 0 1 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 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): 233/87/233 (566)
Open/close/exp size (steps): 381/209/381 (688)
Open/close/exp size (steps): 834/356/834 (835)
Open/close/exp size (steps): 1367/533/1367 (1012)
Open/close/exp size (steps): 1548/746/1548 (1225)
Open/close/exp size (steps): 1434/1002/1434 (1481)
Open/close/exp size (steps): 1432/1310/1432 (1789)
Open/close/exp size (steps): 1298/1680/1298 (2159)
Open/close/exp size (steps): 2578/2124/2578 (2603)
Open/close/exp size (steps): 2508/2657/2508 (3136)
Open/close/exp size (steps): 1959/3297/1959 (3776)
Open/close/exp size (steps): 2164/4065/2164 (4544)
Open/close/exp size (steps): 3942/4987/3942 (5466)
Open/close/exp size (steps): 6987/6094/6987 (6573)
Open/close/exp size (steps): 9871/7423/9871 (7902)
Open/close/exp size (steps): 14258/9018/14258 (9497)
Open/close/exp size (steps): 16532/10932/16532 (11411)
Open/close/exp size (steps): 16398/13229/16398 (13708)
Open/close/exp size (steps): 16077/15986/16077 (16465)
Open/close/exp size (steps): 15195/19295/15195 (19774)
Open/close/exp size (steps): 17223/23266/17223 (23745)
Open/close/exp size (steps): 30320/28032/30320 (28511)
Open/close/exp size (steps): 38449/33752/38449 (34231)
Open/close/exp size (steps): 41767/40616/41767 (41095)
Open/close/exp size (steps): 36674/48853/36674 (49332)
Open/close/exp size (steps): 29094/58738/29094 (59217)
Open/close/exp size (steps): 37429/70600/37429 (71079)
Open/close/exp size (steps): 35986/84835/35986 (85314)
Open/close/exp size (steps): 72663/101917/72663 (102396)
Open/close/exp size (steps): 99173/122416/99173 (122895)
Open/close/exp size (steps): 93859/147015/93859 (147494)
Open/close/exp size (steps): 80373/176534/80373 (177013)
Open/close/exp size (steps): 96277/211957/96277 (212436)
Open/close/exp size (steps): 91734/254465/91734 (254944)
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 2 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 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 3 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 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 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 3 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 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 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 2 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 1 0 0 0 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 3 0 0 0 0 0 0 0 0 1 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 1 0 0 0 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 2 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 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 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 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 3 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 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 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 2 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 2 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| = 11, paralellism = 1.833) [
    Step 0: 1#54->53 2#38->37 
    Step 1: 1#53->45 2#37->36 
    Step 2: 2#36->35 3#46->38 
    Step 3: 2#35->34 3#38->37 
    Step 4: 2#34->42 3#37->36 
    Step 5: 2#42->50 
]
Solution of group 5
Mulirobot solution: (|moves| = 6, paralellism = 1.000) [
    Step 0: 1#45->37 
    Step 1: 1#37->29 
    Step 2: 1#29->28 
    Step 3: 1#28->27 
    Step 4: 1#27->26 
    Step 5: 1#26->25 
]
Occupation table complementary for group 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 1 1 0 1 1 1 0 1 1 0 1 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 1 0 0 0 1 0 0 1 0 1 0 
0 1 1 0 1 1 1 0 0 0 1 1 0 0 0 0 0 0 0 1 1 0 1 0 1 0 1 1 0 1 0 0 0 0 1 0 0 1 1 1 1 1 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 
0 1 1 1 1 1 0 0 0 0 0 1 1 0 1 0 1 0 0 0 0 1 0 0 0 0 1 1 1 1 1 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 
1 0 1 1 1 0 0 0 1 0 0 1 1 1 0 0 0 0 1 0 0 0 1 0 1 1 0 1 1 1 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 1 1 1 0 0 1 1 1 1 1 1 1 0 0 1 0 0 0 0 0 1 0 1 1 1 1 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 
1 0 1 0 1 1 1 0 0 1 0 1 0 0 1 0 1 0 1 0 0 0 1 0 0 0 1 1 1 0 1 1 0 0 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 0 1 0 1 1 1 1 1 1 1 0 0 1 0 0 0 1 0 0 1 0 1 1 1 1 1 0 1 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 0 1 0 0 1 0 1 0 1 1 0 0 0 1 0 0 0 1 0 1 1 0 1 1 0 1 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 0 1 0 0 1 1 1 0 1 1 0 0 1 1 0 0 0 0 1 1 0 1 1 1 0 1 1 1 1 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 
0 1 0 0 1 0 0 1 1 1 0 1 1 0 0 0 1 0 0 0 0 1 1 1 1 1 1 0 1 1 1 1 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 1 

Occupation table complementary for group 5
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 1 1 0 1 1 1 0 1 1 0 1 2 1 0 0 1 0 0 0 3 0 1 1 0 0 0 1 1 0 0 1 0 0 1 0 1 0 
0 1 1 0 1 1 1 0 0 0 1 1 0 0 0 0 0 0 0 1 1 0 1 0 1 0 1 1 0 1 0 0 0 0 1 0 0 2 1 1 1 1 0 0 0 0 3 0 0 1 0 0 0 1 1 0 0 0 0 1 0 0 0 0 
0 1 1 1 1 1 0 0 0 0 0 1 1 0 1 0 1 0 0 0 0 1 0 0 0 0 1 1 1 0 1 0 1 1 0 0 2 0 0 0 0 1 0 0 0 1 1 1 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 
1 0 1 1 1 0 0 0 1 0 0 1 1 1 0 0 0 0 1 0 0 0 1 0 1 1 0 1 1 1 0 0 0 1 0 2 0 0 1 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 1 1 1 0 0 1 1 1 1 1 1 1 0 0 1 0 0 0 0 0 1 0 1 1 0 1 1 0 0 0 0 2 0 0 3 0 1 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 
1 0 1 0 1 1 1 0 0 1 0 1 0 0 1 0 1 0 1 0 0 0 1 0 0 0 1 1 1 0 1 1 0 0 1 0 3 0 0 1 0 0 2 0 0 1 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 0 1 0 1 1 1 1 1 1 1 0 0 1 0 0 0 1 0 0 1 0 1 0 1 1 1 0 1 0 0 0 0 0 3 0 0 1 0 0 1 0 0 1 1 1 0 0 2 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 0 1 0 0 1 0 1 0 1 1 0 0 0 1 0 0 0 1 0 1 1 0 1 1 0 1 0 1 0 1 0 0 0 3 0 0 1 0 0 0 0 0 1 1 1 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 0 1 0 0 1 1 1 0 1 1 0 0 1 1 0 0 0 0 1 1 0 1 0 1 0 1 1 1 1 1 0 0 0 3 0 0 1 0 0 0 0 0 1 1 1 0 0 2 0 0 0 0 1 0 1 1 0 0 0 0 0 
0 1 0 0 1 0 0 1 1 1 0 1 1 0 0 0 1 0 0 0 0 1 1 1 1 0 1 0 1 1 1 1 1 0 0 0 3 0 0 1 0 0 0 0 0 1 1 1 0 0 2 0 0 0 0 1 0 1 1 0 0 0 0 1 

** Open/close/exp size (steps): 1/1/1 (2)
** Open/close/exp size (steps): 8/4/8 (5)
** Open/close/exp size (steps): 10/8/10 (9)
** Open/close/exp size (steps): 16/13/16 (14)
** Open/close/exp size (steps): 20/19/20 (20)
** Open/close/exp size (steps): 18/27/18 (28)
Alternative solution of group 5
Mulirobot solution: (|moves| = 8, paralellism = 0.889) [
    Step 0: 1#45->44 
    Step 1: 1#44->43 
    Step 2: 1#43->42 
    Step 3: 1#42->41 
    Step 4: 1#41->33 
    Step 5: 
    Step 6: 1#33->34 
    Step 7: 1#34->33 
    Step 8: 1#33->25 
]
0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 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 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 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 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 3 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 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 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 2 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 1 0 0 0 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 3 0 0 0 0 0 0 0 0 1 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 1 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 

Collision between groups 0 and 5 resolved.
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 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 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 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 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 3 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 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 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 0 0 0 0 2 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 

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

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

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

Groups 0 and 12 collide.
Solution of group 0
Mulirobot solution: (|moves| = 11, paralellism = 1.833) [
    Step 0: 1#54->53 2#38->37 
    Step 1: 1#53->45 2#37->36 
    Step 2: 2#36->35 3#46->38 
    Step 3: 2#35->34 3#38->37 
    Step 4: 2#34->42 3#37->36 
    Step 5: 2#42->50 
]
Solution of group 12
Mulirobot solution: (|moves| = 8, paralellism = 1.000) [
    Step 0: 1#30->29 
    Step 1: 1#29->28 
    Step 2: 1#28->27 
    Step 3: 1#27->26 
    Step 4: 1#26->34 
    Step 5: 1#34->42 
    Step 6: 1#42->50 
    Step 7: 1#50->58 
]
Occupation table complementary for group 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 1 1 0 1 1 1 0 1 1 0 1 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 1 0 0 0 1 0 0 1 0 1 0 
0 1 1 0 1 1 1 0 0 0 1 1 0 0 0 0 0 0 0 1 1 0 1 0 1 0 1 1 0 1 0 0 0 0 1 0 0 0 1 1 1 1 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 
0 1 1 1 1 1 0 0 0 0 0 1 1 0 1 0 1 0 0 0 0 1 0 0 0 0 1 1 1 0 1 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 1 1 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 
1 0 1 1 1 0 0 0 1 0 0 1 1 1 0 0 0 0 1 0 0 0 1 0 1 1 0 1 1 1 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 1 1 1 0 0 1 1 1 1 1 1 1 0 0 1 0 0 0 0 0 1 0 1 1 0 1 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 
1 0 1 0 1 1 1 0 0 1 0 1 0 0 1 0 1 0 1 0 0 0 1 0 0 0 1 1 1 0 1 1 0 1 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 0 1 0 1 1 1 1 1 1 1 0 0 1 0 0 0 1 0 0 1 0 1 0 1 1 1 0 1 0 0 1 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 0 1 0 0 1 0 1 0 1 1 0 0 0 1 0 0 0 1 0 1 1 0 1 1 0 1 0 1 0 1 0 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 0 1 0 0 1 1 1 0 1 1 0 0 1 1 0 0 0 0 1 1 0 1 0 1 0 1 1 1 1 1 1 0 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 0 
0 1 0 0 1 0 0 1 1 1 0 1 1 0 0 0 1 0 0 0 0 1 1 1 1 1 1 0 1 1 1 1 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 1 1 0 0 0 0 1 

Occupation table complementary for group 12
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 1 1 0 0 1 1 0 1 1 0 1 2 1 0 0 1 0 0 1 3 0 1 1 0 0 0 1 1 0 0 1 0 0 1 0 1 0 
0 1 1 0 1 1 1 0 0 0 1 1 0 0 0 0 0 0 0 1 1 0 1 0 1 0 1 1 0 0 0 0 0 0 1 0 0 2 1 1 1 1 0 0 1 0 3 0 0 1 0 0 0 1 1 0 0 0 0 1 0 0 0 0 
0 1 1 1 1 1 0 0 0 0 0 1 1 0 1 0 1 0 0 0 0 1 0 0 0 0 1 1 1 0 1 0 1 1 0 0 2 0 0 0 0 1 0 1 0 1 1 1 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 
1 0 1 1 1 0 0 0 1 0 0 1 1 1 0 0 0 0 1 0 0 0 1 0 1 1 0 0 1 1 0 0 0 1 0 2 0 0 1 0 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 1 1 1 0 0 1 1 1 1 1 1 1 0 0 1 0 0 0 0 0 1 0 1 0 0 1 1 0 0 0 0 2 0 0 3 0 1 0 1 0 0 0 1 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 
1 0 1 0 1 1 1 0 0 1 0 1 0 0 1 0 1 0 1 0 0 0 1 0 0 0 1 1 1 0 1 1 0 1 0 0 3 0 0 1 0 0 2 0 0 1 1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 0 1 0 1 1 1 1 1 1 1 0 0 1 0 0 0 1 0 0 1 0 1 0 1 1 1 0 1 0 0 1 0 0 3 0 0 1 0 0 0 0 0 1 1 1 0 0 2 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 0 1 0 0 1 0 1 0 1 1 0 0 0 1 0 0 0 1 0 1 1 0 1 1 0 1 0 1 0 1 0 1 0 3 0 0 1 0 0 0 0 0 1 1 1 0 0 2 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 0 1 0 0 1 1 1 0 1 1 0 0 1 1 0 0 0 0 1 1 0 1 0 1 0 1 1 1 1 1 1 0 0 3 0 0 1 0 0 0 0 0 1 1 1 0 0 2 0 0 0 0 1 0 1 0 0 0 0 0 0 
0 1 0 0 1 0 0 1 1 1 0 1 1 0 0 0 1 0 0 0 0 1 1 1 1 1 1 0 1 1 1 1 1 0 0 0 3 0 0 1 0 0 0 0 0 1 1 1 0 0 2 0 0 0 0 1 0 1 0 0 0 0 0 1 

Unable to resolve collision between groups 0 and 12.
Merging groups 0 and 12.
Searching solution for merged group 0+12.
Open/close/exp size (steps): 32334/13753/32334 (305954)
Open/close/exp size (steps): 38338/74965/38338 (367166)
Open/close/exp size (steps): 119699/148420/119699 (440621)
Open/close/exp size (steps): 336453/236566/336453 (528767)
Open/close/exp size (steps): 601579/342342/601579 (634543)
Open/close/exp size (steps): 542858/469274/542858 (761475)
Open/close/exp size (steps): 424244/621593/424244 (913794)
Open/close/exp size (steps): 294253/804376/294253 (1096577)
Open/close/exp size (steps): 733231/1023716/733231 (1315917)
Open/close/exp size (steps): 1307626/1286924/1307626 (1579125)
Open/close/exp size (steps): 1634297/1602774/1634297 (1894975)
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     = [ 28 ]
    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)      = 7.722
            CPU/machine TIME (seconds)     = 7.710
        ]
        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                = 6451913
                Produced CNF variables         = 0
                Produced CNF clauses           = 0
                Search steps                   = 0
                Wall clock TIME (seconds)      = 64.006
                CPU/machine TIME (seconds)     = 64.010
            ]
        }
]
----------------------------------------------------------------