diff --git a/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_17.env b/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_17.env
new file mode 100644
index 000000000..7de617df1
--- /dev/null
+++ b/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_17.env
@@ -0,0 +1,42 @@
+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-17.pddl
+- --stats
+- --stats-iter
+- --verbose
+- --print-call
+- -m 8192
+- --madagascar-Mp
+- -F 105
+- -T 105
+configuration:
+  fixedHorizon: true
+  id: m-mp-single-shot
+  instanceSets:
+  - rintanen-aij-2012-interesting
+  options:
+  - --stats
+  - --stats-iter
+  - --verbose
+  - --print-call
+  - -m 8192
+  - --madagascar-Mp
+exitCode: 0
+instance:
+  domain: tidybot-sequential-satisficing
+  instance: 17
+  ipc: ipc-2011
+  planLength: 105
+versions:
+  clingo: 5.2.2
+  fastDownward: 10997:847cdf0069cab0c8841a9958e783d1a7340fe2e9 (2017-11-02 15:10 +0100)
+  planner: f090434475c02dbccc3811039498f2a63a357ddc (2018-02-01 18:15:39 +0100)
+  plasp: 3.1.1
+  python: 3.6.3
+workingDirectory: /home/pluehne/Documents/ASP/plasp-javier/encodings/planner
+
diff --git a/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_17.err b/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_17.err
new file mode 100644
index 000000000..8ce495d1e
--- /dev/null
+++ b/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_17.err
@@ -0,0 +1,9 @@
+# configuration: {'id': 'm-mp-single-shot', 'options': ['--stats', '--stats-iter', '--verbose', '--print-call', '-m 8192', '--madagascar-Mp'], 'instanceSets': ['rintanen-aij-2012-interesting'], 'fixedHorizon': True}
+# instance: {'ipc': 'ipc-2011', 'domain': 'tidybot-sequential-satisficing', 'instance': 17, 'planLength': 105}
+# 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-17.pddl', '--stats', '--stats-iter', '--verbose', '--print-call', '-m 8192', '--madagascar-Mp', '-F 105', '-T 105']
+# working directory: /home/pluehne/Documents/ASP/plasp-javier/encodings/planner
+# exit code: 0
+# planner call: /home/pluehne/Documents/ASP/madagascar/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-17.pddl --stats --stats-iter --verbose -m 8192 -F 105 -T 105
+FINISHED CPU 28.28 MEM 33472 MAXMEM 1515012 STALE 0 MAXMEM_RSS 1208848
+<time name="ALL">28290</time>
+
diff --git a/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_17.out b/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_17.out
new file mode 100644
index 000000000..92cd1f857
--- /dev/null
+++ b/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_17.out
@@ -0,0 +1,148 @@
+Madagascar 0.99999 01/02/2018 14:46:04 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-17.pddlignoring --stats
+ignoring --stats-iter
+ignoring --verbose
+ -m 8192 -F 105 -T 105
+Domain: tidybot
+Problem: test
+Parser: 75679 ground actions and 1103 state variables
+Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16  8.18 secs
+Goal: conjunctive
+Simplified: 35109 ground actions and 505 state variables
+Actions: STRIPS
+Disabling graph %: 10 20 30 40 50 60 70 80 90 100 11.36 secs (max SCC size 10)
+Plan type: E-step
+				Allocated 32 MB permanent (total 541 MB)
+				Allocated 32 MB permanent (total 877 MB)
+				Allocated 32 MB permanent (total 909 MB)
+Horizon 105: 3739975 variables
+				Allocated 32 MB (total 949 MB)
+SAT (0 ID 1489 decisions 757 conflicts 3739975 variables)
+PLAN FOUND: 105 steps
+STEP 0: unpark(pr2,xrel0,yrel0)
+STEP 1: grasp-cart-below(pr2,cart,x0,y0,y1)
+STEP 2.0: base-cart-right(pr2,cart,x0,x1,y0,x0,x1,y1)
+STEP 2.1: ungrasp-cart(pr2,cart)
+STEP 3.0: base-right(pr2,x1,x2,y0)
+STEP 3.1: park(pr2)
+STEP 4: gripper-left(pr2,x2,y0,xrel0,xrel-1,x2,x1,yrel0,y0)
+STEP 5: gripper-right(pr2,x2,y0,xrel-1,xrel0,x1,x2,yrel0,y0)
+STEP 6: unpark(pr2,xrel0,yrel0)
+STEP 7: base-down(pr2,x2,y0,y1)
+STEP 8: base-right(pr2,x2,x3,y1)
+STEP 9: base-down(pr2,x3,y1,y2)
+STEP 10: base-down(pr2,x3,y2,y3)
+STEP 11: base-down(pr2,x3,y3,y4)
+STEP 12: base-down(pr2,x3,y4,y5)
+STEP 13.0: base-left(pr2,x3,x2,y5)
+STEP 13.1: park(pr2)
+STEP 14.0: get-down(pr2,x2,y5,xrel0,x2,yrel0,y5,object3,y6)
+STEP 14.1: gripper-right(pr2,x2,y5,xrel0,xrel1,x2,x3,yrel0,y5)
+STEP 15: gripper-down(pr2,x2,y5,xrel1,x3,yrel0,yrel1,y5,y6)
+STEP 16: gripper-up(pr2,x2,y5,xrel1,x3,yrel1,yrel0,y6,y5)
+STEP 17.0: put-down(pr2,x2,y5,xrel1,x3,yrel0,y5,object3,y6)
+STEP 17.1: gripper-left(pr2,x2,y5,xrel1,xrel0,x3,x2,yrel0,y5)
+STEP 18: unpark(pr2,xrel0,yrel0)
+STEP 19: base-left(pr2,x2,x1,y5)
+STEP 20.0: base-down(pr2,x1,y5,y6)
+STEP 20.1: park(pr2)
+STEP 21: gripper-up(pr2,x1,y6,xrel0,x1,yrel0,yrel-1,y6,y5)
+STEP 22: gripper-down(pr2,x1,y6,xrel0,x1,yrel-1,yrel0,y5,y6)
+STEP 23: gripper-down(pr2,x1,y6,xrel0,x1,yrel0,yrel1,y6,y7)
+STEP 24.0: get-down(pr2,x1,y6,xrel0,x1,yrel1,y7,object0,y8)
+STEP 24.1: gripper-up(pr2,x1,y6,xrel0,x1,yrel1,yrel0,y7,y6)
+STEP 25.0: put-right(pr2,x1,y6,xrel0,x1,yrel0,y6,object0,x2)
+STEP 25.1: gripper-up(pr2,x1,y6,xrel0,x1,yrel0,yrel-1,y6,y5)
+STEP 26: finish-object(object0,x2,y6) gripper-down(pr2,x1,y6,xrel0,x1,yrel-1,yrel0,y5,y6)
+STEP 27: unpark(pr2,xrel0,yrel0)
+STEP 28: base-up(pr2,x1,y6,y5)
+STEP 29: base-right(pr2,x1,x2,y5)
+STEP 30: base-right(pr2,x2,x3,y5)
+STEP 31: base-right(pr2,x3,x4,y5)
+STEP 32.0: base-right(pr2,x4,x5,y5)
+STEP 32.1: park(pr2)
+STEP 33: gripper-right(pr2,x5,y5,xrel0,xrel1,x5,x6,yrel0,y5)
+STEP 34: gripper-up(pr2,x5,y5,xrel1,x6,yrel0,yrel-1,y5,y4)
+STEP 35.0: get-up(pr2,x5,y5,xrel1,x6,yrel-1,y4,object1,y3)
+STEP 35.1: gripper-left(pr2,x5,y5,xrel1,xrel0,x6,x5,yrel-1,y4)
+STEP 36.0: put-up(pr2,x5,y5,xrel0,x5,yrel-1,y4,object1,y3)
+STEP 36.1: gripper-down(pr2,x5,y5,xrel0,x5,yrel-1,yrel0,y4,y5)
+STEP 37: finish-object(object1,x5,y3) gripper-right(pr2,x5,y5,xrel0,xrel1,x5,x6,yrel0,y5)
+STEP 38: gripper-up(pr2,x5,y5,xrel1,x6,yrel0,yrel-1,y5,y4)
+STEP 39: gripper-left(pr2,x5,y5,xrel1,xrel0,x6,x5,yrel-1,y4)
+STEP 40: gripper-down(pr2,x5,y5,xrel0,x5,yrel-1,yrel0,y4,y5)
+STEP 41: gripper-down(pr2,x5,y5,xrel0,x5,yrel0,yrel1,y5,y6)
+STEP 42: gripper-up(pr2,x5,y5,xrel0,x5,yrel1,yrel0,y6,y5)
+STEP 43: unpark(pr2,xrel0,yrel0)
+STEP 44: base-up(pr2,x5,y5,y4)
+STEP 45.0: base-up(pr2,x5,y4,y3)
+STEP 45.1: park(pr2)
+STEP 46: gripper-down(pr2,x5,y3,xrel0,x5,yrel0,yrel1,y3,y4)
+STEP 47: gripper-up(pr2,x5,y3,xrel0,x5,yrel1,yrel0,y4,y3)
+STEP 48: unpark(pr2,xrel0,yrel0)
+STEP 49: base-down(pr2,x5,y3,y4)
+STEP 50: base-down(pr2,x5,y4,y5)
+STEP 51.0: base-left(pr2,x5,x4,y5)
+STEP 51.1: park(pr2)
+STEP 52: gripper-down(pr2,x4,y5,xrel0,x4,yrel0,yrel1,y5,y6)
+STEP 53.0: get-left(pr2,x4,y5,xrel0,x4,yrel1,y6,object3,x3)
+STEP 53.1: gripper-up(pr2,x4,y5,xrel0,x4,yrel1,yrel0,y6,y5)
+STEP 54: unpark(pr2,xrel0,yrel0)
+STEP 55.0: base-down(pr2,x4,y5,y6)
+STEP 55.1: park(pr2)
+STEP 56: gripper-right(pr2,x4,y6,xrel0,xrel1,x4,x5,yrel0,y6)
+STEP 57: gripper-left(pr2,x4,y6,xrel1,xrel0,x5,x4,yrel0,y6)
+STEP 58: unpark(pr2,xrel0,yrel0)
+STEP 59: base-up(pr2,x4,y6,y5)
+STEP 60: base-right(pr2,x4,x5,y5)
+STEP 61.0: base-up(pr2,x5,y5,y4)
+STEP 61.1: park(pr2)
+STEP 62: gripper-right(pr2,x5,y4,xrel0,xrel1,x5,x6,yrel0,y4)
+STEP 63.0: put-up(pr2,x5,y4,xrel1,x6,yrel0,y4,object3,y3)
+STEP 63.1: gripper-left(pr2,x5,y4,xrel1,xrel0,x6,x5,yrel0,y4)
+STEP 64: finish-object(object3,x6,y3) unpark(pr2,xrel0,yrel0)
+STEP 65: base-right(pr2,x5,x6,y4)
+STEP 66: base-up(pr2,x6,y4,y3)
+STEP 67: base-down(pr2,x6,y3,y4)
+STEP 68: base-left(pr2,x6,x5,y4)
+STEP 69: base-down(pr2,x5,y4,y5)
+STEP 70: base-left(pr2,x5,x4,y5)
+STEP 71: base-left(pr2,x4,x3,y5)
+STEP 72: base-left(pr2,x3,x2,y5)
+STEP 73.0: base-left(pr2,x2,x1,y5)
+STEP 73.1: park(pr2)
+STEP 74.0: get-up(pr2,x1,y5,xrel0,x1,yrel0,y5,object2,y4)
+STEP 74.1: gripper-left(pr2,x1,y5,xrel0,xrel-1,x1,x0,yrel0,y5)
+STEP 75: gripper-down(pr2,x1,y5,xrel-1,x0,yrel0,yrel1,y5,y6)
+STEP 76: gripper-up(pr2,x1,y5,xrel-1,x0,yrel1,yrel0,y6,y5)
+STEP 77: gripper-right(pr2,x1,y5,xrel-1,xrel0,x0,x1,yrel0,y5)
+STEP 78: unpark(pr2,xrel0,yrel0)
+STEP 79.0: base-down(pr2,x1,y5,y6)
+STEP 79.1: park(pr2)
+STEP 80: gripper-down(pr2,x1,y6,xrel0,x1,yrel0,yrel1,y6,y7)
+STEP 81: put-down(pr2,x1,y6,xrel0,x1,yrel1,y7,object2,y8)
+STEP 82: finish-object(object2,x1,y8)
+106 actions in the plan.
+
+
+# statistics in YAML format
+---
+runtime:
+  total: 27.65 # [s]
+  preprocessing: 20.84 # [s]
+maxLearnedClauseLength: 24952
+groundActions:
+  afterParsing: 75679
+  afterPreprocessing: 35109
+stateVariables:
+  afterParsing: 1103
+  afterPreprocessing: 505
+stronglyConnectedComponents:
+  maxSize: 10
+plan:
+  found: true
+  length: 105
+  actions: 106
+iterations:
+...
+