diff --git a/m-mp/ipc-2011_tidybot-sequential-satisficing_15.env b/m-mp/ipc-2011_tidybot-sequential-satisficing_15.env
new file mode 100644
index 000000000..cb1cd6067
--- /dev/null
+++ b/m-mp/ipc-2011_tidybot-sequential-satisficing_15.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-15.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: 15
+  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_15.err b/m-mp/ipc-2011_tidybot-sequential-satisficing_15.err
new file mode 100644
index 000000000..200c264a3
--- /dev/null
+++ b/m-mp/ipc-2011_tidybot-sequential-satisficing_15.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': 15}
+# 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-15.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-15.pddl --stats --verbose -m 8192
+FINISHED CPU 18.69 MEM 33472 MAXMEM 2824904 STALE 0 MAXMEM_RSS 1417016
+<time name="ALL">18650</time>
+
diff --git a/m-mp/ipc-2011_tidybot-sequential-satisficing_15.out b/m-mp/ipc-2011_tidybot-sequential-satisficing_15.out
new file mode 100644
index 000000000..a86c56538
--- /dev/null
+++ b/m-mp/ipc-2011_tidybot-sequential-satisficing_15.out
@@ -0,0 +1,131 @@
+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-15.pddlignoring --stats
+ignoring --verbose
+ -m 8192
+Domain: tidybot
+Problem: test
+Parser: 54482 ground actions and 923 state variables
+Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18  5.56 secs
+Goal: conjunctive
+Simplified: 24195 ground actions and 416 state variables
+Actions: STRIPS
+Disabling graph %: 10 20 30 40 50 60 70 80 90 100 5.21 secs (max SCC size 10)
+Plan type: E-step
+				Allocated 32 MB permanent (total 380 MB)
+Horizon 0: 416 variables
+0 UNSAT (0 decisions 0 conflicts)
+Horizon 5: 123471 variables
+5 UNSAT (0 decisions 0 conflicts)
+Horizon 10: 246526 variables
+10 UNSAT (0 decisions 0 conflicts)
+Horizon 15: 369581 variables
+15 UNSAT (0 decisions 0 conflicts)
+Horizon 20: 492636 variables
+				Allocated 32 MB (total 877 MB)
+				Allocated 32 MB permanent (total 1022 MB)
+Horizon 25: 615691 variables
+Horizon 30: 738746 variables
+				Allocated 32 MB permanent (total 1301 MB)
+Horizon 35: 861801 variables
+20 UNSAT (228 decisions 211 conflicts)
+				Allocated 32 MB permanent (total 1468 MB)
+Horizon 40: 984856 variables
+				Allocated 32 MB permanent (total 1642 MB)
+Horizon 45: 1107911 variables
+				Allocated 32 MB permanent (total 1823 MB)
+Horizon 50: 1230966 variables
+				Allocated 32 MB permanent (total 2011 MB)
+Horizon 55: 1354021 variables
+				Allocated 32 MB permanent (total 2207 MB)
+Horizon 60: 1477076 variables
+				Allocated 32 MB permanent (total 2410 MB)
+Horizon 65: 1600131 variables
+SAT (143 decisions 84 conflicts)
+PLAN FOUND: 60 steps
+STEP 0: 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-right(pr2,x3,x4,y0)
+STEP 5: base-right(pr2,x4,x5,y0)
+STEP 6: base-right(pr2,x5,x6,y0)
+STEP 7: base-right(pr2,x6,x7,y0)
+STEP 8: base-left(pr2,x7,x6,y0)
+STEP 9: base-down(pr2,x6,y0,y1)
+STEP 10: base-left(pr2,x6,x5,y1)
+STEP 11: base-down(pr2,x5,y1,y2)
+STEP 12: base-up(pr2,x5,y2,y1)
+STEP 13: base-down(pr2,x5,y1,y2)
+STEP 14: base-down(pr2,x5,y2,y3)
+STEP 15: base-down(pr2,x5,y3,y4)
+STEP 16: base-down(pr2,x5,y4,y5)
+STEP 17.0: base-left(pr2,x5,x4,y5)
+STEP 17.1: park(pr2)
+STEP 18.0: get-down(pr2,x4,y5,xrel0,x4,yrel0,y5,object0,y6)
+STEP 18.1: gripper-left(pr2,x4,y5,xrel0,xrel-1,x4,x3,yrel0,y5)
+STEP 19: gripper-up(pr2,x4,y5,xrel-1,x3,yrel0,yrel-1,y5,y4)
+STEP 20.0: put-up(pr2,x4,y5,xrel-1,x3,yrel-1,y4,object0,y3)
+STEP 20.1: gripper-down(pr2,x4,y5,xrel-1,x3,yrel-1,yrel0,y4,y5)
+STEP 21: gripper-right(pr2,x4,y5,xrel-1,xrel0,x3,x4,yrel0,y5)
+STEP 22: unpark(pr2,xrel0,yrel0)
+STEP 23: base-left(pr2,x4,x3,y5)
+STEP 24: base-up(pr2,x3,y5,y4)
+STEP 25: base-up(pr2,x3,y4,y3)
+STEP 26.0: base-left(pr2,x3,x2,y3)
+STEP 26.1: park(pr2)
+STEP 27.0: get-up(pr2,x2,y3,xrel0,x2,yrel0,y3,object1,y2)
+STEP 27.1: unpark(pr2,xrel0,yrel0)
+STEP 28.0: base-right(pr2,x2,x3,y3)
+STEP 28.1: park(pr2)
+STEP 29: gripper-up(pr2,x3,y3,xrel0,x3,yrel0,yrel-1,y3,y2)
+STEP 30: put-down(pr2,x3,y3,xrel0,x3,yrel-1,y2,object1,y3)
+STEP 31: get-down(pr2,x3,y3,xrel0,x3,yrel-1,y2,object0,y3)
+STEP 32: put-left(pr2,x3,y3,xrel0,x3,yrel-1,y2,object0,x2)
+STEP 33: finish-object(object0,x2,y2) gripper-down(pr2,x3,y3,xrel0,x3,yrel-1,yrel0,y2,y3)
+STEP 34: get-left(pr2,x3,y3,xrel0,x3,yrel0,y3,object2,x2)
+STEP 35.0: put-up(pr2,x3,y3,xrel0,x3,yrel0,y3,object2,y2)
+STEP 35.1: gripper-down(pr2,x3,y3,xrel0,x3,yrel0,yrel1,y3,y4)
+STEP 36.0: finish-object(object2,x3,y2) get-up(pr2,x3,y3,xrel0,x3,yrel1,y4,object1,y3)
+STEP 36.1: gripper-left(pr2,x3,y3,xrel0,xrel-1,x3,x2,yrel1,y4)
+STEP 37.0: put-up(pr2,x3,y3,xrel-1,x2,yrel1,y4,object1,y3)
+STEP 37.1: gripper-right(pr2,x3,y3,xrel-1,xrel0,x2,x3,yrel1,y4)
+STEP 38: finish-object(object1,x2,y3) gripper-up(pr2,x3,y3,xrel0,x3,yrel1,yrel0,y4,y3)
+STEP 39: unpark(pr2,xrel0,yrel0)
+STEP 40: base-down(pr2,x3,y3,y4)
+STEP 41.0: base-down(pr2,x3,y4,y5)
+STEP 41.1: park(pr2)
+STEP 42: gripper-left(pr2,x3,y5,xrel0,xrel-1,x3,x2,yrel0,y5)
+STEP 43: gripper-down(pr2,x3,y5,xrel-1,x2,yrel0,yrel1,y5,y6)
+STEP 44.0: get-left(pr2,x3,y5,xrel-1,x2,yrel1,y6,object3,x1)
+STEP 44.1: gripper-right(pr2,x3,y5,xrel-1,xrel0,x2,x3,yrel1,y6)
+STEP 45: gripper-right(pr2,x3,y5,xrel0,xrel1,x3,x4,yrel1,y6)
+STEP 46: gripper-left(pr2,x3,y5,xrel1,xrel0,x4,x3,yrel1,y6)
+STEP 47: gripper-up(pr2,x3,y5,xrel0,x3,yrel1,yrel0,y6,y5)
+STEP 48: gripper-down(pr2,x3,y5,xrel0,x3,yrel0,yrel1,y5,y6)
+STEP 49: gripper-up(pr2,x3,y5,xrel0,x3,yrel1,yrel0,y6,y5)
+STEP 50: unpark(pr2,xrel0,yrel0)
+STEP 51: base-down(pr2,x3,y5,y6)
+STEP 52.0: base-down(pr2,x3,y6,y7)
+STEP 52.1: park(pr2)
+STEP 53: gripper-right(pr2,x3,y7,xrel0,xrel1,x3,x4,yrel0,y7)
+STEP 54: put-right(pr2,x3,y7,xrel1,x4,yrel0,y7,object3,x5)
+STEP 55: finish-object(object3,x5,y7)
+71 actions in the plan.
+total time 18.07 preprocess 11.56 
+total size 2.657 GB
+max. learned clause length 102412
+t val conflicts decisions
+0 0 0 0
+5 0 0 0
+10 0 0 0
+15 0 0 0
+20 0 211 228
+25 -1 542 660
+30 -1 480 593
+35 -1 420 570
+40 -1 360 491
+45 -1 301 438
+50 -1 240 343
+55 -1 182 265
+60 1 84 143
+