diff --git a/m-mp/ipc-2011_tidybot-sequential-satisficing_18.env b/m-mp/ipc-2011_tidybot-sequential-satisficing_18.env
new file mode 100644
index 000000000..0703a8f5a
--- /dev/null
+++ b/m-mp/ipc-2011_tidybot-sequential-satisficing_18.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-18.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: 18
+  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_18.err b/m-mp/ipc-2011_tidybot-sequential-satisficing_18.err
new file mode 100644
index 000000000..411ac90f0
--- /dev/null
+++ b/m-mp/ipc-2011_tidybot-sequential-satisficing_18.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': 18}
+# 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-18.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-18.pddl --stats --verbose -m 8192
+FINISHED CPU 173.03 MEM 33472 MAXMEM 7764012 STALE 0 MAXMEM_RSS 5451284
+<time name="ALL">173000</time>
+
diff --git a/m-mp/ipc-2011_tidybot-sequential-satisficing_18.out b/m-mp/ipc-2011_tidybot-sequential-satisficing_18.out
new file mode 100644
index 000000000..6c49ad32a
--- /dev/null
+++ b/m-mp/ipc-2011_tidybot-sequential-satisficing_18.out
@@ -0,0 +1,218 @@
+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-18.pddlignoring --stats
+ignoring --verbose
+ -m 8192
+Domain: tidybot
+Problem: test
+Parser: 75377 ground actions and 1099 state variables
+Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17  8.74 secs
+Goal: conjunctive
+Simplified: 36707 ground actions and 503 state variables
+Actions: STRIPS
+Disabling graph %: 10 20 30 40 50 60 70 80 90 100 11.75 secs (max SCC size 10)
+Plan type: E-step
+				Allocated 32 MB permanent (total 565 MB)
+Horizon 0: 503 variables
+0 UNSAT (0 decisions 0 conflicts)
+Horizon 5: 186553 variables
+5 UNSAT (0 decisions 0 conflicts)
+Horizon 10: 372603 variables
+10 UNSAT (0 decisions 0 conflicts)
+Horizon 15: 558653 variables
+				Allocated 32 MB (total 984 MB)
+				Allocated 32 MB permanent (total 1137 MB)
+Horizon 20: 744703 variables
+				Allocated 32 MB permanent (total 1300 MB)
+Horizon 25: 930753 variables
+				Allocated 32 MB permanent (total 1475 MB)
+Horizon 30: 1116803 variables
+				Allocated 32 MB permanent (total 1660 MB)
+Horizon 35: 1302853 variables
+				Allocated 32 MB permanent (total 1856 MB)
+Horizon 40: 1488903 variables
+				Allocated 32 MB permanent (total 2064 MB)
+Horizon 45: 1674953 variables
+				Allocated 32 MB permanent (total 2282 MB)
+Horizon 50: 1861003 variables
+				Allocated 32 MB permanent (total 2511 MB)
+				Allocated 32 MB permanent (total 2543 MB)
+Horizon 55: 2047053 variables
+				Allocated 32 MB permanent (total 2784 MB)
+				Allocated 32 MB permanent (total 2816 MB)
+Horizon 60: 2233103 variables
+				Allocated 32 MB permanent (total 3067 MB)
+				Allocated 32 MB permanent (total 3099 MB)
+Horizon 65: 2419153 variables
+				Allocated 32 MB permanent (total 3362 MB)
+				Allocated 32 MB permanent (total 3394 MB)
+Horizon 70: 2605203 variables
+				Allocated 32 MB permanent (total 3667 MB)
+				Allocated 32 MB permanent (total 3699 MB)
+Horizon 75: 2791253 variables
+				Allocated 32 MB permanent (total 3983 MB)
+				Allocated 32 MB permanent (total 4015 MB)
+Horizon 80: 2977303 variables
+				Allocated 32 MB (total 4047 MB)
+				Allocated 32 MB permanent (total 4343 MB)
+				Allocated 32 MB permanent (total 4375 MB)
+				Allocated 32 MB permanent (total 4407 MB)
+Horizon 85: 3163353 variables
+				Allocated 32 MB permanent (total 4713 MB)
+				Allocated 32 MB permanent (total 4745 MB)
+Horizon 90: 3349403 variables
+				Allocated 32 MB permanent (total 5062 MB)
+				Allocated 32 MB permanent (total 5094 MB)
+				Allocated 32 MB permanent (total 5126 MB)
+Horizon 95: 3535453 variables
+				Allocated 32 MB permanent (total 5455 MB)
+				Allocated 32 MB permanent (total 5487 MB)
+				Allocated 32 MB permanent (total 5519 MB)
+Horizon 100: 3721503 variables
+				Allocated 32 MB (total 5551 MB)
+				Allocated 32 MB permanent (total 5890 MB)
+				Allocated 32 MB permanent (total 5922 MB)
+				Allocated 32 MB permanent (total 5954 MB)
+Horizon 105: 3907553 variables
+				Allocated 32 MB permanent (total 6305 MB)
+				Allocated 32 MB permanent (total 6337 MB)
+				Allocated 32 MB permanent (total 6369 MB)
+Horizon 110: 4093603 variables
+15 UNSAT (1862 decisions 1374 conflicts)
+				Allocated 32 MB permanent (total 6730 MB)
+				Allocated 32 MB permanent (total 6762 MB)
+				Allocated 32 MB permanent (total 6794 MB)
+				Allocated 32 MB permanent (total 6826 MB)
+Horizon 115: 4279653 variables
+				Allocated 32 MB (total 6858 MB)
+				Allocated 32 MB (total 6890 MB)
+				Allocated 32 MB (total 6922 MB)
+						GC: 146.37 MB
+				Allocated 32 MB (total 6954 MB)
+				Allocated 32 MB (total 6986 MB)
+				Allocated 32 MB (total 7018 MB)
+				Allocated 32 MB (total 7050 MB)
+SAT (1846 decisions 1001 conflicts)
+PLAN FOUND: 90 steps
+STEP 0: finish-object(object0,x1,y2) unpark(pr2,xrel0,yrel0)
+STEP 1: base-right(pr2,x0,x1,y0)
+STEP 2: base-right(pr2,x1,x2,y0)
+STEP 3: base-right(pr2,x2,x3,y0)
+STEP 4: base-down(pr2,x3,y0,y1)
+STEP 5: base-down(pr2,x3,y1,y2)
+STEP 6: base-down(pr2,x3,y2,y3)
+STEP 7: base-down(pr2,x3,y3,y4)
+STEP 8.0: base-down(pr2,x3,y4,y5)
+STEP 8.1: park(pr2)
+STEP 9.0: get-down(pr2,x3,y5,xrel0,x3,yrel0,y5,object1,y6)
+STEP 9.1: unpark(pr2,xrel0,yrel0)
+STEP 10: base-up(pr2,x3,y5,y4)
+STEP 11: base-up(pr2,x3,y4,y3)
+STEP 12: base-up(pr2,x3,y3,y2)
+STEP 13: base-right(pr2,x3,x4,y2)
+STEP 14: base-right(pr2,x4,x5,y2)
+STEP 15: base-right(pr2,x5,x6,y2)
+STEP 16: base-down(pr2,x6,y2,y3)
+STEP 17.0: base-down(pr2,x6,y3,y4)
+STEP 17.1: park(pr2)
+STEP 18.0: put-down(pr2,x6,y4,xrel0,x6,yrel0,y4,object1,y5)
+STEP 18.1: unpark(pr2,xrel0,yrel0)
+STEP 19.0: base-right(pr2,x6,x7,y4) finish-object(object1,x6,y5)
+STEP 19.1: park(pr2)
+STEP 20: unpark(pr2,xrel0,yrel0)
+STEP 21: base-down(pr2,x7,y4,y5)
+STEP 22: base-up(pr2,x7,y5,y4)
+STEP 23: base-up(pr2,x7,y4,y3)
+STEP 24: base-left(pr2,x7,x6,y3)
+STEP 25: base-up(pr2,x6,y3,y2)
+STEP 26: base-left(pr2,x6,x5,y2)
+STEP 27.0: base-left(pr2,x5,x4,y2)
+STEP 27.1: park(pr2)
+STEP 28: gripper-left(pr2,x4,y2,xrel0,xrel-1,x4,x3,yrel0,y2)
+STEP 29.0: get-left(pr2,x4,y2,xrel-1,x3,yrel0,y2,object2,x2)
+STEP 29.1: gripper-right(pr2,x4,y2,xrel-1,xrel0,x3,x4,yrel0,y2)
+STEP 30: unpark(pr2,xrel0,yrel0)
+STEP 31: base-left(pr2,x4,x3,y2)
+STEP 32.0: base-right(pr2,x3,x4,y2)
+STEP 32.1: park(pr2)
+STEP 33: gripper-right(pr2,x4,y2,xrel0,xrel1,x4,x5,yrel0,y2)
+STEP 34: gripper-left(pr2,x4,y2,xrel1,xrel0,x5,x4,yrel0,y2)
+STEP 35: unpark(pr2,xrel0,yrel0)
+STEP 36.0: base-right(pr2,x4,x5,y2)
+STEP 36.1: park(pr2)
+STEP 37: unpark(pr2,xrel0,yrel0)
+STEP 38.0: base-right(pr2,x5,x6,y2)
+STEP 38.1: park(pr2)
+STEP 39: gripper-right(pr2,x6,y2,xrel0,xrel1,x6,x7,yrel0,y2)
+STEP 40: gripper-down(pr2,x6,y2,xrel1,x7,yrel0,yrel1,y2,y3)
+STEP 41.0: put-down(pr2,x6,y2,xrel1,x7,yrel1,y3,object2,y4)
+STEP 41.1: gripper-up(pr2,x6,y2,xrel1,x7,yrel1,yrel0,y3,y2)
+STEP 42: finish-object(object2,x7,y4) gripper-left(pr2,x6,y2,xrel1,xrel0,x7,x6,yrel0,y2)
+STEP 43: unpark(pr2,xrel0,yrel0)
+STEP 44: base-down(pr2,x6,y2,y3)
+STEP 45: base-down(pr2,x6,y3,y4)
+STEP 46: base-up(pr2,x6,y4,y3)
+STEP 47: base-up(pr2,x6,y3,y2)
+STEP 48: base-left(pr2,x6,x5,y2)
+STEP 49: base-left(pr2,x5,x4,y2)
+STEP 50: base-down(pr2,x4,y2,y3)
+STEP 51: base-up(pr2,x4,y3,y2)
+STEP 52: base-right(pr2,x4,x5,y2)
+STEP 53: base-right(pr2,x5,x6,y2)
+STEP 54: base-right(pr2,x6,x7,y2)
+STEP 55: base-down(pr2,x7,y2,y3)
+STEP 56: base-down(pr2,x7,y3,y4)
+STEP 57: base-up(pr2,x7,y4,y3)
+STEP 58: base-left(pr2,x7,x6,y3)
+STEP 59: base-up(pr2,x6,y3,y2)
+STEP 60: base-left(pr2,x6,x5,y2)
+STEP 61: base-left(pr2,x5,x4,y2)
+STEP 62: base-down(pr2,x4,y2,y3)
+STEP 63: base-down(pr2,x4,y3,y4)
+STEP 64.0: base-down(pr2,x4,y4,y5)
+STEP 64.1: park(pr2)
+STEP 65: gripper-down(pr2,x4,y5,xrel0,x4,yrel0,yrel1,y5,y6)
+STEP 66: gripper-left(pr2,x4,y5,xrel0,xrel-1,x4,x3,yrel1,y6)
+STEP 67.0: get-left(pr2,x4,y5,xrel-1,x3,yrel1,y6,object3,x2)
+STEP 67.1: gripper-up(pr2,x4,y5,xrel-1,x3,yrel1,yrel0,y6,y5)
+STEP 68: gripper-right(pr2,x4,y5,xrel-1,xrel0,x3,x4,yrel0,y5)
+STEP 69: unpark(pr2,xrel0,yrel0)
+STEP 70: base-up(pr2,x4,y5,y4)
+STEP 71: base-up(pr2,x4,y4,y3)
+STEP 72: base-up(pr2,x4,y3,y2)
+STEP 73: base-right(pr2,x4,x5,y2)
+STEP 74: base-right(pr2,x5,x6,y2)
+STEP 75.0: base-down(pr2,x6,y2,y3)
+STEP 75.1: park(pr2)
+STEP 76: gripper-right(pr2,x6,y3,xrel0,xrel1,x6,x7,yrel0,y3)
+STEP 77: gripper-left(pr2,x6,y3,xrel1,xrel0,x7,x6,yrel0,y3)
+STEP 78: unpark(pr2,xrel0,yrel0)
+STEP 79: base-down(pr2,x6,y3,y4)
+STEP 80.0: base-right(pr2,x6,x7,y4)
+STEP 80.1: park(pr2)
+STEP 81: put-down(pr2,x7,y4,xrel0,x7,yrel0,y4,object3,y5)
+STEP 82: finish-object(object3,x7,y5)
+101 actions in the plan.
+total time 171.49 preprocess 21.85 
+total size 7.368 GB
+max. learned clause length 244189
+t val conflicts decisions
+0 0 0 0
+5 0 0 0
+10 0 0 0
+15 0 1374 1862
+20 -1 4085 4940
+25 -1 3720 4618
+30 -1 3360 4550
+35 -1 3065 4446
+40 -1 2761 4134
+45 -1 2465 3826
+50 -1 2221 3575
+55 -1 2043 3342
+60 -1 1803 3119
+65 -1 1622 2772
+70 -1 1502 2773
+75 -1 1320 2327
+80 -1 1200 2237
+85 -1 1081 1849
+90 1 1001 1846
+