diff --git a/m-mp/ipc-2006_rovers-propositional_23.env b/m-mp/ipc-2006_rovers-propositional_23.env
new file mode 100644
index 000000000..cdfa637be
--- /dev/null
+++ b/m-mp/ipc-2006_rovers-propositional_23.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-23.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: 23
+  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_23.err b/m-mp/ipc-2006_rovers-propositional_23.err
new file mode 100644
index 000000000..f19ae731d
--- /dev/null
+++ b/m-mp/ipc-2006_rovers-propositional_23.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': 23}
+# 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-23.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-23.pddl --stats --verbose -m 8192
+FINISHED CPU 3.10 MEM 33472 MAXMEM 273076 STALE 1 MAXMEM_RSS 88852
+<time name="ALL">3030</time>
+
diff --git a/m-mp/ipc-2006_rovers-propositional_23.out b/m-mp/ipc-2006_rovers-propositional_23.out
new file mode 100644
index 000000000..a7288d29a
--- /dev/null
+++ b/m-mp/ipc-2006_rovers-propositional_23.out
@@ -0,0 +1,51 @@
+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-23.pddlignoring --stats
+ignoring --verbose
+ -m 8192
+Domain: rover
+Problem: roverprob5142
+Parser: 12028 ground actions and 2601 state variables
+Invariants: 0 1 2 3 4 5 6 7  0.03 secs
+Goal: conjunctive
+Simplified: 7201 ground actions and 830 state variables
+Actions: STRIPS
+Disabling graph %: 10 20 30 40 50 60 70 80 90 100 0.01 secs (max SCC size 20)
+Plan type: E-step
+				Allocated 32 MB permanent (total 159 MB)
+Horizon 0: 830 variables
+0 UNSAT (0 decisions 0 conflicts)
+Horizon 5: 51865 variables
+				Allocated 32 MB (total 351 MB)
+Horizon 10: 102900 variables
+Horizon 15: 153935 variables
+SAT (531 decisions 0 conflicts)
+PLAN FOUND: 15 steps
+STEP 0.0: calibrate(rover5,camera9,objective8,waypoint14) navigate(rover0,waypoint28,waypoint21) navigate(rover1,waypoint36,waypoint0) navigate(rover2,waypoint29,waypoint6) navigate(rover3,waypoint18,waypoint5) navigate(rover4,waypoint29,waypoint12) navigate(rover6,waypoint4,waypoint27) navigate(rover7,waypoint17,waypoint16)
+STEP 0.1: navigate(rover5,waypoint14,waypoint3)
+STEP 1.0: calibrate(rover1,camera6,objective9,waypoint0) calibrate(rover2,camera1,objective3,waypoint6) calibrate(rover2,camera2,objective3,waypoint6) calibrate(rover2,camera5,objective0,waypoint6) calibrate(rover2,camera8,objective4,waypoint6) navigate(rover4,waypoint12,waypoint9) navigate(rover6,waypoint27,waypoint15) navigate(rover7,waypoint16,waypoint26) sample_soil(rover0,rover0store,waypoint21) sample_soil(rover3,rover3store,waypoint5) take_image(rover5,waypoint3,objective5,camera9,colour)
+STEP 1.1: navigate(rover0,waypoint21,waypoint22) navigate(rover1,waypoint0,waypoint27) navigate(rover2,waypoint6,waypoint5) navigate(rover5,waypoint3,waypoint34)
+STEP 2.0: communicate_soil_data(rover0,general,waypoint21,waypoint22,waypoint35) communicate_soil_data(rover3,general,waypoint5,waypoint5,waypoint35) drop(rover0,rover0store) sample_rock(rover6,rover6store,waypoint15) sample_soil(rover1,rover1store,waypoint27) sample_soil(rover4,rover4store,waypoint9) sample_soil(rover5,rover5store,waypoint34) sample_soil(rover7,rover7store,waypoint26) take_image(rover2,waypoint5,objective0,camera1,low_res) take_image(rover2,waypoint5,objective2,camera8,high_res) take_image(rover2,waypoint5,objective6,camera2,low_res) take_image(rover2,waypoint5,objective8,camera5,high_res)
+STEP 2.1: navigate(rover1,waypoint27,waypoint22) navigate(rover2,waypoint5,waypoint6) navigate(rover4,waypoint9,waypoint12) navigate(rover5,waypoint34,waypoint3) navigate(rover6,waypoint15,waypoint27) navigate(rover7,waypoint26,waypoint16)
+STEP 3.0: communicate_image_data(rover2,general,objective0,low_res,waypoint6,waypoint35) communicate_image_data(rover2,general,objective2,high_res,waypoint6,waypoint35) communicate_image_data(rover2,general,objective6,low_res,waypoint6,waypoint35) communicate_image_data(rover2,general,objective8,high_res,waypoint6,waypoint35) communicate_rock_data(rover6,general,waypoint15,waypoint27,waypoint35) communicate_soil_data(rover1,general,waypoint27,waypoint22,waypoint35) communicate_soil_data(rover7,general,waypoint26,waypoint16,waypoint35) drop(rover1,rover1store) drop(rover5,rover5store) drop(rover6,rover6store) drop(rover7,rover7store) navigate(rover4,waypoint12,waypoint27) navigate(rover5,waypoint3,waypoint31) sample_soil(rover0,rover0store,waypoint22) take_image(rover1,waypoint22,objective0,camera6,colour)
+STEP 3.1: navigate(rover1,waypoint22,waypoint27) navigate(rover7,waypoint16,waypoint26)
+STEP 4.0: communicate_image_data(rover1,general,objective0,colour,waypoint27,waypoint35) communicate_image_data(rover5,general,objective5,colour,waypoint31,waypoint35) communicate_soil_data(rover0,general,waypoint22,waypoint22,waypoint35) communicate_soil_data(rover4,general,waypoint9,waypoint27,waypoint35) communicate_soil_data(rover5,general,waypoint34,waypoint31,waypoint35) navigate(rover7,waypoint26,waypoint9) sample_rock(rover6,rover6store,waypoint27)
+STEP 4.1: navigate(rover1,waypoint27,waypoint2) navigate(rover5,waypoint31,waypoint3)
+STEP 5.0: communicate_rock_data(rover6,general,waypoint27,waypoint27,waypoint35) drop(rover6,rover6store) navigate(rover5,waypoint3,waypoint14) sample_rock(rover1,rover1store,waypoint2) sample_rock(rover7,rover7store,waypoint9)
+STEP 5.1: navigate(rover6,waypoint27,waypoint4) navigate(rover7,waypoint9,waypoint26)
+STEP 6: communicate_rock_data(rover1,general,waypoint2,waypoint2,waypoint35) navigate(rover5,waypoint14,waypoint1) navigate(rover6,waypoint4,waypoint8) navigate(rover7,waypoint26,waypoint16)
+STEP 7: communicate_rock_data(rover7,general,waypoint9,waypoint16,waypoint35) navigate(rover5,waypoint1,waypoint20) navigate(rover6,waypoint8,waypoint18)
+STEP 8.0: sample_rock(rover5,rover5store,waypoint20) sample_rock(rover6,rover6store,waypoint18)
+STEP 8.1: navigate(rover5,waypoint20,waypoint1) navigate(rover6,waypoint18,waypoint6)
+STEP 9: communicate_rock_data(rover6,general,waypoint18,waypoint6,waypoint35) navigate(rover5,waypoint1,waypoint14)
+STEP 10: navigate(rover5,waypoint14,waypoint37)
+STEP 11: communicate_rock_data(rover5,general,waypoint20,waypoint37,waypoint35)
+90 actions in the plan.
+total time 2.77 preprocess 2.52 
+total size 623.000 MB
+max. learned clause length 377
+t val conflicts decisions
+0 0 0 0
+5 -1 181 435
+10 -1 121 1017
+15 1 0 531
+