diff --git a/m-mp/ipc-2006_rovers-propositional_34.env b/m-mp/ipc-2006_rovers-propositional_34.env
new file mode 100644
index 000000000..a6779a4a0
--- /dev/null
+++ b/m-mp/ipc-2006_rovers-propositional_34.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-2006/domains/rovers-propositional/domain.pddl
+- /home/pluehne/Documents/ASP/pddl-instances/ipc-2006/domains/rovers-propositional/instances/instance-34.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: rovers-propositional
+  instance: 34
+  ipc: ipc-2006
+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-2006_rovers-propositional_34.err b/m-mp/ipc-2006_rovers-propositional_34.err
new file mode 100644
index 000000000..313a4a2f2
--- /dev/null
+++ b/m-mp/ipc-2006_rovers-propositional_34.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-2006', 'domain': 'rovers-propositional', 'instance': 34}
+# 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-2006/domains/rovers-propositional/domain.pddl', '/home/pluehne/Documents/ASP/pddl-instances/ipc-2006/domains/rovers-propositional/instances/instance-34.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-2006/domains/rovers-propositional/domain.pddl /home/pluehne/Documents/ASP/pddl-instances/ipc-2006/domains/rovers-propositional/instances/instance-34.pddl --stats --verbose -m 8192
+FINISHED CPU 46.72 MEM 33472 MAXMEM 528884 STALE 1 MAXMEM_RSS 234100
+<time name="ALL">46620</time>
+
diff --git a/m-mp/ipc-2006_rovers-propositional_34.out b/m-mp/ipc-2006_rovers-propositional_34.out
new file mode 100644
index 000000000..31df00934
--- /dev/null
+++ b/m-mp/ipc-2006_rovers-propositional_34.out
@@ -0,0 +1,48 @@
+Madagascar 0.99999 25/02/2015 09:46:27 amd64 1-core (no VSIDS)
+Options: file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2006/domains/rovers-propositional/domain.pddl file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2006/domains/rovers-propositional/instances/instance-34.pddlignoring --stats
+ignoring --verbose
+ -m 8192
+Domain: rover
+Problem: roverprob2006
+Parser: 30058 ground actions and 5908 state variables
+Invariants: 0 1 2 3 4 5 6 7 8  0.12 secs
+Goal: conjunctive
+Simplified: 17089 ground actions and 1904 state variables
+Actions: STRIPS
+Disabling graph %: 10 20 30 40 50 60 70 80 90 100 0.05 secs (max SCC size 33)
+Plan type: E-step
+				Allocated 32 MB permanent (total 229 MB)
+Horizon 0: 1904 variables
+0 UNSAT (0 decisions 0 conflicts)
+Horizon 5: 119489 variables
+				Allocated 32 MB (total 430 MB)
+Horizon 10: 237074 variables
+SAT (370 decisions 1 conflicts)
+PLAN FOUND: 10 steps
+STEP 0.0: calibrate(rover0,camera2,objective0,waypoint13) calibrate(rover0,camera4,objective6,waypoint13) calibrate(rover4,camera1,objective8,waypoint46) calibrate(rover6,camera8,objective7,waypoint8) navigate(rover1,waypoint55,waypoint42) navigate(rover10,waypoint17,waypoint46) navigate(rover11,waypoint57,waypoint7) navigate(rover2,waypoint63,waypoint2) navigate(rover3,waypoint33,waypoint45) navigate(rover5,waypoint52,waypoint3) navigate(rover7,waypoint17,waypoint46) navigate(rover8,waypoint29,waypoint2) navigate(rover9,waypoint8,waypoint38) sample_rock(rover4,rover4store,waypoint46)
+STEP 0.1: navigate(rover0,waypoint13,waypoint53) navigate(rover4,waypoint46,waypoint26) navigate(rover6,waypoint8,waypoint13)
+STEP 1.0: calibrate(rover5,camera7,objective3,waypoint3) calibrate(rover5,camera9,objective9,waypoint3) calibrate(rover8,camera12,objective3,waypoint2) drop(rover4,rover4store) navigate(rover10,waypoint46,waypoint12) navigate(rover11,waypoint7,waypoint35) navigate(rover2,waypoint2,waypoint53) navigate(rover7,waypoint46,waypoint47) navigate(rover9,waypoint38,waypoint17) sample_soil(rover0,rover0store,waypoint53) sample_soil(rover1,rover1store,waypoint42) sample_soil(rover3,rover3store,waypoint45) sample_soil(rover8,rover8store,waypoint2) take_image(rover4,waypoint26,objective1,camera1,high_res) take_image(rover6,waypoint13,objective7,camera8,low_res)
+STEP 1.1: navigate(rover0,waypoint53,waypoint13) navigate(rover3,waypoint45,waypoint28) navigate(rover4,waypoint26,waypoint54) navigate(rover5,waypoint3,waypoint60) navigate(rover6,waypoint13,waypoint65) navigate(rover8,waypoint2,waypoint48)
+STEP 2.0: communicate_soil_data(rover1,general,waypoint42,waypoint42,waypoint55) communicate_soil_data(rover3,general,waypoint45,waypoint28,waypoint55) drop(rover0,rover0store) drop(rover1,rover1store) drop(rover3,rover3store) navigate(rover11,waypoint35,waypoint43) navigate(rover6,waypoint65,waypoint51) sample_rock(rover2,rover2store,waypoint53) sample_rock(rover5,rover5store,waypoint60) sample_soil(rover10,rover10store,waypoint12) sample_soil(rover4,rover4store,waypoint54) sample_soil(rover7,rover7store,waypoint47) sample_soil(rover9,rover9store,waypoint17) take_image(rover0,waypoint13,objective5,camera4,colour) take_image(rover0,waypoint13,objective8,camera2,high_res) take_image(rover8,waypoint48,objective8,camera12,low_res)
+STEP 2.1: navigate(rover0,waypoint13,waypoint8) navigate(rover1,waypoint42,waypoint55) navigate(rover10,waypoint12,waypoint46) navigate(rover2,waypoint53,waypoint2) navigate(rover3,waypoint28,waypoint45) navigate(rover4,waypoint54,waypoint26) navigate(rover5,waypoint60,waypoint3) navigate(rover7,waypoint47,waypoint46) navigate(rover8,waypoint48,waypoint30) navigate(rover9,waypoint17,waypoint38)
+STEP 3.0: calibrate(rover0,camera2,objective0,waypoint8) communicate_image_data(rover0,general,objective5,colour,waypoint8,waypoint55) communicate_image_data(rover0,general,objective8,high_res,waypoint8,waypoint55) communicate_image_data(rover8,general,objective8,low_res,waypoint30,waypoint55) communicate_soil_data(rover0,general,waypoint53,waypoint8,waypoint55) communicate_soil_data(rover8,general,waypoint2,waypoint30,waypoint55) drop(rover10,rover10store) drop(rover2,rover2store) drop(rover4,rover4store) drop(rover5,rover5store) drop(rover9,rover9store) navigate(rover1,waypoint55,waypoint1) navigate(rover10,waypoint46,waypoint66) navigate(rover3,waypoint45,waypoint33) navigate(rover4,waypoint26,waypoint31) navigate(rover7,waypoint46,waypoint10) navigate(rover9,waypoint38,waypoint67) sample_soil(rover11,rover11store,waypoint43) sample_soil(rover6,rover6store,waypoint51) take_image(rover5,waypoint3,objective0,camera7,low_res) take_image(rover5,waypoint3,objective4,camera9,high_res)
+STEP 3.1: navigate(rover0,waypoint8,waypoint13) navigate(rover5,waypoint3,waypoint52) navigate(rover6,waypoint51,waypoint65) navigate(rover8,waypoint30,waypoint48)
+STEP 4.0: communicate_image_data(rover4,general,objective1,high_res,waypoint31,waypoint55) communicate_image_data(rover5,general,objective0,low_res,waypoint52,waypoint55) communicate_image_data(rover5,general,objective4,high_res,waypoint52,waypoint55) communicate_rock_data(rover4,general,waypoint46,waypoint31,waypoint55) communicate_rock_data(rover5,general,waypoint60,waypoint52,waypoint55) communicate_soil_data(rover11,general,waypoint43,waypoint43,waypoint55) communicate_soil_data(rover4,general,waypoint54,waypoint31,waypoint55) communicate_soil_data(rover7,general,waypoint47,waypoint10,waypoint55) navigate(rover1,waypoint1,waypoint59) navigate(rover10,waypoint66,waypoint49) navigate(rover3,waypoint33,waypoint24) navigate(rover6,waypoint65,waypoint13) navigate(rover8,waypoint48,waypoint2) sample_rock(rover2,rover2store,waypoint2) sample_soil(rover9,rover9store,waypoint67) take_image(rover0,waypoint13,objective7,camera2,colour)
+STEP 4.1: navigate(rover0,waypoint13,waypoint27) navigate(rover2,waypoint2,waypoint63) navigate(rover4,waypoint31,waypoint26) navigate(rover5,waypoint52,waypoint11) navigate(rover9,waypoint67,waypoint38)
+STEP 5.0: calibrate(rover5,camera7,objective3,waypoint11) calibrate(rover6,camera8,objective7,waypoint13) navigate(rover0,waypoint27,waypoint34) navigate(rover2,waypoint63,waypoint30) navigate(rover4,waypoint26,waypoint46) navigate(rover8,waypoint2,waypoint23) navigate(rover9,waypoint38,waypoint8) sample_rock(rover5,rover5store,waypoint11) sample_soil(rover1,rover1store,waypoint59) sample_soil(rover10,rover10store,waypoint49) sample_soil(rover3,rover3store,waypoint24)
+STEP 5.1: navigate(rover1,waypoint59,waypoint1) navigate(rover10,waypoint49,waypoint66) navigate(rover3,waypoint24,waypoint31) navigate(rover5,waypoint11,waypoint25) navigate(rover6,waypoint13,waypoint8)
+STEP 6.0: communicate_image_data(rover6,general,objective7,low_res,waypoint8,waypoint55) communicate_rock_data(rover2,general,waypoint2,waypoint30,waypoint55) communicate_rock_data(rover2,general,waypoint53,waypoint30,waypoint55) communicate_soil_data(rover1,general,waypoint59,waypoint1,waypoint55) communicate_soil_data(rover3,general,waypoint24,waypoint31,waypoint55) communicate_soil_data(rover6,general,waypoint51,waypoint8,waypoint55) communicate_soil_data(rover9,general,waypoint17,waypoint8,waypoint55) communicate_soil_data(rover9,general,waypoint67,waypoint8,waypoint55) drop(rover5,rover5store) navigate(rover10,waypoint66,waypoint46) navigate(rover4,waypoint46,waypoint10) sample_rock(rover0,rover0store,waypoint34) take_image(rover5,waypoint25,objective8,camera7,colour) take_image(rover6,waypoint8,objective5,camera8,low_res)
+STEP 6.1: navigate(rover0,waypoint34,waypoint27) navigate(rover5,waypoint25,waypoint42) navigate(rover6,waypoint8,waypoint28)
+STEP 7: communicate_image_data(rover5,general,objective8,colour,waypoint42,waypoint55) communicate_image_data(rover6,general,objective5,low_res,waypoint28,waypoint55) communicate_rock_data(rover5,general,waypoint11,waypoint42,waypoint55) navigate(rover0,waypoint27,waypoint6) navigate(rover10,waypoint46,waypoint28) navigate(rover4,waypoint10,waypoint47) sample_rock(rover5,rover5store,waypoint42)
+STEP 8.0: communicate_image_data(rover0,general,objective7,colour,waypoint6,waypoint55) communicate_rock_data(rover0,general,waypoint34,waypoint6,waypoint55) communicate_rock_data(rover5,general,waypoint42,waypoint42,waypoint55) communicate_soil_data(rover10,general,waypoint12,waypoint28,waypoint55) communicate_soil_data(rover10,general,waypoint49,waypoint28,waypoint55) sample_rock(rover4,rover4store,waypoint47)
+STEP 8.1: navigate(rover4,waypoint47,waypoint10)
+STEP 9: communicate_rock_data(rover4,general,waypoint47,waypoint10,waypoint55)
+158 actions in the plan.
+total time 46.37 preprocess 45.38 
+total size 690.000 MB
+max. learned clause length 571
+t val conflicts decisions
+0 0 0 0
+5 -1 120 638
+10 1 1 370
+