91 lines
19 KiB
Plaintext
91 lines
19 KiB
Plaintext
Madagascar 0.99999 25/02/2015 09:46:27 amd64 1-core (no VSIDS)
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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-37.pddlignoring --stats
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ignoring --verbose
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-m 8192
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Domain: rover
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Problem: roverprob2006
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Parser: 43904 ground actions and 8263 state variables
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Invariants: 0 1 2 3 4 5 6 7 8 9 0.20 secs
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Goal: conjunctive
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Simplified: 26912 ground actions and 2349 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 0.30 secs (max SCC size 39)
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Plan type: E-step
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Allocated 32 MB permanent (total 313 MB)
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Horizon 0: 2349 variables
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0 UNSAT (0 decisions 0 conflicts)
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Horizon 5: 211159 variables
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Allocated 32 MB (total 526 MB)
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Horizon 10: 419969 variables
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Horizon 15: 628779 variables
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Horizon 20: 837589 variables
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Horizon 25: 1046399 variables
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Allocated 32 MB permanent (total 1187 MB)
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Horizon 30: 1255209 variables
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SAT (1685 decisions 1 conflicts)
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PLAN FOUND: 30 steps
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STEP 0.0: calibrate(rover0,camera5,objective1,waypoint13) calibrate(rover0,camera7,objective1,waypoint13) calibrate(rover1,camera1,objective10,waypoint48) calibrate(rover12,camera3,objective11,waypoint77) calibrate(rover5,camera6,objective11,waypoint30) calibrate(rover6,camera13,objective6,waypoint11) navigate(rover10,waypoint75,waypoint1) navigate(rover11,waypoint28,waypoint2) navigate(rover13,waypoint5,waypoint14) navigate(rover2,waypoint22,waypoint45) navigate(rover3,waypoint49,waypoint73) navigate(rover4,waypoint72,waypoint44) navigate(rover7,waypoint29,waypoint9) navigate(rover9,waypoint53,waypoint32) sample_rock(rover0,rover0store,waypoint13) sample_rock(rover12,rover12store,waypoint77) sample_rock(rover8,rover8store,waypoint83)
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STEP 0.1: navigate(rover0,waypoint13,waypoint30) navigate(rover1,waypoint48,waypoint59) navigate(rover12,waypoint77,waypoint15) navigate(rover5,waypoint30,waypoint50) navigate(rover6,waypoint11,waypoint40) navigate(rover8,waypoint83,waypoint40)
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STEP 1.0: calibrate(rover10,camera16,objective12,waypoint1) calibrate(rover7,camera2,objective0,waypoint9) drop(rover0,rover0store) drop(rover12,rover12store) drop(rover8,rover8store) navigate(rover11,waypoint2,waypoint58) navigate(rover13,waypoint14,waypoint64) navigate(rover2,waypoint45,waypoint22) navigate(rover3,waypoint73,waypoint3) navigate(rover5,waypoint50,waypoint18) navigate(rover8,waypoint40,waypoint11) navigate(rover9,waypoint32,waypoint56) sample_soil(rover4,rover4store,waypoint44) sample_soil(rover7,rover7store,waypoint9) take_image(rover0,waypoint30,objective4,camera5,colour) take_image(rover0,waypoint30,objective6,camera7,low_res) take_image(rover1,waypoint59,objective10,camera1,low_res) take_image(rover12,waypoint15,objective2,camera3,high_res) take_image(rover6,waypoint40,objective11,camera13,low_res)
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STEP 1.1: navigate(rover0,waypoint30,waypoint0) navigate(rover1,waypoint59,waypoint81) navigate(rover10,waypoint1,waypoint67) navigate(rover12,waypoint15,waypoint22) navigate(rover4,waypoint44,waypoint72) navigate(rover7,waypoint9,waypoint16)
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STEP 2.0: calibrate(rover0,camera7,objective1,waypoint0) calibrate(rover12,camera3,objective11,waypoint22) calibrate(rover3,camera0,objective2,waypoint3) calibrate(rover6,camera13,objective6,waypoint40) calibrate(rover8,camera14,objective0,waypoint11) drop(rover4,rover4store) drop(rover7,rover7store) navigate(rover11,waypoint58,waypoint65) navigate(rover13,waypoint64,waypoint80) navigate(rover2,waypoint22,waypoint9) navigate(rover4,waypoint72,waypoint24) navigate(rover7,waypoint16,waypoint10) navigate(rover9,waypoint56,waypoint32) sample_soil(rover0,rover0store,waypoint0) sample_soil(rover1,rover1store,waypoint81) sample_soil(rover10,rover10store,waypoint67) sample_soil(rover12,rover12store,waypoint22) sample_soil(rover5,rover5store,waypoint18) sample_soil(rover8,rover8store,waypoint11) take_image(rover10,waypoint67,objective10,camera16,colour) take_image(rover5,waypoint18,objective1,camera6,high_res)
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STEP 2.1: navigate(rover0,waypoint0,waypoint46) navigate(rover1,waypoint81,waypoint59) navigate(rover10,waypoint67,waypoint38) navigate(rover12,waypoint22,waypoint15) navigate(rover5,waypoint18,waypoint50) navigate(rover6,waypoint40,waypoint11) navigate(rover8,waypoint11,waypoint40)
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STEP 3.0: calibrate(rover1,camera1,objective10,waypoint59) calibrate(rover2,camera12,objective8,waypoint9) communicate_image_data(rover0,general,objective4,colour,waypoint46,waypoint84) communicate_image_data(rover0,general,objective6,low_res,waypoint46,waypoint84) communicate_image_data(rover10,general,objective10,colour,waypoint38,waypoint84) communicate_rock_data(rover0,general,waypoint13,waypoint46,waypoint84) communicate_soil_data(rover0,general,waypoint0,waypoint46,waypoint84) communicate_soil_data(rover10,general,waypoint67,waypoint38,waypoint84) communicate_soil_data(rover4,general,waypoint44,waypoint24,waypoint84) drop(rover0,rover0store) drop(rover1,rover1store) drop(rover10,rover10store) drop(rover12,rover12store) drop(rover5,rover5store) drop(rover8,rover8store) navigate(rover5,waypoint50,waypoint30) navigate(rover9,waypoint32,waypoint53) sample_rock(rover11,rover11store,waypoint65) sample_rock(rover13,rover13store,waypoint80) sample_soil(rover7,rover7store,waypoint10) take_image(rover0,waypoint46,objective11,camera7,low_res) take_image(rover12,waypoint15,objective6,camera3,high_res) take_image(rover3,waypoint3,objective1,camera0,colour) take_image(rover6,waypoint11,objective1,camera13,colour) take_image(rover7,waypoint10,objective9,camera2,low_res) take_image(rover8,waypoint40,objective4,camera14,low_res)
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STEP 3.1: navigate(rover0,waypoint46,waypoint84) navigate(rover1,waypoint59,waypoint48) navigate(rover10,waypoint38,waypoint67) navigate(rover11,waypoint65,waypoint58) navigate(rover12,waypoint15,waypoint24) navigate(rover13,waypoint80,waypoint64) navigate(rover2,waypoint9,waypoint26) navigate(rover3,waypoint3,waypoint73) navigate(rover4,waypoint24,waypoint72) navigate(rover6,waypoint11,waypoint73) navigate(rover7,waypoint10,waypoint16) navigate(rover8,waypoint40,waypoint83)
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STEP 4.0: communicate_image_data(rover12,general,objective2,high_res,waypoint24,waypoint84) communicate_image_data(rover12,general,objective6,high_res,waypoint24,waypoint84) communicate_rock_data(rover12,general,waypoint77,waypoint24,waypoint84) communicate_soil_data(rover12,general,waypoint22,waypoint24,waypoint84) drop(rover11,rover11store) drop(rover13,rover13store) drop(rover7,rover7store) navigate(rover10,waypoint67,waypoint1) navigate(rover11,waypoint58,waypoint2) navigate(rover13,waypoint64,waypoint14) navigate(rover2,waypoint26,waypoint9) navigate(rover3,waypoint73,waypoint49) navigate(rover4,waypoint72,waypoint8) navigate(rover5,waypoint30,waypoint51) navigate(rover6,waypoint73,waypoint3) navigate(rover7,waypoint16,waypoint9) navigate(rover8,waypoint83,waypoint79) navigate(rover9,waypoint53,waypoint0) sample_soil(rover0,rover0store,waypoint84) take_image(rover1,waypoint48,objective12,camera1,colour)
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STEP 4.1: navigate(rover0,waypoint84,waypoint46) navigate(rover1,waypoint48,waypoint70) navigate(rover12,waypoint24,waypoint15)
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STEP 5.0: communicate_image_data(rover0,general,objective11,low_res,waypoint46,waypoint84) communicate_image_data(rover1,general,objective10,low_res,waypoint70,waypoint84) communicate_image_data(rover1,general,objective12,colour,waypoint70,waypoint84) communicate_soil_data(rover0,general,waypoint84,waypoint46,waypoint84) communicate_soil_data(rover1,general,waypoint81,waypoint70,waypoint84) drop(rover0,rover0store) navigate(rover10,waypoint1,waypoint61) navigate(rover11,waypoint2,waypoint28) navigate(rover12,waypoint15,waypoint77) navigate(rover13,waypoint14,waypoint5) navigate(rover3,waypoint49,waypoint70) navigate(rover4,waypoint8,waypoint12) navigate(rover7,waypoint9,waypoint26) navigate(rover9,waypoint0,waypoint53) sample_soil(rover5,rover5store,waypoint51) sample_soil(rover8,rover8store,waypoint79) take_image(rover2,waypoint9,objective9,camera12,low_res)
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STEP 5.1: navigate(rover0,waypoint46,waypoint0) navigate(rover1,waypoint70,waypoint48) navigate(rover2,waypoint9,waypoint25) navigate(rover5,waypoint51,waypoint30) navigate(rover8,waypoint79,waypoint38)
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STEP 6.0: communicate_image_data(rover3,general,objective1,colour,waypoint70,waypoint84) communicate_image_data(rover8,general,objective4,low_res,waypoint38,waypoint84) communicate_rock_data(rover8,general,waypoint83,waypoint38,waypoint84) communicate_soil_data(rover8,general,waypoint11,waypoint38,waypoint84) communicate_soil_data(rover8,general,waypoint79,waypoint38,waypoint84) drop(rover5,rover5store) drop(rover8,rover8store) navigate(rover0,waypoint0,waypoint30) navigate(rover1,waypoint48,waypoint30) navigate(rover11,waypoint28,waypoint15) navigate(rover12,waypoint77,waypoint71) navigate(rover13,waypoint5,waypoint67) navigate(rover5,waypoint30,waypoint0) navigate(rover7,waypoint26,waypoint70) sample_soil(rover10,rover10store,waypoint61) sample_soil(rover4,rover4store,waypoint12)
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STEP 6.1: navigate(rover10,waypoint61,waypoint1) navigate(rover4,waypoint12,waypoint8) navigate(rover8,waypoint38,waypoint79)
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STEP 7.0: communicate_image_data(rover7,general,objective9,low_res,waypoint70,waypoint84) communicate_soil_data(rover7,general,waypoint10,waypoint70,waypoint84) communicate_soil_data(rover7,general,waypoint9,waypoint70,waypoint84) drop(rover10,rover10store) drop(rover4,rover4store) navigate(rover0,waypoint30,waypoint35) navigate(rover10,waypoint1,waypoint67) navigate(rover11,waypoint15,waypoint79) navigate(rover13,waypoint67,waypoint7) navigate(rover4,waypoint8,waypoint72) navigate(rover5,waypoint0,waypoint46) sample_rock(rover8,rover8store,waypoint79) sample_soil(rover1,rover1store,waypoint30) sample_soil(rover12,rover12store,waypoint71)
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STEP 7.1: navigate(rover1,waypoint30,waypoint35) navigate(rover12,waypoint71,waypoint77) navigate(rover7,waypoint70,waypoint26) navigate(rover8,waypoint79,waypoint83)
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STEP 8.0: communicate_image_data(rover5,general,objective1,high_res,waypoint46,waypoint84) communicate_soil_data(rover5,general,waypoint18,waypoint46,waypoint84) communicate_soil_data(rover5,general,waypoint51,waypoint46,waypoint84) drop(rover1,rover1store) drop(rover12,rover12store) drop(rover8,rover8store) navigate(rover1,waypoint35,waypoint76) navigate(rover10,waypoint67,waypoint38) navigate(rover11,waypoint79,waypoint16) navigate(rover12,waypoint77,waypoint63) navigate(rover4,waypoint72,waypoint3) navigate(rover7,waypoint26,waypoint9) navigate(rover8,waypoint83,waypoint65) sample_rock(rover13,rover13store,waypoint7) sample_soil(rover0,rover0store,waypoint35)
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STEP 8.1: navigate(rover0,waypoint35,waypoint24) navigate(rover13,waypoint7,waypoint67) navigate(rover5,waypoint46,waypoint0)
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STEP 9.0: communicate_soil_data(rover0,general,waypoint35,waypoint24,waypoint84) communicate_soil_data(rover1,general,waypoint30,waypoint76,waypoint84) communicate_soil_data(rover10,general,waypoint61,waypoint38,waypoint84) drop(rover0,rover0store) drop(rover13,rover13store) navigate(rover12,waypoint63,waypoint76) navigate(rover13,waypoint67,waypoint34) navigate(rover4,waypoint3,waypoint57) navigate(rover5,waypoint0,waypoint30) navigate(rover7,waypoint9,waypoint67) navigate(rover8,waypoint65,waypoint73) sample_rock(rover11,rover11store,waypoint16)
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STEP 9.1: navigate(rover0,waypoint24,waypoint35) navigate(rover1,waypoint76,waypoint35) navigate(rover10,waypoint38,waypoint67) navigate(rover11,waypoint16,waypoint79)
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STEP 10.0: communicate_soil_data(rover12,general,waypoint71,waypoint76,waypoint84) drop(rover11,rover11store) navigate(rover0,waypoint35,waypoint30) navigate(rover1,waypoint35,waypoint30) navigate(rover10,waypoint67,waypoint1) navigate(rover11,waypoint79,waypoint11) navigate(rover13,waypoint34,waypoint50) navigate(rover5,waypoint30,waypoint6) navigate(rover7,waypoint67,waypoint12) navigate(rover8,waypoint73,waypoint49) sample_soil(rover4,rover4store,waypoint57)
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STEP 10.1: navigate(rover12,waypoint76,waypoint63) navigate(rover4,waypoint57,waypoint3)
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STEP 11.0: navigate(rover0,waypoint30,waypoint13) navigate(rover1,waypoint30,waypoint48) navigate(rover10,waypoint1,waypoint75) navigate(rover12,waypoint63,waypoint4) navigate(rover4,waypoint3,waypoint42) navigate(rover7,waypoint12,waypoint78) sample_rock(rover11,rover11store,waypoint11) sample_rock(rover13,rover13store,waypoint50) sample_soil(rover5,rover5store,waypoint6) sample_soil(rover8,rover8store,waypoint49)
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STEP 11.1: navigate(rover11,waypoint11,waypoint79) navigate(rover13,waypoint50,waypoint34) navigate(rover5,waypoint6,waypoint58) navigate(rover8,waypoint49,waypoint73)
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STEP 12.0: drop(rover11,rover11store) drop(rover13,rover13store) drop(rover5,rover5store) drop(rover8,rover8store) navigate(rover0,waypoint13,waypoint37) navigate(rover1,waypoint48,waypoint45) navigate(rover10,waypoint75,waypoint31) navigate(rover11,waypoint79,waypoint15) navigate(rover13,waypoint34,waypoint67) navigate(rover4,waypoint42,waypoint46) navigate(rover5,waypoint58,waypoint43) navigate(rover8,waypoint73,waypoint70) sample_rock(rover12,rover12store,waypoint4) sample_soil(rover7,rover7store,waypoint78)
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STEP 12.1: navigate(rover12,waypoint4,waypoint63) navigate(rover7,waypoint78,waypoint12)
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STEP 13.0: communicate_rock_data(rover8,general,waypoint79,waypoint70,waypoint84) communicate_soil_data(rover4,general,waypoint12,waypoint46,waypoint84) communicate_soil_data(rover4,general,waypoint57,waypoint46,waypoint84) communicate_soil_data(rover5,general,waypoint6,waypoint43,waypoint84) communicate_soil_data(rover8,general,waypoint49,waypoint70,waypoint84) drop(rover12,rover12store) navigate(rover0,waypoint37,waypoint41) navigate(rover10,waypoint31,waypoint60) navigate(rover11,waypoint15,waypoint28) navigate(rover12,waypoint63,waypoint77) navigate(rover13,waypoint67,waypoint38) navigate(rover7,waypoint12,waypoint67) sample_soil(rover1,rover1store,waypoint45) sample_soil(rover5,rover5store,waypoint43)
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STEP 13.1: navigate(rover1,waypoint45,waypoint48) navigate(rover8,waypoint70,waypoint73)
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STEP 14.0: communicate_rock_data(rover13,general,waypoint50,waypoint38,waypoint84) communicate_rock_data(rover13,general,waypoint7,waypoint38,waypoint84) communicate_rock_data(rover13,general,waypoint80,waypoint38,waypoint84) communicate_soil_data(rover5,general,waypoint43,waypoint43,waypoint84) navigate(rover1,waypoint48,waypoint70) navigate(rover11,waypoint28,waypoint21) navigate(rover12,waypoint77,waypoint39) navigate(rover7,waypoint67,waypoint9) navigate(rover8,waypoint73,waypoint65) sample_soil(rover0,rover0store,waypoint41) sample_soil(rover10,rover10store,waypoint60)
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STEP 14.1: navigate(rover0,waypoint41,waypoint37) navigate(rover10,waypoint60,waypoint31) navigate(rover13,waypoint38,waypoint31)
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STEP 15.0: communicate_soil_data(rover1,general,waypoint45,waypoint70,waypoint84) drop(rover0,rover0store) drop(rover10,rover10store) navigate(rover0,waypoint37,waypoint25) navigate(rover10,waypoint31,waypoint75) navigate(rover11,waypoint21,waypoint54) navigate(rover12,waypoint39,waypoint55) navigate(rover7,waypoint9,waypoint33) navigate(rover8,waypoint65,waypoint83) sample_rock(rover13,rover13store,waypoint31)
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STEP 15.1: navigate(rover13,waypoint31,waypoint38)
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STEP 16.0: communicate_rock_data(rover13,general,waypoint31,waypoint38,waypoint84) drop(rover13,rover13store) navigate(rover0,waypoint25,waypoint43) navigate(rover10,waypoint75,waypoint41) navigate(rover7,waypoint33,waypoint24) navigate(rover8,waypoint83,waypoint79) sample_rock(rover11,rover11store,waypoint54) sample_rock(rover12,rover12store,waypoint55)
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STEP 16.1: navigate(rover11,waypoint54,waypoint74) navigate(rover12,waypoint55,waypoint39) navigate(rover13,waypoint38,waypoint67)
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STEP 17.0: communicate_rock_data(rover11,general,waypoint11,waypoint74,waypoint84) communicate_rock_data(rover11,general,waypoint16,waypoint74,waypoint84) communicate_rock_data(rover11,general,waypoint54,waypoint74,waypoint84) communicate_rock_data(rover11,general,waypoint65,waypoint74,waypoint84) communicate_soil_data(rover0,general,waypoint41,waypoint43,waypoint84) communicate_soil_data(rover7,general,waypoint78,waypoint24,waypoint84) drop(rover11,rover11store) drop(rover12,rover12store) navigate(rover10,waypoint41,waypoint70) navigate(rover12,waypoint39,waypoint38) navigate(rover13,waypoint67,waypoint5) navigate(rover8,waypoint79,waypoint81)
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STEP 17.1: navigate(rover0,waypoint43,waypoint25) navigate(rover11,waypoint74,waypoint54)
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STEP 18.0: communicate_rock_data(rover12,general,waypoint4,waypoint38,waypoint84) communicate_rock_data(rover12,general,waypoint55,waypoint38,waypoint84) communicate_soil_data(rover10,general,waypoint60,waypoint70,waypoint84) navigate(rover0,waypoint25,waypoint37) navigate(rover11,waypoint54,waypoint21) navigate(rover13,waypoint5,waypoint2) navigate(rover8,waypoint81,waypoint59)
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STEP 18.1: navigate(rover10,waypoint70,waypoint41) navigate(rover12,waypoint38,waypoint39)
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STEP 19.0: navigate(rover0,waypoint37,waypoint82) navigate(rover10,waypoint41,waypoint42) navigate(rover11,waypoint21,waypoint28) navigate(rover12,waypoint39,waypoint77) navigate(rover13,waypoint2,waypoint35) sample_rock(rover8,rover8store,waypoint59)
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STEP 19.1: navigate(rover8,waypoint59,waypoint81)
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STEP 20.0: navigate(rover11,waypoint28,waypoint15) navigate(rover12,waypoint77,waypoint2) navigate(rover13,waypoint35,waypoint51) navigate(rover8,waypoint81,waypoint79) sample_rock(rover0,rover0store,waypoint82) sample_rock(rover10,rover10store,waypoint42)
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STEP 20.1: navigate(rover0,waypoint82,waypoint37) navigate(rover10,waypoint42,waypoint41)
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STEP 21.0: drop(rover0,rover0store) navigate(rover0,waypoint37,waypoint25) navigate(rover10,waypoint41,waypoint70) navigate(rover11,waypoint15,waypoint24) navigate(rover12,waypoint2,waypoint81) navigate(rover8,waypoint79,waypoint38) sample_rock(rover13,rover13store,waypoint51)
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STEP 21.1: navigate(rover13,waypoint51,waypoint35)
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STEP 22.0: communicate_rock_data(rover10,general,waypoint42,waypoint70,waypoint84) communicate_rock_data(rover8,general,waypoint59,waypoint38,waypoint84) navigate(rover0,waypoint25,waypoint8) navigate(rover11,waypoint24,waypoint20) navigate(rover13,waypoint35,waypoint76) sample_rock(rover12,rover12store,waypoint81)
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STEP 22.1: navigate(rover12,waypoint81,waypoint2)
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STEP 23.0: communicate_rock_data(rover13,general,waypoint51,waypoint76,waypoint84) navigate(rover12,waypoint2,waypoint77) sample_rock(rover0,rover0store,waypoint8) sample_rock(rover11,rover11store,waypoint20)
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STEP 23.1: navigate(rover0,waypoint8,waypoint25) navigate(rover11,waypoint20,waypoint24)
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STEP 24: communicate_rock_data(rover11,general,waypoint20,waypoint24,waypoint84) navigate(rover0,waypoint25,waypoint43) navigate(rover12,waypoint77,waypoint15)
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STEP 25: communicate_rock_data(rover0,general,waypoint8,waypoint43,waypoint84) communicate_rock_data(rover0,general,waypoint82,waypoint43,waypoint84) navigate(rover12,waypoint15,waypoint24)
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STEP 26: communicate_rock_data(rover12,general,waypoint81,waypoint24,waypoint84)
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391 actions in the plan.
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total time 153.18 preprocess 150.13
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total size 1.393 GB
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max. learned clause length 977
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t val conflicts decisions
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0 0 0 0
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5 -1 362 1228
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10 -1 301 1838
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15 -1 240 1886
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20 -1 180 1700
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25 -1 120 816
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30 1 1 1685
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