diff --git a/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_16.env b/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_16.env
new file mode 100644
index 000000000..4fd1c1a29
--- /dev/null
+++ b/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_16.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-16.pddl
+- --stats
+- --stats-iter
+- --verbose
+- --print-call
+- -m 8192
+- --madagascar-Mp
+- -F 95
+- -T 95
+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: 16
+  ipc: ipc-2011
+  planLength: 95
+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_16.err b/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_16.err
new file mode 100644
index 000000000..90576d8d3
--- /dev/null
+++ b/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_16.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': 16, 'planLength': 95}
+# 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', '--stats-iter', '--verbose', '--print-call', '-m 8192', '--madagascar-Mp', '-F 95', '-T 95']
+# 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-16.pddl --stats --stats-iter --verbose -m 8192 -F 95 -T 95
+FINISHED CPU 15.77 MEM 33472 MAXMEM 1150680 STALE 1 MAXMEM_RSS 846080
+<time name="ALL">15710</time>
+
diff --git a/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_16.out b/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_16.out
new file mode 100644
index 000000000..fb63cf5bd
--- /dev/null
+++ b/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_16.out
@@ -0,0 +1,143 @@
+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-16.pddlignoring --stats
+ignoring --stats-iter
+ignoring --verbose
+ -m 8192 -F 95 -T 95
+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  4.74 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 6.59 secs (max SCC size 10)
+Plan type: E-step
+				Allocated 32 MB permanent (total 414 MB)
+				Allocated 32 MB permanent (total 680 MB)
+Horizon 95: 2578430 variables
+				Allocated 32 MB (total 718 MB)
+SAT (0 ID 308 decisions 159 conflicts 2578430 variables)
+PLAN FOUND: 95 steps
+STEP 0: unpark(pr2,xrel0,yrel0)
+STEP 1: base-right(pr2,x0,x1,y0)
+STEP 2: base-down(pr2,x1,y0,y1)
+STEP 3: grasp-cart-left(pr2,cart,x1,y1,x0)
+STEP 4: ungrasp-cart(pr2,cart)
+STEP 5.0: base-right(pr2,x1,x2,y1)
+STEP 5.1: park(pr2)
+STEP 6: gripper-right(pr2,x2,y1,xrel0,xrel1,x2,x3,yrel0,y1)
+STEP 7: gripper-left(pr2,x2,y1,xrel1,xrel0,x3,x2,yrel0,y1)
+STEP 8: unpark(pr2,xrel0,yrel0)
+STEP 9: base-right(pr2,x2,x3,y1)
+STEP 10: base-right(pr2,x3,x4,y1)
+STEP 11: base-right(pr2,x4,x5,y1)
+STEP 12: base-right(pr2,x5,x6,y1)
+STEP 13: base-down(pr2,x6,y1,y2)
+STEP 14: base-down(pr2,x6,y2,y3)
+STEP 15: base-down(pr2,x6,y3,y4)
+STEP 16: base-left(pr2,x6,x5,y4)
+STEP 17: base-down(pr2,x5,y4,y5)
+STEP 18.0: base-down(pr2,x5,y5,y6)
+STEP 18.1: park(pr2)
+STEP 19: gripper-down(pr2,x5,y6,xrel0,x5,yrel0,yrel1,y6,y7)
+STEP 20: gripper-left(pr2,x5,y6,xrel0,xrel-1,x5,x4,yrel1,y7)
+STEP 21.0: get-left(pr2,x5,y6,xrel-1,x4,yrel1,y7,object0,x3)
+STEP 21.1: gripper-right(pr2,x5,y6,xrel-1,xrel0,x4,x5,yrel1,y7)
+STEP 22: gripper-up(pr2,x5,y6,xrel0,x5,yrel1,yrel0,y7,y6)
+STEP 23: unpark(pr2,xrel0,yrel0)
+STEP 24: base-up(pr2,x5,y6,y5)
+STEP 25: base-up(pr2,x5,y5,y4)
+STEP 26: base-up(pr2,x5,y4,y3)
+STEP 27: base-up(pr2,x5,y3,y2)
+STEP 28: base-up(pr2,x5,y2,y1)
+STEP 29: base-left(pr2,x5,x4,y1)
+STEP 30: base-left(pr2,x4,x3,y1)
+STEP 31.0: base-down(pr2,x3,y1,y2)
+STEP 31.1: park(pr2)
+STEP 32: gripper-left(pr2,x3,y2,xrel0,xrel-1,x3,x2,yrel0,y2)
+STEP 33.0: put-down(pr2,x3,y2,xrel-1,x2,yrel0,y2,object0,y3)
+STEP 33.1: gripper-right(pr2,x3,y2,xrel-1,xrel0,x2,x3,yrel0,y2)
+STEP 34: finish-object(object0,x2,y3) unpark(pr2,xrel0,yrel0)
+STEP 35: base-down(pr2,x3,y2,y3)
+STEP 36.0: base-down(pr2,x3,y3,y4)
+STEP 36.1: park(pr2)
+STEP 37: get-left(pr2,x3,y4,xrel0,x3,yrel0,y4,object2,x2)
+STEP 38.0: put-up(pr2,x3,y4,xrel0,x3,yrel0,y4,object2,y3)
+STEP 38.1: unpark(pr2,xrel0,yrel0)
+STEP 39.0: base-up(pr2,x3,y4,y3) finish-object(object2,x3,y3)
+STEP 39.1: park(pr2)
+STEP 40.0: get-down(pr2,x3,y3,xrel0,x3,yrel0,y3,object1,y4)
+STEP 40.1: unpark(pr2,xrel0,yrel0)
+STEP 41.0: base-down(pr2,x3,y3,y4)
+STEP 41.1: park(pr2)
+STEP 42.0: put-left(pr2,x3,y4,xrel0,x3,yrel0,y4,object1,x2)
+STEP 42.1: unpark(pr2,xrel0,yrel0)
+STEP 43: base-up(pr2,x3,y4,y3) finish-object(object1,x2,y4)
+STEP 44: base-up(pr2,x3,y3,y2)
+STEP 45: base-up(pr2,x3,y2,y1)
+STEP 46: base-right(pr2,x3,x4,y1)
+STEP 47: base-right(pr2,x4,x5,y1)
+STEP 48: base-right(pr2,x5,x6,y1)
+STEP 49: base-left(pr2,x6,x5,y1)
+STEP 50: base-down(pr2,x5,y1,y2)
+STEP 51: base-up(pr2,x5,y2,y1)
+STEP 52: base-left(pr2,x5,x4,y1)
+STEP 53: base-left(pr2,x4,x3,y1)
+STEP 54: base-down(pr2,x3,y1,y2)
+STEP 55: base-down(pr2,x3,y2,y3)
+STEP 56: base-left(pr2,x3,x2,y3)
+STEP 57.0: base-down(pr2,x2,y3,y4)
+STEP 57.1: park(pr2)
+STEP 58: gripper-right(pr2,x2,y4,xrel0,xrel1,x2,x3,yrel0,y4)
+STEP 59: gripper-left(pr2,x2,y4,xrel1,xrel0,x3,x2,yrel0,y4)
+STEP 60: unpark(pr2,xrel0,yrel0)
+STEP 61: base-up(pr2,x2,y4,y3)
+STEP 62: base-up(pr2,x2,y3,y2)
+STEP 63: base-up(pr2,x2,y2,y1)
+STEP 64: base-right(pr2,x2,x3,y1)
+STEP 65: base-right(pr2,x3,x4,y1)
+STEP 66: base-right(pr2,x4,x5,y1)
+STEP 67.0: base-right(pr2,x5,x6,y1)
+STEP 67.1: park(pr2)
+STEP 68: gripper-down(pr2,x6,y1,xrel0,x6,yrel0,yrel1,y1,y2)
+STEP 69: gripper-up(pr2,x6,y1,xrel0,x6,yrel1,yrel0,y2,y1)
+STEP 70: unpark(pr2,xrel0,yrel0)
+STEP 71: base-right(pr2,x6,x7,y1)
+STEP 72.0: base-down(pr2,x7,y1,y2)
+STEP 72.1: park(pr2)
+STEP 73.0: get-down(pr2,x7,y2,xrel0,x7,yrel0,y2,object3,y3)
+STEP 73.1: unpark(pr2,xrel0,yrel0)
+STEP 74: base-left(pr2,x7,x6,y2)
+STEP 75: base-left(pr2,x6,x5,y2)
+STEP 76: base-up(pr2,x5,y2,y1)
+STEP 77: base-left(pr2,x5,x4,y1)
+STEP 78: base-left(pr2,x4,x3,y1)
+STEP 79: base-down(pr2,x3,y1,y2)
+STEP 80.0: base-down(pr2,x3,y2,y3)
+STEP 80.1: park(pr2)
+STEP 81: put-down(pr2,x3,y3,xrel0,x3,yrel0,y3,object3,y4)
+STEP 82: finish-object(object3,x3,y4)
+102 actions in the plan.
+
+
+# statistics in YAML format
+---
+runtime:
+  total: 15.28 # [s]
+  preprocessing: 12.25 # [s]
+maxLearnedClauseLength: 7088
+groundActions:
+  afterParsing: 54072
+  afterPreprocessing: 26722
+stateVariables:
+  afterParsing: 918
+  afterPreprocessing: 415
+stronglyConnectedComponents:
+  maxSize: 10
+plan:
+  found: true
+  length: 95
+  actions: 102
+iterations:
+...
+