diff --git a/m-mp/ipc-2002_driverlog-strips-automatic_20.env b/m-mp/ipc-2002_driverlog-strips-automatic_20.env
new file mode 100644
index 000000000..0c66495ae
--- /dev/null
+++ b/m-mp/ipc-2002_driverlog-strips-automatic_20.env
@@ -0,0 +1,37 @@
+command:
+- timeout
+- -m=8000000
+- -t=900
+- python3
+- /home/pluehne/Documents/ASP/plasp-javier/encodings/planner/runplanner.py
+- --domain=/home/pluehne/Documents/ASP/pddl-instances/ipc-2002/domains/driverlog-strips-automatic/domain.pddl
+- /home/pluehne/Documents/ASP/pddl-instances/ipc-2002/domains/driverlog-strips-automatic/instances/instance-20.pddl
+- --stats
+- --verbose
+- --print-call
+- --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
+  - --madagascar-Mp
+exitCode: 0
+instance:
+  domain: driverlog-strips-automatic
+  instance: 20
+  ipc: ipc-2002
+versions:
+  clingo: 5.2.2
+  fastDownward: 10997:847cdf0069cab0c8841a9958e783d1a7340fe2e9 (2017-11-02 15:10 +0100)
+  planner: 61750c0521c6104870e5b881c8b0c237e2af4a96 (2017-11-27 07:44:27 +0100)
+  plasp: 3.1.1
+  python: 3.6.3
+workingDirectory: /home/pluehne/Documents/ASP/plasp-javier/encodings/planner
+
diff --git a/m-mp/ipc-2002_driverlog-strips-automatic_20.err b/m-mp/ipc-2002_driverlog-strips-automatic_20.err
new file mode 100644
index 000000000..865558cc5
--- /dev/null
+++ b/m-mp/ipc-2002_driverlog-strips-automatic_20.err
@@ -0,0 +1,9 @@
+# configuration: {'id': 'm-mp', 'options': ['--stats', '--verbose', '--print-call', '--madagascar-Mp'], 'instanceSets': ['lpnmr-easy-instances', 'lpnmr-hard-instances', 'lpnmr-first-plan-not-serializable', 'rintanen-aij-2012']}
+# instance: {'ipc': 'ipc-2002', 'domain': 'driverlog-strips-automatic', 'instance': 20}
+# command: ['timeout', '-m=8000000', '-t=900', 'python3', '/home/pluehne/Documents/ASP/plasp-javier/encodings/planner/runplanner.py', '--domain=/home/pluehne/Documents/ASP/pddl-instances/ipc-2002/domains/driverlog-strips-automatic/domain.pddl', '/home/pluehne/Documents/ASP/pddl-instances/ipc-2002/domains/driverlog-strips-automatic/instances/instance-20.pddl', '--stats', '--verbose', '--print-call', '--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-2002/domains/driverlog-strips-automatic/domain.pddl /home/pluehne/Documents/ASP/pddl-instances/ipc-2002/domains/driverlog-strips-automatic/instances/instance-20.pddl --stats --verbose
+FINISHED CPU 2.80 MEM 33472 MAXMEM 1442460 STALE 1 MAXMEM_RSS 458432
+<time name="ALL">2690</time>
+
diff --git a/m-mp/ipc-2002_driverlog-strips-automatic_20.out b/m-mp/ipc-2002_driverlog-strips-automatic_20.out
new file mode 100644
index 000000000..1f6943116
--- /dev/null
+++ b/m-mp/ipc-2002_driverlog-strips-automatic_20.out
@@ -0,0 +1,96 @@
+Madagascar 0.99999 25/02/2015 09:46:27 amd64 1-core (no VSIDS)
+Options: file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2002/domains/driverlog-strips-automatic/domain.pddl file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2002/domains/driverlog-strips-automatic/instances/instance-20.pddlignoring --stats
+ignoring --verbose
+
+Domain: driverlog
+Problem: dlog-8-6-25
+Parser: 31140 ground actions and 2797 state variables
+Invariants: 0 1 2 3 4 5  0.14 secs
+Goal: conjunctive
+Simplified: 15696 ground actions and 1296 state variables
+Actions: STRIPS
+Disabling graph %: 10 20 30 40 50 60 70 80 90 100 0.04 secs (max SCC size 11)
+Plan type: E-step
+				Allocated 32 MB permanent (total 221 MB)
+Horizon 0: 1296 variables
+0 UNSAT (0 decisions 0 conflicts)
+Horizon 5: 108576 variables
+5 UNSAT (0 decisions 0 conflicts)
+Horizon 10: 215856 variables
+				Allocated 32 MB (total 510 MB)
+Horizon 15: 323136 variables
+Horizon 20: 430416 variables
+Horizon 25: 537696 variables
+Horizon 30: 644976 variables
+				Allocated 32 MB permanent (total 1082 MB)
+Horizon 35: 752256 variables
+Horizon 40: 859536 variables
+SAT (1514 decisions 79 conflicts)
+PLAN FOUND: 35 steps
+STEP 0: board-truck(driver1,truck1,s13) board-truck(driver7,truck5,s16) board-truck(driver8,truck2,s8) load-truck(package13,truck5,s16) load-truck(package16,truck4,s17) load-truck(package3,truck2,s8) load-truck(package5,truck2,s8) walk(driver2,s12,p16-12) walk(driver3,s19,p7-19) walk(driver4,s15,p15-5) walk(driver5,s13,p13-18) walk(driver6,s0,p8-0)
+STEP 1: drive-truck(truck1,s13,s2,driver1) drive-truck(truck2,s8,s12,driver8) drive-truck(truck5,s16,s6,driver7) walk(driver2,p16-12,s16) walk(driver3,p7-19,s7) walk(driver4,p15-5,s5) walk(driver5,p13-18,s18) walk(driver6,p8-0,s8)
+STEP 2.0: board-truck(driver2,truck6,s16) board-truck(driver4,truck3,s5) load-truck(package21,truck2,s12) load-truck(package24,truck5,s6) load-truck(package4,truck1,s2) unload-truck(package13,truck5,s6) walk(driver3,s7,p7-15) walk(driver5,s18,p18-6) walk(driver6,s8,p5-8)
+STEP 2.1: drive-truck(truck1,s2,s6,driver1) drive-truck(truck2,s12,s1,driver8) drive-truck(truck5,s6,s8,driver7)
+STEP 3.0: disembark-truck(driver7,truck5,s8) drive-truck(truck3,s5,s17,driver4) drive-truck(truck6,s16,s6,driver2) load-truck(package11,truck2,s1) load-truck(package25,truck5,s8) load-truck(package9,truck2,s1) unload-truck(package24,truck5,s8) unload-truck(package4,truck1,s6) walk(driver3,p7-15,s15) walk(driver5,p18-6,s6) walk(driver6,p5-8,s5)
+STEP 3.1: drive-truck(truck1,s6,s2,driver1) drive-truck(truck2,s1,s6,driver8)
+STEP 4.0: board-truck(driver7,truck5,s8) disembark-truck(driver2,truck6,s6) drive-truck(truck1,s2,s13,driver1) load-truck(package12,truck2,s6) load-truck(package13,truck2,s6) load-truck(package23,truck3,s17) load-truck(package4,truck2,s6) walk(driver3,s15,p7-15) walk(driver6,s5,p5-17)
+STEP 4.1: drive-truck(truck2,s6,s18,driver8) drive-truck(truck3,s17,s5,driver4)
+STEP 5.0: board-truck(driver2,truck6,s6) disembark-truck(driver1,truck1,s13) drive-truck(truck3,s5,s15,driver4) drive-truck(truck5,s8,s17,driver7) load-truck(package1,truck2,s18) load-truck(package18,truck2,s18) walk(driver3,p7-15,s15) walk(driver6,p5-17,s17)
+STEP 5.1: drive-truck(truck2,s18,s3,driver8)
+STEP 6.0: board-truck(driver6,truck4,s17) disembark-truck(driver2,truck6,s6) drive-truck(truck5,s17,s8,driver7) load-truck(package10,truck2,s3) load-truck(package2,truck3,s15) load-truck(package7,truck3,s15) unload-truck(package12,truck2,s3) unload-truck(package3,truck2,s3) walk(driver1,s13,p13-8) walk(driver3,s15,p15-13)
+STEP 6.1: drive-truck(truck2,s3,s5,driver8) drive-truck(truck3,s15,s10,driver4)
+STEP 7.0: board-truck(driver2,truck6,s6) disembark-truck(driver7,truck5,s8) drive-truck(truck4,s17,s8,driver6) unload-truck(package23,truck3,s10) unload-truck(package5,truck2,s5) walk(driver1,p13-8,s8) walk(driver3,p15-13,s13)
+STEP 7.1: drive-truck(truck2,s5,s15,driver8) drive-truck(truck3,s10,s19,driver4)
+STEP 8.0: board-truck(driver3,truck1,s13) board-truck(driver7,truck5,s8) disembark-truck(driver2,truck6,s6) disembark-truck(driver6,truck4,s8) load-truck(package8,truck2,s15) unload-truck(package1,truck2,s15) unload-truck(package10,truck2,s15) unload-truck(package11,truck2,s15) unload-truck(package18,truck2,s15) unload-truck(package21,truck2,s15) unload-truck(package7,truck3,s19)
+STEP 8.1: drive-truck(truck2,s15,s17,driver8) drive-truck(truck3,s19,s8,driver4)
+STEP 9.0: board-truck(driver1,truck4,s8) board-truck(driver2,truck6,s6) drive-truck(truck1,s13,s2,driver3) drive-truck(truck5,s8,s17,driver7) load-truck(package24,truck3,s8) unload-truck(package8,truck2,s17) walk(driver6,s8,p5-8)
+STEP 9.1: drive-truck(truck2,s17,s11,driver8) drive-truck(truck3,s8,s15,driver4)
+STEP 10.0: disembark-truck(driver2,truck6,s6) disembark-truck(driver7,truck5,s17) disembark-truck(driver8,truck2,s11) drive-truck(truck1,s2,s6,driver3) drive-truck(truck4,s8,s6,driver1) load-truck(package1,truck3,s15) load-truck(package10,truck3,s15) load-truck(package11,truck3,s15) load-truck(package15,truck2,s11) load-truck(package18,truck3,s15) load-truck(package21,truck3,s15) load-truck(package22,truck2,s11) load-truck(package8,truck5,s17) unload-truck(package13,truck2,s11) unload-truck(package4,truck2,s11) walk(driver6,p5-8,s5)
+STEP 10.1: drive-truck(truck3,s15,s5,driver4)
+STEP 11: board-truck(driver7,truck5,s17) board-truck(driver8,truck2,s11) disembark-truck(driver1,truck4,s6) disembark-truck(driver3,truck1,s6) drive-truck(truck3,s5,s3,driver4) unload-truck(package16,truck4,s6) walk(driver2,s6,p6-11) walk(driver6,s5,p5-8)
+STEP 12: board-truck(driver1,truck6,s6) board-truck(driver5,truck4,s6) disembark-truck(driver8,truck2,s11) drive-truck(truck3,s3,s6,driver4) drive-truck(truck5,s17,s16,driver7) load-truck(package16,truck6,s6) walk(driver2,p6-11,s11) walk(driver6,p5-8,s8)
+STEP 13.0: board-truck(driver2,truck2,s11) disembark-truck(driver1,truck6,s6) drive-truck(truck4,s6,s18,driver5) unload-truck(package1,truck3,s6) unload-truck(package18,truck3,s6) unload-truck(package25,truck5,s16) unload-truck(package8,truck5,s16) walk(driver8,s11,p6-11)
+STEP 13.1: drive-truck(truck3,s6,s8,driver4) drive-truck(truck5,s16,s6,driver7)
+STEP 14.0: board-truck(driver1,truck1,s6) board-truck(driver3,truck6,s6) drive-truck(truck2,s11,s17,driver2) drive-truck(truck4,s18,s9,driver5) drive-truck(truck5,s6,s8,driver7) load-truck(package18,truck1,s6) unload-truck(package21,truck3,s8) walk(driver8,p6-11,s6)
+STEP 14.1: drive-truck(truck3,s8,s9,driver4)
+STEP 15.0: disembark-truck(driver7,truck5,s8) drive-truck(truck1,s6,s2,driver1) drive-truck(truck2,s17,s13,driver2) drive-truck(truck4,s9,s7,driver5) drive-truck(truck6,s6,s12,driver3) unload-truck(package10,truck3,s9)
+STEP 15.1: drive-truck(truck3,s9,s7,driver4)
+STEP 16.0: board-truck(driver6,truck5,s8) drive-truck(truck4,s7,s6,driver5) unload-truck(package11,truck3,s7) unload-truck(package16,truck6,s12) unload-truck(package18,truck1,s2) unload-truck(package2,truck3,s7) unload-truck(package9,truck2,s13) walk(driver7,s8,p13-8)
+STEP 16.1: drive-truck(truck1,s2,s13,driver1) drive-truck(truck2,s13,s2,driver2) drive-truck(truck3,s7,s4,driver4) drive-truck(truck6,s12,s15,driver3)
+STEP 17.0: disembark-truck(driver1,truck1,s13) disembark-truck(driver3,truck6,s15) drive-truck(truck4,s6,s18,driver5) drive-truck(truck5,s8,s0,driver6) unload-truck(package15,truck2,s2) unload-truck(package24,truck3,s4) walk(driver7,p13-8,s13)
+STEP 17.1: drive-truck(truck2,s2,s6,driver2) drive-truck(truck3,s4,s5,driver4)
+STEP 18.0: board-truck(driver3,truck6,s15) board-truck(driver7,truck1,s13) disembark-truck(driver2,truck2,s6) drive-truck(truck3,s5,s3,driver4) drive-truck(truck4,s18,s6,driver5) load-truck(package19,truck5,s0) load-truck(package20,truck5,s0) walk(driver1,s13,p13-8)
+STEP 18.1: drive-truck(truck5,s0,s5,driver6)
+STEP 19: board-truck(driver8,truck2,s6) disembark-truck(driver5,truck4,s6) disembark-truck(driver6,truck5,s5) drive-truck(truck1,s13,s9,driver7) drive-truck(truck3,s3,s5,driver4) drive-truck(truck6,s15,s12,driver3) unload-truck(package20,truck5,s5) walk(driver1,p13-8,s8) walk(driver2,s6,p7-6)
+STEP 20.0: board-truck(driver5,truck4,s6) board-truck(driver6,truck5,s5) drive-truck(truck2,s6,s8,driver8) drive-truck(truck6,s12,s15,driver3) load-truck(package20,truck3,s5) load-truck(package6,truck1,s9) walk(driver1,s8,p13-8) walk(driver2,p7-6,s7)
+STEP 20.1: drive-truck(truck1,s9,s8,driver7) drive-truck(truck3,s5,s3,driver4)
+STEP 21: disembark-truck(driver3,truck6,s15) disembark-truck(driver7,truck1,s8) drive-truck(truck2,s8,s15,driver8) drive-truck(truck3,s3,s5,driver4) drive-truck(truck4,s6,s18,driver5) drive-truck(truck5,s5,s4,driver6) unload-truck(package6,truck1,s8) walk(driver1,p13-8,s13) walk(driver2,s7,p4-7)
+STEP 22.0: board-truck(driver3,truck6,s15) board-truck(driver7,truck1,s8) disembark-truck(driver8,truck2,s15) drive-truck(truck3,s5,s3,driver4) drive-truck(truck4,s18,s6,driver5) unload-truck(package19,truck5,s4) walk(driver2,p4-7,s4)
+STEP 22.1: drive-truck(truck5,s4,s5,driver6)
+STEP 23: disembark-truck(driver3,truck6,s15) disembark-truck(driver5,truck4,s6) disembark-truck(driver6,truck5,s5) drive-truck(truck1,s8,s0,driver7) drive-truck(truck3,s3,s7,driver4) walk(driver2,s4,p4-7)
+STEP 24.0: board-truck(driver3,truck2,s15) board-truck(driver5,truck4,s6) board-truck(driver8,truck6,s15) drive-truck(truck1,s0,s5,driver7) unload-truck(package20,truck3,s7) walk(driver2,p4-7,s7)
+STEP 24.1: drive-truck(truck3,s7,s4,driver4)
+STEP 25: disembark-truck(driver5,truck4,s6) disembark-truck(driver7,truck1,s5) drive-truck(truck2,s15,s8,driver3) drive-truck(truck3,s4,s5,driver4) drive-truck(truck6,s15,s12,driver8) walk(driver2,s7,p7-6)
+STEP 26.0: board-truck(driver5,truck4,s6) disembark-truck(driver4,truck3,s5) load-truck(package6,truck2,s8) walk(driver2,p7-6,s6) walk(driver7,s5,p5-8)
+STEP 26.1: drive-truck(truck2,s8,s14,driver3)
+STEP 27: board-truck(driver4,truck1,s5) disembark-truck(driver3,truck2,s14) drive-truck(truck4,s6,s18,driver5) unload-truck(package22,truck2,s14) unload-truck(package6,truck2,s14) walk(driver7,p5-8,s8)
+STEP 28: drive-truck(truck1,s5,s3,driver4) drive-truck(truck4,s18,s6,driver5) walk(driver3,s14,p14-15)
+STEP 29: disembark-truck(driver5,truck4,s6) drive-truck(truck1,s3,s6,driver4) walk(driver3,p14-15,s15)
+STEP 30: board-truck(driver5,truck4,s6) disembark-truck(driver4,truck1,s6)
+STEP 31: disembark-truck(driver5,truck4,s6)
+STEP 32: board-truck(driver4,truck4,s6)
+STEP 33: drive-truck(truck4,s6,s18,driver4)
+275 actions in the plan.
+total time 2.35 preprocess 0.35 
+total size 1.339 GB
+max. learned clause length 3605
+t val conflicts decisions
+0 0 0 0
+5 0 0 0
+10 -1 420 1100
+15 -1 361 1552
+20 -1 300 1628
+25 -1 241 1845
+30 -1 180 1454
+35 1 79 1514
+