================================================================
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| = 32, |V| = 64) [
     robot locations: {1#55 2#3 3#59 4#51 5#33 6#19 7#5 8#14 9#21 10#13 11#6 12#62 13#52 14#17 15#4 16#48 17#23 18#40 19#58 20#46 21#37 22#38 23#8 24#61 25#28 26#27 27#47 28#35 29#11 30#22 31#18 32#57 }
     vertex occupancy: {0#0 0#1 0#2 2#3 15#4 7#5 11#6 0#7 23#8 0#9 0#10 29#11 0#12 10#13 8#14 0#15 0#16 14#17 31#18 6#19 0#20 9#21 30#22 17#23 0#24 0#25 0#26 26#27 25#28 0#29 0#30 0#31 0#32 5#33 0#34 28#35 0#36 21#37 22#38 0#39 18#40 0#41 0#42 0#43 0#44 0#45 20#46 27#47 16#48 0#49 0#50 4#51 13#52 0#53 0#54 1#55 0#56 32#57 19#58 3#59 0#60 24#61 12#62 0#63 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 32, |V| = 64) [
    robot goals: {
        1#{59}
        2#{39}
        3#{19}
        4#{4}
        5#{7}
        6#{11}
        7#{45}
        8#{56}
        9#{18}
        10#{24}
        11#{34}
        12#{21}
        13#{54}
        14#{61}
        15#{8}
        16#{48}
        17#{6}
        18#{0}
        19#{58}
        20#{10}
        21#{31}
        22#{33}
        23#{12}
        24#{53}
        25#{63}
        26#{52}
        27#{40}
        28#{17}
        29#{44}
        30#{13}
        31#{26}
        32#{62}
    }
    vertex compatibilities: {
        0@{18}
        1@{}
        2@{}
        3@{}
        4@{4}
        5@{}
        6@{17}
        7@{5}
        8@{15}
        9@{}
        10@{20}
        11@{6}
        12@{23}
        13@{30}
        14@{}
        15@{}
        16@{}
        17@{28}
        18@{9}
        19@{3}
        20@{}
        21@{12}
        22@{}
        23@{}
        24@{10}
        25@{}
        26@{31}
        27@{}
        28@{}
        29@{}
        30@{}
        31@{21}
        32@{}
        33@{22}
        34@{11}
        35@{}
        36@{}
        37@{}
        38@{}
        39@{2}
        40@{27}
        41@{}
        42@{}
        43@{}
        44@{29}
        45@{7}
        46@{}
        47@{}
        48@{16}
        49@{}
        50@{}
        51@{}
        52@{26}
        53@{24}
        54@{13}
        55@{}
        56@{8}
        57@{}
        58@{19}
        59@{1}
        60@{}
        61@{14}
        62@{32}
        63@{25}
    }
]
Open/close/exp size (steps): 4/1/4 (2)
Open/close/exp size (steps): 14/4/14 (5)
Open/close/exp size (steps): 23/8/23 (9)
Open/close/exp size (steps): 11/3/11 (14)
Open/close/exp size (steps): 28/9/28 (20)
Open/close/exp size (steps): 43/17/43 (28)
Open/close/exp size (steps): 57/27/57 (38)
Open/close/exp size (steps): 12/3/12 (50)
Open/close/exp size (steps): 38/13/38 (65)
Open/close/exp size (steps): 45/15/45 (83)
Open/close/exp size (steps): 81/37/81 (105)
Open/close/exp size (steps): 17/4/17 (132)
Open/close/exp size (steps): 88/37/88 (165)
Open/close/exp size (steps): 140/77/140 (205)
Open/close/exp size (steps): 47/19/47 (253)
Open/close/exp size (steps): 65/26/65 (311)
Open/close/exp size (steps): 65/26/65 (381)
Open/close/exp size (steps): 5/1/5 (465)
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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 0 1 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 

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

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

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

Groups 0 and 11 collide.
Solution of group 0
Mulirobot solution: (|moves| = 5, paralellism = 1.000) [
    Step 0: 1#55->54 
    Step 1: 1#54->53 
    Step 2: 1#53->52 
    Step 3: 1#52->51 
    Step 4: 1#51->59 
]
Solution of group 11
Mulirobot solution: (|moves| = 6, paralellism = 1.000) [
    Step 0: 1#62->54 
    Step 1: 1#54->46 
    Step 2: 1#46->38 
    Step 3: 1#38->30 
    Step 4: 1#30->22 
    Step 5: 1#22->21 
]
Occupation table complementary for group 0
0 0 0 1 1 1 1 0 1 0 0 1 0 1 1 0 0 1 1 1 0 1 1 1 0 0 0 1 1 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 0 1 1 1 0 0 1 1 0 0 0 0 1 1 1 0 1 1 0 
0 0 0 1 1 1 0 0 0 1 0 1 1 1 1 0 0 0 1 0 1 0 1 0 0 1 1 1 1 1 0 0 1 0 0 0 0 1 1 0 1 0 0 1 0 0 1 0 0 0 1 1 0 1 1 0 0 0 1 0 0 0 0 0 
0 0 1 0 1 1 0 0 0 0 1 1 1 1 1 0 0 1 0 1 1 1 0 0 1 0 1 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 1 0 1 1 0 1 0 0 0 0 1 1 0 0 0 1 1 0 0 0 0 
0 1 0 1 0 0 1 0 0 1 1 1 0 1 0 0 1 0 1 0 1 0 1 0 0 0 1 1 1 1 0 1 0 0 0 1 0 0 1 0 0 0 0 0 1 0 0 0 1 0 0 0 0 1 1 0 0 0 1 0 1 0 0 0 
1 1 1 0 0 0 1 1 1 1 1 1 1 1 1 0 0 1 1 1 0 1 0 0 0 0 1 1 0 0 1 1 0 0 1 0 1 1 0 1 0 0 0 1 0 0 0 0 1 0 0 0 1 1 1 0 0 0 1 0 0 1 0 0 
1 0 1 0 0 0 1 0 1 1 1 1 1 1 0 1 0 1 1 1 0 0 1 0 0 0 1 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 1 0 1 1 0 1 1 0 0 0 1 1 1 0 0 0 1 0 0 0 1 0 
1 0 0 1 0 0 1 0 1 0 0 1 1 1 0 0 1 1 1 1 0 1 0 1 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 1 0 0 1 1 0 0 1 0 0 0 1 1 1 1 0 0 1 0 0 0 1 0 
1 0 0 0 1 0 1 0 1 0 0 1 1 1 0 0 1 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 1 1 0 0 1 0 0 0 1 1 1 0 0 0 1 0 0 0 1 1 
1 0 0 0 1 1 1 0 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 1 1 0 0 0 1 0 0 0 1 1 
1 0 0 0 1 0 1 0 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 1 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 1 1 0 0 0 1 0 0 1 1 1 
1 0 0 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 1 1 0 0 0 1 0 0 1 1 1 
1 0 0 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 1 1 0 0 0 1 0 0 1 1 1 
1 0 0 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 1 1 0 1 0 1 0 0 1 1 1 

** Open/close/exp size (steps): 2/1/2 (2)
** Open/close/exp size (steps): 5/4/5 (5)
** Open/close/exp size (steps): 1/8/1 (9)
** Open/close/exp size (steps): 1/13/1 (14)
** Open/close/exp size (steps): 6/19/6 (20)
** Open/close/exp size (steps): 15/27/15 (28)
** Open/close/exp size (steps): 17/37/17 (38)
** Open/close/exp size (steps): 11/49/11 (50)
** Open/close/exp size (steps): 2/64/2 (65)
Occupation table complementary for group 11
0 0 0 1 1 1 1 0 1 0 0 1 0 1 1 0 0 1 1 1 0 1 1 1 0 0 0 1 1 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 0 1 1 1 0 0 1 1 0 0 1 0 1 1 1 0 1 0 0 
0 0 0 1 1 1 0 0 0 1 0 1 1 1 1 0 0 0 1 0 1 0 1 0 0 1 1 1 1 1 0 0 1 0 0 0 0 1 1 0 1 0 0 1 0 0 1 0 0 0 1 1 0 1 1 0 0 0 1 0 0 0 0 0 
0 0 1 0 1 1 0 0 0 0 1 1 1 1 1 0 0 1 0 1 1 1 0 0 1 0 1 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 0 0 1 1 0 0 0 1 1 0 0 0 0 
0 1 0 1 0 0 1 0 0 1 1 1 0 1 0 0 1 0 1 0 1 0 1 0 0 0 1 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 1 1 1 0 0 0 1 0 1 0 0 0 
1 1 1 0 0 0 1 1 1 1 1 1 1 1 1 0 0 1 1 1 0 1 0 0 0 0 1 1 0 0 0 1 0 0 1 0 1 1 0 1 0 0 0 1 0 0 0 0 1 0 0 1 1 1 1 0 0 0 1 0 0 1 0 0 
1 0 1 0 0 0 1 0 1 1 1 1 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 1 0 1 1 0 1 1 0 0 0 1 1 1 0 0 0 1 1 0 0 1 0 
1 0 0 1 0 0 1 0 1 0 0 1 1 1 0 0 1 1 1 1 0 0 0 1 0 0 1 0 0 0 0 1 0 1 0 0 0 1 0 0 0 1 0 0 1 1 0 0 1 0 0 0 1 1 1 1 0 0 1 1 0 0 1 0 
1 0 0 0 1 0 1 0 1 0 0 1 1 1 0 0 1 1 1 1 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 1 1 0 0 1 0 0 0 1 1 1 0 0 0 1 1 0 0 1 1 
1 0 0 0 1 1 1 0 1 0 1 1 1 1 0 0 0 1 1 1 0 0 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 1 1 0 0 0 1 1 0 0 1 1 
1 0 0 0 1 0 1 0 1 0 1 1 1 1 0 0 0 1 1 1 0 0 0 0 1 0 1 0 0 0 0 1 1 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 1 1 0 0 0 1 1 0 1 1 1 
1 0 0 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 1 1 0 0 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 1 1 0 0 0 1 1 0 1 1 1 
1 0 0 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 1 1 0 0 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 1 1 0 0 0 1 1 0 1 1 1 
1 0 0 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 1 1 0 0 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 1 1 0 1 0 1 1 0 1 1 1 

Alternative solution of group 11
Mulirobot solution: (|moves| = 8, paralellism = 1.000) [
    Step 0: 1#62->63 
    Step 1: 1#63->55 
    Step 2: 1#55->47 
    Step 3: 1#47->46 
    Step 4: 1#46->38 
    Step 5: 1#38->30 
    Step 6: 1#30->22 
    Step 7: 1#22->21 
]
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 

Collision between groups 0 and 11 resolved.
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 

Groups 0 and 12 collide.
Solution of group 0
Mulirobot solution: (|moves| = 5, paralellism = 1.000) [
    Step 0: 1#55->54 
    Step 1: 1#54->53 
    Step 2: 1#53->52 
    Step 3: 1#52->51 
    Step 4: 1#51->59 
]
Solution of group 12
Mulirobot solution: (|moves| = 2, paralellism = 1.000) [
    Step 0: 1#52->53 
    Step 1: 1#53->54 
]
Occupation table complementary for group 0
0 0 0 1 1 1 1 0 1 0 0 1 0 1 1 0 0 1 1 1 0 1 1 1 0 0 0 1 1 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 0 1 1 1 0 0 1 1 0 0 0 0 1 1 1 0 1 1 0 
0 0 0 1 1 1 0 0 0 1 0 1 1 1 1 0 0 0 1 0 1 0 1 0 0 1 1 1 1 1 0 0 1 0 0 0 0 1 1 0 1 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 0 1 0 0 0 0 1 
0 0 1 0 1 1 0 0 0 0 1 1 1 1 1 0 0 1 0 1 1 1 0 0 1 0 1 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 0 0 1 1 1 0 0 1 1 0 0 0 0 
0 1 0 1 0 0 1 0 0 1 1 1 0 1 0 0 1 0 1 0 1 0 1 0 0 0 1 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 1 0 0 0 0 1 1 0 0 0 1 0 1 0 0 0 
1 1 1 0 0 0 1 1 1 1 1 1 1 1 1 0 0 1 1 1 0 1 0 0 0 0 1 1 0 0 0 1 0 0 1 0 1 1 0 1 0 0 0 1 0 0 1 0 1 0 0 0 1 1 1 0 0 0 1 0 0 1 0 0 
1 0 1 0 0 0 1 0 1 1 1 1 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 1 0 1 1 0 1 1 0 0 0 1 1 1 0 0 0 1 0 0 0 1 0 
1 0 0 1 0 0 1 0 1 0 0 1 1 1 0 0 1 1 1 1 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 1 0 0 0 1 0 0 1 1 0 0 1 0 0 0 1 1 1 1 0 0 1 0 0 0 1 0 
1 0 0 0 1 0 1 0 1 0 0 1 1 1 0 0 1 1 1 1 0 0 1 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 1 1 0 0 1 0 0 0 1 1 1 0 0 0 1 0 0 0 1 1 
1 0 0 0 1 1 1 0 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 1 1 0 0 0 1 0 0 0 1 1 
1 0 0 0 1 0 1 0 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 1 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 1 1 0 0 0 1 0 0 1 1 1 
1 0 0 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 1 1 0 0 0 1 0 0 1 1 1 
1 0 0 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 1 1 0 0 0 1 0 0 1 1 1 
1 0 0 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 1 1 0 1 0 1 0 0 1 1 1 

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

** Open/close/exp size (steps): 3/1/3 (83)
Alternative solution of group 12
Mulirobot solution: (|moves| = 4, paralellism = 1.000) [
    Step 0: 1#52->60 
    Step 1: 1#60->61 
    Step 2: 1#61->62 
    Step 3: 1#62->54 
]
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 

Collision between groups 0 and 12 resolved.
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 
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Groups 0 and 23 collide.
Solution of group 0
Mulirobot solution: (|moves| = 5, paralellism = 1.000) [
    Step 0: 1#55->54 
    Step 1: 1#54->53 
    Step 2: 1#53->52 
    Step 3: 1#52->51 
    Step 4: 1#51->59 
]
Solution of group 23
Mulirobot solution: (|moves| = 1, paralellism = 1.000) [
    Step 0: 1#61->53 
]
Occupation table complementary for group 0
0 0 0 1 1 1 1 0 1 0 0 1 0 1 1 0 0 1 1 1 0 1 1 1 0 0 0 1 1 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 0 1 1 1 0 0 1 1 0 0 0 0 1 1 1 0 1 1 0 
0 0 0 1 1 1 0 0 0 1 0 1 1 1 1 0 0 0 1 0 1 0 1 0 0 1 1 1 1 1 0 0 1 0 0 0 0 1 1 0 1 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 0 1 0 1 0 0 1 
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1 0 0 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 1 1 0 0 0 1 0 0 1 1 1 
1 0 0 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 1 1 0 1 0 1 0 0 1 1 1 

Occupation table complementary for group 23
0 0 0 1 1 1 1 0 1 0 0 1 0 1 1 0 0 1 1 1 0 1 1 1 0 0 0 1 1 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 0 1 1 1 0 0 1 1 0 0 1 0 1 1 1 0 0 1 0 
0 0 0 1 1 1 0 0 0 1 0 1 1 1 1 0 0 0 1 0 1 0 1 0 0 1 1 1 1 1 0 0 1 0 0 0 0 1 1 0 1 0 0 1 0 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 1 0 0 1 
0 0 1 0 1 1 0 0 0 0 1 1 1 1 1 0 0 1 0 1 1 1 0 0 1 0 1 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 0 0 1 0 1 0 0 1 1 0 1 0 0 
0 1 0 1 0 0 1 0 0 1 1 1 0 1 0 0 1 0 1 0 1 0 1 0 0 0 1 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 1 0 0 0 1 0 0 0 0 0 1 0 1 0 1 0 
1 1 1 0 0 0 1 1 1 1 1 1 1 1 1 0 0 1 1 1 0 1 0 0 0 0 1 1 0 0 0 1 0 0 1 0 1 1 0 1 0 0 0 1 0 0 1 0 1 0 0 1 1 0 1 0 0 0 1 0 0 1 0 0 
1 0 1 0 0 0 1 0 1 1 1 1 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 1 0 1 1 0 1 1 0 0 0 1 0 1 0 0 0 1 1 0 0 1 0 
1 0 0 1 0 0 1 0 1 0 0 1 1 1 0 0 1 1 1 1 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 1 0 0 0 1 0 0 1 1 0 0 1 0 0 0 1 0 1 1 0 0 1 1 0 0 1 0 
1 0 0 0 1 0 1 0 1 0 0 1 1 1 0 0 1 1 1 1 0 0 1 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 0 1 1 
1 0 0 0 1 1 1 0 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 1 1 0 0 0 1 1 0 0 1 1 
1 0 0 0 1 0 1 0 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 1 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 1 1 1 
1 0 0 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 1 1 1 
1 0 0 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 1 1 1 
1 0 0 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 1 0 1 0 1 1 0 1 1 1 

Unable to resolve collision between groups 0 and 23.
Merging groups 0 and 23.
Searching solution for merged group 0+23.
Open/close/exp size (steps): 168/94/168 (566)
Open/close/exp size (steps): 231/216/231 (688)
Open/close/exp size (steps): 400/363/400 (835)
Open/close/exp size (steps): 547/540/547 (1012)
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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 0 1 0 0 0 0 0 2 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 1 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 1 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 1 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 1 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 

Groups 0 and 12 collide.
Solution of group 0
Mulirobot solution: (|moves| = 6, paralellism = 1.200) [
    Step 0: 1#55->54 2#61->53 
    Step 1: 1#54->62 
    Step 2: 1#62->61 
    Step 3: 1#61->60 
    Step 4: 1#60->59 
]
Solution of group 12
Mulirobot solution: (|moves| = 4, paralellism = 1.000) [
    Step 0: 1#52->60 
    Step 1: 1#60->61 
    Step 2: 1#61->62 
    Step 3: 1#62->54 
]
Occupation table complementary for group 0
0 0 0 1 1 1 1 0 1 0 0 1 0 1 1 0 0 1 1 1 0 1 1 1 0 0 0 1 1 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 0 1 1 1 0 0 1 1 0 0 0 0 1 1 1 0 0 1 0 
0 0 0 1 1 1 0 0 0 1 0 1 1 1 1 0 0 0 1 0 1 0 1 0 0 1 1 1 1 1 0 0 1 0 0 0 0 1 1 0 1 0 0 1 0 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 0 1 
0 0 1 0 1 1 0 0 0 0 1 1 1 1 1 0 0 1 0 1 1 1 0 0 1 0 1 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 0 0 0 0 1 0 0 1 1 0 1 0 0 
0 1 0 1 0 0 1 0 0 1 1 1 0 1 0 0 1 0 1 0 1 0 1 0 0 0 1 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 
1 1 1 0 0 0 1 1 1 1 1 1 1 1 1 0 0 1 1 1 0 1 0 0 0 0 1 1 0 0 0 1 0 0 1 0 1 1 0 1 0 0 0 1 0 0 1 0 1 0 0 0 1 0 1 0 0 0 1 0 0 1 0 0 
1 0 1 0 0 0 1 0 1 1 1 1 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 1 0 1 1 0 1 1 0 0 0 1 0 1 0 0 0 1 0 0 0 1 0 
1 0 0 1 0 0 1 0 1 0 0 1 1 1 0 0 1 1 1 1 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 1 0 0 0 1 0 0 1 1 0 0 1 0 0 0 1 0 1 1 0 0 1 0 0 0 1 0 
1 0 0 0 1 0 1 0 1 0 0 1 1 1 0 0 1 1 1 1 0 0 1 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 1 0 0 0 1 0 0 0 1 1 
1 0 0 0 1 1 1 0 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 1 1 0 0 0 1 0 0 0 1 1 
1 0 0 0 1 0 1 0 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 1 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 1 0 0 0 1 0 0 1 1 1 
1 0 0 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 1 0 0 0 1 0 0 1 1 1 
1 0 0 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 1 0 0 0 1 0 0 1 1 1 
1 0 0 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 1 0 1 0 1 0 0 1 1 1 

** Open/close/exp size (steps): 4/13/4 (105)
** Open/close/exp size (steps): 18/40/18 (132)
** Open/close/exp size (steps): 37/73/37 (165)
** Open/close/exp size (steps): 65/113/65 (205)
** Open/close/exp size (steps): 93/161/93 (253)
** Open/close/exp size (steps): 44/219/44 (311)
** Open/close/exp size (steps): 96/289/96 (381)
** Open/close/exp size (steps): 61/373/61 (465)
** Open/close/exp size (steps): 107/474/107 (566)
** Open/close/exp size (steps): 123/596/123 (688)
** Open/close/exp size (steps): 174/743/174 (835)
** Open/close/exp size (steps): 201/920/201 (1012)
** Open/close/exp size (steps): 216/1133/216 (1225)
** Open/close/exp size (steps): 315/1389/315 (1481)
** Open/close/exp size (steps): 178/1697/178 (1789)
** Open/close/exp size (steps): 61/2067/61 (2159)
Occupation table complementary for group 12
0 0 0 1 1 1 1 0 1 0 0 1 0 1 1 0 0 1 1 1 0 1 1 1 0 0 0 1 1 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 0 1 1 1 0 0 1 0 0 0 1 0 1 1 1 0 2 1 0 
0 0 0 1 1 1 0 0 0 1 0 1 1 1 1 0 0 0 1 0 1 0 1 0 0 1 1 1 1 1 0 0 1 0 0 0 0 1 1 0 1 0 0 1 0 0 1 0 0 0 1 1 0 2 1 0 0 0 1 0 0 0 0 1 
0 0 1 0 1 1 0 0 0 0 1 1 1 1 1 0 0 1 0 1 1 1 0 0 1 0 1 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 0 0 2 0 1 0 0 1 1 0 0 1 0 
0 1 0 1 0 0 1 0 0 1 1 1 0 1 0 0 1 0 1 0 1 0 1 0 0 0 1 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 1 0 0 0 0 2 0 0 0 0 1 0 1 1 0 0 
1 1 1 0 0 0 1 1 1 1 1 1 1 1 1 0 0 1 1 1 0 1 0 0 0 0 1 1 0 0 0 1 0 0 1 0 1 1 0 1 0 0 0 1 0 0 1 0 1 0 0 0 1 2 0 0 0 0 1 0 1 1 0 0 
1 0 1 0 0 0 1 0 1 1 1 1 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 1 0 1 1 0 1 1 0 0 0 1 2 0 0 0 0 1 1 0 0 1 0 
1 0 0 1 0 0 1 0 1 0 0 1 1 1 0 0 1 1 1 1 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 1 0 0 0 1 0 0 1 1 0 0 1 0 0 0 1 2 0 1 0 0 1 1 0 0 1 0 
1 0 0 0 1 0 1 0 1 0 0 1 1 1 0 0 1 1 1 1 0 0 1 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 1 1 0 0 1 0 0 0 1 2 0 0 0 0 1 1 0 0 1 1 
1 0 0 0 1 1 1 0 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 1 0 0 0 0 1 1 0 0 1 1 
1 0 0 0 1 0 1 0 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 1 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 2 0 0 0 0 1 1 0 1 1 1 
1 0 0 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 2 0 0 0 0 1 1 0 1 1 1 
1 0 0 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 2 0 0 0 0 1 1 0 1 1 1 
1 0 0 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 2 0 0 1 0 1 1 0 1 1 1 

Alternative solution of group 12
Mulirobot solution: (|moves| = 12, paralellism = 1.000) [
    Step 0: 1#52->44 
    Step 1: 1#44->52 
    Step 2: 1#52->51 
    Step 3: 1#51->50 
    Step 4: 1#50->51 
    Step 5: 1#51->43 
    Step 6: 1#43->35 
    Step 7: 1#35->36 
    Step 8: 1#36->37 
    Step 9: 1#37->38 
    Step 10: 1#38->46 
    Step 11: 1#46->54 
]
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 2 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 1 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 1 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 1 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 1 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 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 2 0 0 0 0 0 1 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 

Collision between groups 0 and 12 resolved.
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 2 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 1 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 1 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 1 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 1 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 

Groups 0 and 13 collide.
Solution of group 0
Mulirobot solution: (|moves| = 6, paralellism = 1.200) [
    Step 0: 1#55->54 2#61->53 
    Step 1: 1#54->62 
    Step 2: 1#62->61 
    Step 3: 1#61->60 
    Step 4: 1#60->59 
]
Solution of group 13
Mulirobot solution: (|moves| = 9, paralellism = 1.000) [
    Step 0: 1#17->18 
    Step 1: 1#18->19 
    Step 2: 1#19->20 
    Step 3: 1#20->21 
    Step 4: 1#21->29 
    Step 5: 1#29->37 
    Step 6: 1#37->45 
    Step 7: 1#45->53 
    Step 8: 1#53->61 
]
Occupation table complementary for group 0
0 0 0 1 1 1 1 0 1 0 0 1 0 1 1 0 0 1 1 1 0 1 1 1 0 0 0 1 1 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 0 1 1 1 0 0 1 1 0 0 0 0 1 1 1 0 0 1 0 
0 0 0 1 1 1 0 0 0 1 0 1 1 1 1 0 0 0 1 0 1 0 1 0 0 1 1 1 1 1 0 0 1 0 0 0 0 1 1 0 1 0 0 1 1 0 1 0 0 0 1 1 0 0 0 0 0 0 1 0 0 0 0 1 
0 0 1 0 1 1 0 0 0 0 1 1 1 1 1 0 0 1 0 1 1 1 0 0 1 0 1 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 0 1 0 0 1 0 0 1 1 0 0 0 0 
0 1 0 1 0 0 1 0 0 1 1 1 0 1 0 0 1 0 1 0 1 0 1 0 0 0 1 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 1 0 0 1 0 0 0 0 0 0 1 0 1 0 0 0 
1 1 1 0 0 0 1 1 1 1 1 1 1 1 1 0 0 1 1 1 0 1 0 0 0 0 1 1 0 0 0 1 0 0 1 0 1 1 0 1 0 0 0 1 0 0 1 0 1 0 1 0 1 0 0 0 0 0 1 0 0 1 0 0 
1 0 1 0 0 0 1 0 1 1 1 1 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 1 0 1 1 0 1 1 0 0 1 1 0 0 0 0 0 1 0 0 0 1 0 
1 0 0 1 0 0 1 0 1 0 0 1 1 1 0 0 1 1 1 1 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 1 0 0 0 1 0 1 1 1 0 0 1 0 0 0 1 0 0 1 0 0 1 0 0 0 1 0 
1 0 0 0 1 0 1 0 1 0 0 1 1 1 0 0 1 1 1 1 0 0 1 0 1 0 1 0 0 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 0 1 1 
1 0 0 0 1 1 1 0 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 1 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 1 0 0 0 0 1 0 0 0 1 1 
1 0 0 0 1 0 1 0 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 1 1 1 0 0 1 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 1 1 1 
1 0 0 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 1 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 1 1 1 
1 0 0 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 1 0 1 0 0 0 1 0 0 0 0 0 1 0 0 1 1 1 
1 0 0 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 0 1 0 1 0 1 0 0 1 1 1 

** Open/close/exp size (steps): 105/354/105 (2603)
Alternative solution of group 0
Mulirobot solution: (|moves| = 12, paralellism = 1.200) [
    Step 0: 1#55->54 
    Step 1: 1#54->53 2#61->62 
    Step 2: 2#62->54 
    Step 3: 2#54->55 
    Step 4: 2#55->54 
    Step 5: 1#53->61 
    Step 6: 1#61->60 
    Step 7: 1#60->59 
    Step 8: 1#59->51 
    Step 9: 1#51->59 2#54->53 
]
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 2 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 2 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 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 1 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 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 1 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 0 2 0 0 0 0 0 1 0 0 0 0 

Collision between groups 0 and 13 resolved.
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 2 0 0 
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0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

Groups 1 and 10 collide.
Solution of group 1
Mulirobot solution: (|moves| = 8, paralellism = 1.000) [
    Step 0: 1#3->4 
    Step 1: 1#4->5 
    Step 2: 1#5->6 
    Step 3: 1#6->7 
    Step 4: 1#7->15 
    Step 5: 1#15->23 
    Step 6: 1#23->31 
    Step 7: 1#31->39 
]
Solution of group 10
Mulirobot solution: (|moves| = 8, paralellism = 1.000) [
    Step 0: 1#6->5 
    Step 1: 1#5->4 
    Step 2: 1#4->3 
    Step 3: 1#3->2 
    Step 4: 1#2->10 
    Step 5: 1#10->18 
    Step 6: 1#18->26 
    Step 7: 1#26->34 
]
Occupation table complementary for group 1
0 0 0 0 1 1 1 0 1 0 0 1 0 1 1 0 0 1 1 1 0 1 1 1 0 0 0 1 1 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 0 1 1 1 0 0 1 1 0 0 1 0 1 1 1 0 2 1 0 
0 0 0 1 0 1 0 0 0 1 0 1 1 1 1 0 0 0 1 0 1 0 1 0 0 1 1 1 1 1 0 0 1 0 0 0 0 1 1 0 1 0 0 1 1 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 2 0 1 
0 0 1 0 1 0 0 0 0 0 1 1 1 1 1 0 0 1 0 1 1 1 0 0 1 0 1 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 0 1 1 0 1 0 0 1 1 0 0 2 0 
0 1 0 1 0 0 1 0 0 1 1 1 0 1 0 0 1 0 1 0 1 0 1 0 0 0 1 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 1 0 0 1 0 1 2 0 0 0 1 0 1 0 0 0 
1 1 1 0 0 0 1 0 1 1 1 1 1 1 1 0 0 1 1 1 0 1 0 0 0 0 1 1 0 0 0 1 0 0 1 0 1 1 0 1 0 0 0 1 0 0 1 0 1 0 1 0 1 1 0 2 0 0 1 0 0 1 0 0 
1 0 1 0 0 0 1 0 1 1 1 1 1 1 0 0 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 1 0 1 1 0 1 1 0 0 1 1 1 2 0 0 0 1 0 0 0 1 0 
1 0 0 1 0 0 1 0 1 0 0 1 1 1 0 0 1 1 1 1 0 0 0 0 0 0 1 0 0 0 1 1 0 1 0 0 0 1 0 0 0 1 0 1 1 1 0 0 1 0 0 0 1 0 2 1 0 0 1 0 0 1 1 0 
1 0 0 0 1 0 1 0 1 0 0 1 1 1 0 0 1 1 1 1 0 0 1 0 1 0 1 0 0 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 2 0 0 0 1 0 1 0 1 1 
1 0 0 0 1 1 1 0 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 1 0 0 0 1 0 0 0 1 1 0 0 1 0 0 0 1 1 2 0 0 0 1 1 0 0 1 1 
1 0 0 0 1 0 1 0 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 1 1 1 0 0 1 0 0 1 0 0 0 1 1 0 0 1 0 0 1 1 0 2 0 0 0 1 0 0 1 1 1 
1 0 0 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 1 0 1 0 0 0 1 1 0 0 1 0 0 0 1 2 0 0 0 0 1 1 0 1 1 1 
1 0 0 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 0 1 0 0 0 1 1 1 0 1 0 0 0 1 2 0 0 0 0 1 1 0 1 1 1 
1 0 0 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 0 1 0 0 0 1 1 0 0 1 0 0 0 1 2 1 0 1 0 1 1 0 1 1 1 

Occupation table complementary for group 10
0 0 0 1 1 1 0 0 1 0 0 1 0 1 1 0 0 1 1 1 0 1 1 1 0 0 0 1 1 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 0 1 1 1 0 0 1 1 0 0 1 0 1 1 1 0 2 1 0 
0 0 0 1 1 0 0 0 0 1 0 1 1 1 1 0 0 0 1 0 1 0 1 0 0 1 1 1 1 1 0 0 1 0 0 0 0 1 1 0 1 0 0 1 1 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 2 0 1 
0 0 1 0 0 1 0 0 0 0 1 1 1 1 1 0 0 1 0 1 1 1 0 0 1 0 1 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 0 1 1 0 1 0 0 1 1 0 0 2 0 
0 1 0 0 0 0 1 0 0 1 1 1 0 1 0 0 1 0 1 0 1 0 1 0 0 0 1 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 1 0 0 1 0 1 2 0 0 0 1 0 1 0 0 0 
1 1 0 0 0 0 1 1 1 1 1 1 1 1 1 0 0 1 1 1 0 1 0 0 0 0 1 1 0 0 0 1 0 0 1 0 1 1 0 1 0 0 0 1 0 0 1 0 1 0 1 0 1 1 0 2 0 0 1 0 0 1 0 0 
1 0 1 0 0 0 1 0 1 1 0 1 1 1 0 1 0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 1 0 1 1 0 1 1 0 0 1 1 1 2 0 0 0 1 0 0 0 1 0 
1 0 0 1 0 0 1 0 1 0 0 1 1 1 0 0 1 1 1 1 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 1 0 0 0 1 0 1 1 1 0 0 1 0 0 0 1 0 2 1 0 0 1 0 0 1 1 0 
1 0 0 0 1 0 1 0 1 0 0 1 1 1 0 0 1 1 1 1 0 0 1 0 1 0 1 0 0 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 2 0 0 0 1 0 1 0 1 1 
1 0 0 0 1 1 1 0 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 0 0 1 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 1 2 0 0 0 1 1 0 0 1 1 
1 0 0 0 1 0 1 0 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 1 1 0 0 0 1 0 1 1 0 0 0 1 1 0 0 1 0 0 1 1 0 2 0 0 0 1 0 0 1 1 1 
1 0 0 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 1 1 1 0 0 0 1 1 0 0 1 0 0 0 1 2 0 0 0 0 1 1 0 1 1 1 
1 0 0 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 1 1 0 0 0 1 1 1 0 1 0 0 0 1 2 0 0 0 0 1 1 0 1 1 1 
1 0 0 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 2 1 0 1 0 1 1 0 1 1 1 

Alternative solution of group 10
Mulirobot solution: (|moves| = 10, paralellism = 0.909) [
    Step 0: 1#6->7 
    Step 1: 1#7->15 
    Step 2: 1#15->23 
    Step 3: 
    Step 4: 1#23->22 
    Step 5: 1#22->21 
    Step 6: 1#21->20 
    Step 7: 1#20->28 
    Step 8: 1#28->27 
    Step 9: 1#27->35 
    Step 10: 1#35->34 
]
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

Collision between groups 1 and 10 resolved.
0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

Groups 1 and 14 collide.
Solution of group 1
Mulirobot solution: (|moves| = 8, paralellism = 1.000) [
    Step 0: 1#3->4 
    Step 1: 1#4->5 
    Step 2: 1#5->6 
    Step 3: 1#6->7 
    Step 4: 1#7->15 
    Step 5: 1#15->23 
    Step 6: 1#23->31 
    Step 7: 1#31->39 
]
Solution of group 14
Mulirobot solution: (|moves| = 5, paralellism = 1.000) [
    Step 0: 1#4->3 
    Step 1: 1#3->2 
    Step 2: 1#2->1 
    Step 3: 1#1->0 
    Step 4: 1#0->8 
]
Occupation table complementary for group 1
0 0 0 0 1 1 1 0 1 0 0 1 0 1 1 0 0 1 1 1 0 1 1 1 0 0 0 1 1 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 0 1 1 1 0 0 1 1 0 0 1 0 1 1 1 0 2 1 0 
0 0 0 1 0 0 0 1 0 1 0 1 1 1 1 0 0 0 1 0 1 0 1 0 0 1 1 1 1 1 0 0 1 0 0 0 0 1 1 0 1 0 0 1 1 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 2 0 1 
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1 1 0 0 0 0 1 0 1 1 1 1 1 1 1 0 0 1 1 1 0 1 0 1 0 0 1 1 0 0 0 1 0 0 1 0 1 1 0 1 0 0 0 1 0 0 1 0 1 0 1 0 1 1 0 2 0 0 1 0 0 1 0 0 
1 0 1 0 0 0 1 0 1 1 0 1 1 1 0 0 0 1 1 1 0 0 1 0 0 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 1 0 1 1 0 1 1 0 0 1 1 1 2 0 0 0 1 0 0 0 1 0 
1 0 0 1 0 0 1 0 1 0 0 1 1 1 0 0 1 1 1 1 0 1 0 0 0 0 1 0 0 0 1 1 0 1 0 0 0 1 0 0 0 1 0 1 1 1 0 0 1 0 0 0 1 0 2 1 0 0 1 0 0 1 1 0 
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1 0 0 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 0 1 0 0 0 1 1 1 0 1 0 0 0 1 2 0 0 0 0 1 1 0 1 1 1 
1 0 0 0 1 0 1 1 1 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 0 1 0 0 0 1 1 0 0 1 0 0 0 1 2 1 0 1 0 1 1 0 1 1 1 

Occupation table complementary for group 14
0 0 0 1 0 1 1 0 1 0 0 1 0 1 1 0 0 1 1 1 0 1 1 1 0 0 0 1 1 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 0 1 1 1 0 0 1 1 0 0 1 0 1 1 1 0 2 1 0 
0 0 0 0 1 0 0 1 0 1 0 1 1 1 1 0 0 0 1 0 1 0 1 0 0 1 1 1 1 1 0 0 1 0 0 0 0 1 1 0 1 0 0 1 1 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 2 0 1 
0 0 0 0 0 1 0 0 0 0 1 1 1 1 1 1 0 1 0 1 1 1 0 0 1 0 1 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 0 1 1 0 1 0 0 1 1 0 0 2 0 
0 0 0 0 0 0 1 0 0 1 1 1 0 1 0 0 1 0 1 0 1 0 1 1 0 0 1 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 1 0 0 1 0 1 2 0 0 0 1 0 1 0 0 0 
0 1 0 0 0 0 1 1 1 1 1 1 1 1 1 0 0 1 1 1 0 1 0 1 0 0 1 1 0 0 0 1 0 0 1 0 1 1 0 1 0 0 0 1 0 0 1 0 1 0 1 0 1 1 0 2 0 0 1 0 0 1 0 0 
1 0 1 0 0 0 1 0 1 1 0 1 1 1 0 1 0 1 1 1 0 0 1 0 0 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 1 0 1 1 0 1 1 0 0 1 1 1 2 0 0 0 1 0 0 0 1 0 
1 0 0 1 0 0 1 0 1 0 0 1 1 1 0 0 1 1 1 1 0 1 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 1 0 0 0 1 0 1 1 1 0 0 1 0 0 0 1 0 2 1 0 0 1 0 0 1 1 0 
1 0 0 0 1 0 1 0 0 0 0 1 1 1 0 0 1 1 1 1 1 0 1 0 1 0 1 0 0 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 2 0 0 0 1 0 1 0 1 1 
1 0 0 0 1 1 1 0 0 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 1 0 0 1 0 1 0 0 1 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 1 2 0 0 0 1 1 0 0 1 1 
1 0 0 0 1 0 1 0 0 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 1 0 0 0 1 1 1 0 0 0 1 0 1 1 0 0 0 1 1 0 0 1 0 0 1 1 0 2 0 0 0 1 0 0 1 1 1 
1 0 0 0 1 0 1 1 0 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 0 1 0 0 1 1 1 0 0 0 1 1 0 0 1 0 0 0 1 2 0 0 0 0 1 1 0 1 1 1 
1 0 0 0 1 0 1 1 0 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 1 0 1 0 0 0 1 2 0 0 0 0 1 1 0 1 1 1 
1 0 0 0 1 0 1 1 0 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 2 1 0 1 0 1 1 0 1 1 1 

Unable to resolve collision between groups 1 and 14.
Merging groups 1 and 14.
Searching solution for merged group 1+14.
Open/close/exp size (steps): 218/102/218 (1225)
Open/close/exp size (steps): 642/358/642 (1481)
Open/close/exp size (steps): 879/666/879 (1789)
Open/close/exp size (steps): 1119/1036/1119 (2159)
Open/close/exp size (steps): 1429/1480/1429 (2603)
Open/close/exp size (steps): 1719/2013/1719 (3136)
Open/close/exp size (steps): 2161/2653/2161 (3776)
Open/close/exp size (steps): 2565/3421/2565 (4544)
Open/close/exp size (steps): 2960/4343/2960 (5466)
Open/close/exp size (steps): 2928/5450/2928 (6573)
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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 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 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

Groups 1 and 4 collide.
Solution of group 1
Mulirobot solution: (|moves| = 13, paralellism = 1.444) [
    Step 0: 2#4->12 
    Step 1: 1#3->4 2#12->11 
    Step 2: 1#4->5 2#11->10 
    Step 3: 1#5->6 2#10->9 
    Step 4: 1#6->7 2#9->8 
    Step 5: 1#7->15 
    Step 6: 1#15->23 
    Step 7: 1#23->31 
    Step 8: 1#31->39 
]
Solution of group 4
Mulirobot solution: (|moves| = 10, paralellism = 1.000) [
    Step 0: 1#33->25 
    Step 1: 1#25->17 
    Step 2: 1#17->9 
    Step 3: 1#9->1 
    Step 4: 1#1->2 
    Step 5: 1#2->3 
    Step 6: 1#3->4 
    Step 7: 1#4->5 
    Step 8: 1#5->6 
    Step 9: 1#6->7 
]
Occupation table complementary for group 1
0 0 0 0 0 1 1 0 1 0 0 1 0 1 1 0 0 1 1 1 0 1 1 1 0 0 0 1 1 0 0 0 0 1 0 1 0 1 1 0 1 0 0 0 0 0 1 1 1 0 0 1 1 0 0 1 0 1 1 1 0 2 1 0 
0 0 0 0 0 0 0 1 0 1 0 1 1 1 1 0 0 0 1 0 1 0 1 0 0 1 1 1 1 1 0 0 1 0 0 0 0 1 1 0 1 0 0 1 1 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 2 0 1 
0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 0 1 0 1 1 1 0 0 1 0 1 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 0 1 1 0 1 0 0 1 1 0 0 2 0 
0 0 0 0 0 0 1 0 0 1 1 1 0 1 0 0 1 0 1 0 1 0 1 1 0 0 1 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 1 0 0 1 0 1 2 0 0 0 1 0 1 0 0 0 
0 1 0 0 0 0 1 0 1 1 1 1 1 1 1 0 0 1 1 1 0 1 0 1 0 0 1 1 0 0 0 1 0 0 1 0 1 1 0 1 0 0 0 1 0 0 1 0 1 0 1 0 1 1 0 2 0 0 1 0 0 1 0 0 
1 0 1 0 0 0 1 0 1 1 0 1 1 1 0 0 0 1 1 1 0 0 1 0 0 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 1 0 1 1 0 1 1 0 0 1 1 1 2 0 0 0 1 0 0 0 1 0 
1 0 0 1 0 0 1 0 1 0 0 1 1 1 0 0 1 1 1 1 0 1 0 0 0 0 1 0 0 0 1 1 0 1 0 0 0 1 0 0 0 1 0 1 1 1 0 0 1 0 0 0 1 0 2 1 0 0 1 0 0 1 1 0 
1 0 0 0 1 0 1 0 0 0 0 1 1 1 0 0 1 1 1 1 1 0 1 0 1 0 1 0 0 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 2 0 0 0 1 0 1 0 1 1 
1 0 0 0 1 1 1 0 0 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 1 0 0 1 0 1 0 0 1 0 0 0 1 0 0 0 1 1 0 0 1 0 0 0 1 1 2 0 0 0 1 1 0 0 1 1 
1 0 0 0 1 0 1 0 0 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 1 0 0 0 1 1 1 0 0 0 1 0 0 1 0 0 0 1 1 0 0 1 0 0 1 1 0 2 0 0 0 1 0 0 1 1 1 
1 0 0 0 1 0 1 1 0 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 0 1 0 0 1 0 1 0 0 0 1 1 0 0 1 0 0 0 1 2 0 0 0 0 1 1 0 1 1 1 
1 0 0 0 1 0 1 1 0 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 0 1 0 0 0 1 1 1 0 1 0 0 0 1 2 0 0 0 0 1 1 0 1 1 1 
1 0 0 0 1 0 1 1 0 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 0 1 0 0 0 1 1 0 0 1 0 0 0 1 2 1 0 1 0 1 1 0 1 1 1 

Occupation table complementary for group 4
0 0 0 1 2 1 1 0 1 0 0 1 0 1 1 0 0 1 1 1 0 1 1 1 0 0 0 1 1 0 0 0 0 0 0 1 0 1 1 0 1 0 0 0 0 0 1 1 1 0 0 1 1 0 0 1 0 1 1 1 0 2 1 0 
0 0 0 1 0 0 0 1 0 1 0 1 1 1 1 0 0 0 1 0 1 0 1 0 0 0 1 1 1 1 0 0 1 0 0 0 0 1 1 0 1 0 0 1 1 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 0 2 0 1 
0 0 0 0 1 0 0 0 0 0 1 1 1 1 1 1 0 0 0 1 1 1 0 0 1 0 1 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 1 0 1 0 0 1 0 0 0 1 1 0 1 0 0 1 1 0 0 2 0 
0 0 0 0 0 1 1 0 0 0 1 1 0 1 0 0 1 0 1 0 1 0 1 1 0 0 1 1 1 1 0 1 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 1 1 0 0 1 0 1 2 0 0 0 1 0 1 0 0 0 
0 0 0 0 0 0 1 0 1 1 1 1 1 1 1 0 0 1 1 1 0 1 0 1 0 0 1 1 0 0 0 1 0 0 1 0 1 1 0 1 0 0 0 1 0 0 1 0 1 0 1 0 1 1 0 2 0 0 1 0 0 1 0 0 
1 0 0 0 0 0 1 1 1 1 0 1 1 1 0 0 0 1 1 1 0 0 1 0 0 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 1 0 1 1 0 1 1 0 0 1 1 1 2 0 0 0 1 0 0 0 1 0 
1 0 0 1 0 0 1 0 1 0 0 1 1 1 0 1 1 1 1 1 0 1 0 0 0 0 1 0 0 0 1 1 0 1 0 0 0 1 0 0 0 1 0 1 1 1 0 0 1 0 0 0 1 0 2 1 0 0 1 0 0 1 1 0 
1 0 0 0 1 0 1 0 2 0 0 1 1 1 0 0 1 1 1 1 1 0 1 1 1 0 1 0 0 0 0 1 0 1 0 1 0 0 0 0 1 0 0 0 1 1 0 0 1 0 0 0 1 0 2 0 0 0 1 0 1 0 1 1 
1 0 0 0 1 0 1 0 2 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 1 0 0 1 0 1 0 0 1 0 0 0 1 0 0 0 1 1 0 0 1 0 0 0 1 1 2 0 0 0 1 1 0 0 1 1 
1 0 0 0 1 0 1 0 2 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 1 0 0 0 1 1 1 0 0 0 1 0 1 1 0 0 0 1 1 0 0 1 0 0 1 1 0 2 0 0 0 1 0 0 1 1 1 
1 0 0 0 1 0 1 0 2 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 0 1 0 0 1 1 1 0 0 0 1 1 0 0 1 0 0 0 1 2 0 0 0 0 1 1 0 1 1 1 
1 0 0 0 1 0 1 0 2 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 1 0 1 0 0 0 1 2 0 0 0 0 1 1 0 1 1 1 
1 0 0 0 1 0 1 0 2 0 1 1 1 1 0 0 0 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 1 1 0 0 0 0 1 1 0 0 0 1 1 0 0 1 0 0 0 1 2 1 0 1 0 1 1 0 1 1 1 

Unable to resolve collision between groups 1 and 4.
Merging groups 1 and 4.
Searching solution for merged group 1+4.
Open/close/exp size (steps): 2304/971/2304 (7902)
Open/close/exp size (steps): 4932/2566/4932 (9497)
Open/close/exp size (steps): 7579/4480/7579 (11411)
Open/close/exp size (steps): 11225/6777/11225 (13708)
Open/close/exp size (steps): 15836/9534/15836 (16465)
Open/close/exp size (steps): 19459/12843/19459 (19774)
Open/close/exp size (steps): 23930/16814/23930 (23745)
Open/close/exp size (steps): 31624/21580/31624 (28511)
Open/close/exp size (steps): 41164/27300/41164 (34231)
Open/close/exp size (steps): 44094/34164/44094 (41095)
Open/close/exp size (steps): 65365/42401/65365 (49332)
Open/close/exp size (steps): 72472/52286/72472 (59217)
Open/close/exp size (steps): 70693/64148/70693 (71079)
Open/close/exp size (steps): 67469/78383/67469 (85314)
Open/close/exp size (steps): 63658/95465/63658 (102396)
Open/close/exp size (steps): 48973/115964/48973 (122895)
Open/close/exp size (steps): 71021/140563/71021 (147494)
Open/close/exp size (steps): 119729/170082/119729 (177013)
Open/close/exp size (steps): 125141/205505/125141 (212436)
Open/close/exp size (steps): 157528/248013/157528 (254944)
Open/close/exp size (steps): 247050/299023/247050 (305954)
Open/close/exp size (steps): 212450/360235/212450 (367166)
Open/close/exp size (steps): 193004/433690/193004 (440621)
Open/close/exp size (steps): 254175/521836/254175 (528767)
Open/close/exp size (steps): 321697/627612/321697 (634543)
Open/close/exp size (steps): 465909/754544/465909 (761475)
Open/close/exp size (steps): 388442/906863/388442 (913794)
Open/close/exp size (steps): 437515/1089646/437515 (1096577)
Open/close/exp size (steps): 389746/1308986/389746 (1315917)
Open/close/exp size (steps): 323615/1572194/323615 (1579125)
Open/close/exp size (steps): 483088/1888044/483088 (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     = [ 31 ]
    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)      = 6.725
            CPU/machine TIME (seconds)     = 6.720
        ]
        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                = 7573806
                Produced CNF variables         = 0
                Produced CNF clauses           = 0
                Search steps                   = 0
                Wall clock TIME (seconds)      = 64.014
                CPU/machine TIME (seconds)     = 64.010
            ]
        }
]
----------------------------------------------------------------