diff --git a/m-mp/ipc-2011_tidybot-sequential-satisficing_16.env b/m-mp/ipc-2011_tidybot-sequential-satisficing_16.env
new file mode 100644
index 000000000..ff1ae0dc1
--- /dev/null
+++ b/m-mp/ipc-2011_tidybot-sequential-satisficing_16.env
@@ -0,0 +1,39 @@
+command:
+- timeout
+- -m=9216000
+- -t=900
+- python3
+- /home/pluehne/Documents/ASP/plasp-javier/encodings/planner/runplanner.py
+- --domain=/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/domain.pddl
+- /home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/instances/instance-16.pddl
+- --stats
+- --verbose
+- --print-call
+- -m 8192
+- --madagascar-Mp
+configuration:
+  id: m-mp
+  instanceSets:
+  - lpnmr-easy-instances
+  - lpnmr-hard-instances
+  - lpnmr-first-plan-not-serializable
+  - rintanen-aij-2012
+  options:
+  - --stats
+  - --verbose
+  - --print-call
+  - -m 8192
+  - --madagascar-Mp
+exitCode: 0
+instance:
+  domain: tidybot-sequential-satisficing
+  instance: 16
+  ipc: ipc-2011
+versions:
+  clingo: 5.2.2
+  fastDownward: 10997:847cdf0069cab0c8841a9958e783d1a7340fe2e9 (2017-11-02 15:10 +0100)
+  planner: 398fcb36ad9c5a23a8c35820fb4b021802dbc349 (2017-11-30 17:03:27 +0100)
+  plasp: 3.1.1
+  python: 3.6.3
+workingDirectory: /home/pluehne/Documents/ASP/plasp-javier/encodings/planner
+
diff --git a/m-mp/ipc-2011_tidybot-sequential-satisficing_16.err b/m-mp/ipc-2011_tidybot-sequential-satisficing_16.err
new file mode 100644
index 000000000..fc1d16b43
--- /dev/null
+++ b/m-mp/ipc-2011_tidybot-sequential-satisficing_16.err
@@ -0,0 +1,9 @@
+# configuration: {'id': 'm-mp', 'options': ['--stats', '--verbose', '--print-call', '-m 8192', '--madagascar-Mp'], 'instanceSets': ['lpnmr-easy-instances', 'lpnmr-hard-instances', 'lpnmr-first-plan-not-serializable', 'rintanen-aij-2012']}
+# instance: {'ipc': 'ipc-2011', 'domain': 'tidybot-sequential-satisficing', 'instance': 16}
+# command: ['timeout', '-m=9216000', '-t=900', 'python3', '/home/pluehne/Documents/ASP/plasp-javier/encodings/planner/runplanner.py', '--domain=/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/domain.pddl', '/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/instances/instance-16.pddl', '--stats', '--verbose', '--print-call', '-m 8192', '--madagascar-Mp']
+# working directory: /home/pluehne/Documents/ASP/plasp-javier/encodings/planner
+# exit code: 0
+# planner call: Mp /home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/domain.pddl /home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/instances/instance-16.pddl --stats --verbose -m 8192
+FINISHED CPU 92.26 MEM 33472 MAXMEM 6092984 STALE 1 MAXMEM_RSS 3862372
+<time name="ALL">92180</time>
+
diff --git a/m-mp/ipc-2011_tidybot-sequential-satisficing_16.out b/m-mp/ipc-2011_tidybot-sequential-satisficing_16.out
new file mode 100644
index 000000000..534acf4a3
--- /dev/null
+++ b/m-mp/ipc-2011_tidybot-sequential-satisficing_16.out
@@ -0,0 +1,214 @@
+Madagascar 0.99999 25/02/2015 09:46:27 amd64 1-core (no VSIDS)
+Options: file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/domain.pddl file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/instances/instance-16.pddlignoring --stats
+ignoring --verbose
+ -m 8192
+Domain: tidybot
+Problem: test
+Parser: 54072 ground actions and 918 state variables
+Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17  5.03 secs
+Goal: conjunctive
+Simplified: 26722 ground actions and 415 state variables
+Actions: STRIPS
+Disabling graph %: 10 20 30 40 50 60 70 80 90 100 6.25 secs (max SCC size 10)
+Plan type: E-step
+				Allocated 32 MB permanent (total 414 MB)
+Horizon 0: 415 variables
+0 UNSAT (0 decisions 0 conflicts)
+Horizon 5: 136100 variables
+5 UNSAT (0 decisions 0 conflicts)
+Horizon 10: 271785 variables
+10 UNSAT (0 decisions 0 conflicts)
+Horizon 15: 407470 variables
+				Allocated 32 MB (total 811 MB)
+				Allocated 32 MB permanent (total 951 MB)
+Horizon 20: 543155 variables
+Horizon 25: 678840 variables
+15 UNSAT (160 decisions 156 conflicts)
+				Allocated 32 MB permanent (total 1224 MB)
+Horizon 30: 814525 variables
+Horizon 35: 950210 variables
+				Allocated 32 MB permanent (total 1529 MB)
+Horizon 40: 1085895 variables
+				Allocated 32 MB permanent (total 1710 MB)
+Horizon 45: 1221580 variables
+				Allocated 32 MB permanent (total 1899 MB)
+Horizon 50: 1357265 variables
+				Allocated 32 MB permanent (total 2095 MB)
+Horizon 55: 1492950 variables
+				Allocated 32 MB permanent (total 2300 MB)
+				Allocated 32 MB permanent (total 2332 MB)
+Horizon 60: 1628635 variables
+				Allocated 32 MB permanent (total 2544 MB)
+Horizon 65: 1764320 variables
+				Allocated 32 MB permanent (total 2765 MB)
+Horizon 70: 1900005 variables
+				Allocated 32 MB permanent (total 2994 MB)
+				Allocated 32 MB permanent (total 3026 MB)
+Horizon 75: 2035690 variables
+				Allocated 32 MB permanent (total 3263 MB)
+				Allocated 32 MB permanent (total 3295 MB)
+Horizon 80: 2171375 variables
+				Allocated 32 MB (total 3327 MB)
+				Allocated 32 MB permanent (total 3571 MB)
+Horizon 85: 2307060 variables
+				Allocated 32 MB permanent (total 3824 MB)
+				Allocated 32 MB permanent (total 3856 MB)
+Horizon 90: 2442745 variables
+				Allocated 32 MB permanent (total 4117 MB)
+				Allocated 32 MB permanent (total 4149 MB)
+Horizon 95: 2578430 variables
+				Allocated 32 MB permanent (total 4418 MB)
+				Allocated 32 MB permanent (total 4450 MB)
+Horizon 100: 2714115 variables
+				Allocated 32 MB permanent (total 4727 MB)
+				Allocated 32 MB permanent (total 4759 MB)
+				Allocated 32 MB permanent (total 4791 MB)
+Horizon 105: 2849800 variables
+				Allocated 32 MB permanent (total 5075 MB)
+				Allocated 32 MB permanent (total 5107 MB)
+Horizon 110: 2985485 variables
+				Allocated 32 MB (total 5139 MB)
+				Allocated 32 MB permanent (total 5432 MB)
+				Allocated 32 MB permanent (total 5464 MB)
+Horizon 115: 3121170 variables
+				Allocated 32 MB (total 5496 MB)
+				Allocated 32 MB (total 5528 MB)
+				Allocated 32 MB (total 5560 MB)
+						GC: 125.99 MB
+SAT (984 decisions 576 conflicts)
+PLAN FOUND: 95 steps
+STEP 0: unpark(pr2,xrel0,yrel0)
+STEP 1: base-right(pr2,x0,x1,y0)
+STEP 2: base-right(pr2,x1,x2,y0)
+STEP 3: base-left(pr2,x2,x1,y0)
+STEP 4: base-down(pr2,x1,y0,y1)
+STEP 5: base-right(pr2,x1,x2,y1)
+STEP 6: base-down(pr2,x2,y1,y2)
+STEP 7: base-up(pr2,x2,y2,y1)
+STEP 8: base-left(pr2,x2,x1,y1)
+STEP 9: grasp-cart-left(pr2,cart,x1,y1,x0)
+STEP 10.0: base-cart-up(pr2,cart,x1,y1,y0,x0,y1,y0)
+STEP 10.1: ungrasp-cart(pr2,cart)
+STEP 11.0: base-right(pr2,x1,x2,y0)
+STEP 11.1: park(pr2)
+STEP 12: gripper-down(pr2,x2,y0,xrel0,x2,yrel0,yrel1,y0,y1)
+STEP 13: gripper-right(pr2,x2,y0,xrel0,xrel1,x2,x3,yrel1,y1)
+STEP 14: gripper-up(pr2,x2,y0,xrel1,x3,yrel1,yrel0,y1,y0)
+STEP 15: gripper-left(pr2,x2,y0,xrel1,xrel0,x3,x2,yrel0,y0)
+STEP 16: unpark(pr2,xrel0,yrel0)
+STEP 17.0: base-down(pr2,x2,y0,y1)
+STEP 17.1: park(pr2)
+STEP 18: gripper-left(pr2,x2,y1,xrel0,xrel-1,x2,x1,yrel0,y1)
+STEP 19: gripper-right(pr2,x2,y1,xrel-1,xrel0,x1,x2,yrel0,y1)
+STEP 20: unpark(pr2,xrel0,yrel0)
+STEP 21: base-right(pr2,x2,x3,y1)
+STEP 22: base-right(pr2,x3,x4,y1)
+STEP 23: base-right(pr2,x4,x5,y1)
+STEP 24: base-down(pr2,x5,y1,y2)
+STEP 25: base-down(pr2,x5,y2,y3)
+STEP 26: base-down(pr2,x5,y3,y4)
+STEP 27: base-down(pr2,x5,y4,y5)
+STEP 28: base-down(pr2,x5,y5,y6)
+STEP 29: base-left(pr2,x5,x4,y6)
+STEP 30: base-right(pr2,x4,x5,y6)
+STEP 31: base-up(pr2,x5,y6,y5)
+STEP 32: base-up(pr2,x5,y5,y4)
+STEP 33: base-up(pr2,x5,y4,y3)
+STEP 34: base-up(pr2,x5,y3,y2)
+STEP 35: base-down(pr2,x5,y2,y3)
+STEP 36: base-down(pr2,x5,y3,y4)
+STEP 37: base-down(pr2,x5,y4,y5)
+STEP 38.0: base-down(pr2,x5,y5,y6)
+STEP 38.1: park(pr2)
+STEP 39: gripper-down(pr2,x5,y6,xrel0,x5,yrel0,yrel1,y6,y7)
+STEP 40: gripper-left(pr2,x5,y6,xrel0,xrel-1,x5,x4,yrel1,y7)
+STEP 41.0: get-left(pr2,x5,y6,xrel-1,x4,yrel1,y7,object0,x3)
+STEP 41.1: gripper-right(pr2,x5,y6,xrel-1,xrel0,x4,x5,yrel1,y7)
+STEP 42: gripper-up(pr2,x5,y6,xrel0,x5,yrel1,yrel0,y7,y6)
+STEP 43: unpark(pr2,xrel0,yrel0)
+STEP 44: base-up(pr2,x5,y6,y5)
+STEP 45: base-up(pr2,x5,y5,y4)
+STEP 46: base-up(pr2,x5,y4,y3)
+STEP 47: base-up(pr2,x5,y3,y2)
+STEP 48: base-up(pr2,x5,y2,y1)
+STEP 49: base-left(pr2,x5,x4,y1)
+STEP 50: base-left(pr2,x4,x3,y1)
+STEP 51: base-left(pr2,x3,x2,y1)
+STEP 52.0: base-down(pr2,x2,y1,y2)
+STEP 52.1: park(pr2)
+STEP 53.0: put-down(pr2,x2,y2,xrel0,x2,yrel0,y2,object0,y3)
+STEP 53.1: unpark(pr2,xrel0,yrel0)
+STEP 54: base-down(pr2,x2,y2,y3) finish-object(object0,x2,y3)
+STEP 55.0: base-down(pr2,x2,y3,y4)
+STEP 55.1: park(pr2)
+STEP 56.0: get-right(pr2,x2,y4,xrel0,x2,yrel0,y4,object1,x3)
+STEP 56.1: unpark(pr2,xrel0,yrel0)
+STEP 57: base-up(pr2,x2,y4,y3)
+STEP 58.0: base-down(pr2,x2,y3,y4)
+STEP 58.1: park(pr2)
+STEP 59: gripper-right(pr2,x2,y4,xrel0,xrel1,x2,x3,yrel0,y4)
+STEP 60: put-left(pr2,x2,y4,xrel1,x3,yrel0,y4,object1,x2)
+STEP 61: finish-object(object1,x2,y4) get-left(pr2,x2,y4,xrel1,x3,yrel0,y4,object2,x2)
+STEP 62: put-up(pr2,x2,y4,xrel1,x3,yrel0,y4,object2,y3)
+STEP 63: finish-object(object2,x3,y3) gripper-left(pr2,x2,y4,xrel1,xrel0,x3,x2,yrel0,y4)
+STEP 64: unpark(pr2,xrel0,yrel0)
+STEP 65: base-up(pr2,x2,y4,y3)
+STEP 66: base-up(pr2,x2,y3,y2)
+STEP 67: base-up(pr2,x2,y2,y1)
+STEP 68: base-right(pr2,x2,x3,y1)
+STEP 69: base-right(pr2,x3,x4,y1)
+STEP 70.0: base-right(pr2,x4,x5,y1)
+STEP 70.1: park(pr2)
+STEP 71: gripper-down(pr2,x5,y1,xrel0,x5,yrel0,yrel1,y1,y2)
+STEP 72: gripper-up(pr2,x5,y1,xrel0,x5,yrel1,yrel0,y2,y1)
+STEP 73: unpark(pr2,xrel0,yrel0)
+STEP 74: base-left(pr2,x5,x4,y1)
+STEP 75: base-left(pr2,x4,x3,y1)
+STEP 76: base-right(pr2,x3,x4,y1)
+STEP 77.0: base-right(pr2,x4,x5,y1)
+STEP 77.1: park(pr2)
+STEP 78: gripper-right(pr2,x5,y1,xrel0,xrel1,x5,x6,yrel0,y1)
+STEP 79: gripper-left(pr2,x5,y1,xrel1,xrel0,x6,x5,yrel0,y1)
+STEP 80: unpark(pr2,xrel0,yrel0)
+STEP 81.0: base-right(pr2,x5,x6,y1)
+STEP 81.1: park(pr2)
+STEP 82: gripper-right(pr2,x6,y1,xrel0,xrel1,x6,x7,yrel0,y1)
+STEP 83: gripper-down(pr2,x6,y1,xrel1,x7,yrel0,yrel1,y1,y2)
+STEP 84.0: get-down(pr2,x6,y1,xrel1,x7,yrel1,y2,object3,y3)
+STEP 84.1: gripper-up(pr2,x6,y1,xrel1,x7,yrel1,yrel0,y2,y1)
+STEP 85: gripper-left(pr2,x6,y1,xrel1,xrel0,x7,x6,yrel0,y1)
+STEP 86: unpark(pr2,xrel0,yrel0)
+STEP 87: base-left(pr2,x6,x5,y1)
+STEP 88: base-left(pr2,x5,x4,y1)
+STEP 89: base-left(pr2,x4,x3,y1)
+STEP 90: base-down(pr2,x3,y1,y2)
+STEP 91.0: base-down(pr2,x3,y2,y3)
+STEP 91.1: park(pr2)
+STEP 92: put-down(pr2,x3,y3,xrel0,x3,yrel0,y3,object3,y4)
+STEP 93: finish-object(object3,x3,y4)
+112 actions in the plan.
+total time 91.08 preprocess 12.10 
+total size 5.774 GB
+max. learned clause length 147416
+t val conflicts decisions
+0 0 0 0
+5 0 0 0
+10 0 0 0
+15 0 156 160
+20 -1 2521 2749
+25 -1 2340 2690
+30 -1 2102 2579
+35 -1 1920 2497
+40 -1 1743 2258
+45 -1 1561 2283
+50 -1 1381 1963
+55 -1 1260 1850
+60 -1 1142 1774
+65 -1 1022 1606
+70 -1 960 1512
+75 -1 840 1365
+80 -1 780 1237
+85 -1 723 1149
+90 -1 660 1146
+95 1 576 984
+