diff --git a/m-mp/ipc-2006_rovers-propositional_20.env b/m-mp/ipc-2006_rovers-propositional_20.env
new file mode 100644
index 000000000..fca8729e0
--- /dev/null
+++ b/m-mp/ipc-2006_rovers-propositional_20.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-20.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: 20
+  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_20.err b/m-mp/ipc-2006_rovers-propositional_20.err
new file mode 100644
index 000000000..7ad242ca1
--- /dev/null
+++ b/m-mp/ipc-2006_rovers-propositional_20.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': 20}
+# 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-20.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-20.pddl --stats --verbose -m 8192
+FINISHED CPU 0.86 MEM 33472 MAXMEM 89516 STALE 1 MAXMEM_RSS 25540
+<time name="ALL">780</time>
+
diff --git a/m-mp/ipc-2006_rovers-propositional_20.out b/m-mp/ipc-2006_rovers-propositional_20.out
new file mode 100644
index 000000000..39b30fb1f
--- /dev/null
+++ b/m-mp/ipc-2006_rovers-propositional_20.out
@@ -0,0 +1,48 @@
+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-20.pddlignoring --stats
+ignoring --verbose
+ -m 8192
+Domain: rover
+Problem: roverprob7182
+Parser: 7364 ground actions and 1717 state variables
+Invariants: 0 1 2 3 4 5 6 7  0.01 secs
+Goal: conjunctive
+Simplified: 3976 ground actions and 469 state variables
+Actions: STRIPS
+Disabling graph %: 10 20 30 40 50 60 70 80 90 100 0.00 secs (max SCC size 24)
+Plan type: E-step
+				Allocated 32 MB permanent (total 141 MB)
+Horizon 0: 469 variables
+0 UNSAT (0 decisions 0 conflicts)
+Horizon 5: 30994 variables
+				Allocated 32 MB (total 330 MB)
+5 UNSAT (62 decisions 40 conflicts)
+Horizon 10: 61519 variables
+SAT (258 decisions 0 conflicts)
+PLAN FOUND: 10 steps
+STEP 0.0: calibrate(rover1,camera4,objective4,waypoint4) calibrate(rover5,camera5,objective4,waypoint10) calibrate(rover6,camera6,objective5,waypoint4) navigate(rover0,waypoint22,waypoint11) navigate(rover2,waypoint3,waypoint18) navigate(rover3,waypoint3,waypoint1) navigate(rover4,waypoint16,waypoint22) sample_rock(rover7,rover7store,waypoint16)
+STEP 0.1: navigate(rover1,waypoint4,waypoint1) navigate(rover5,waypoint10,waypoint16) navigate(rover6,waypoint4,waypoint8) navigate(rover7,waypoint16,waypoint2)
+STEP 1.0: calibrate(rover1,camera1,objective1,waypoint1) communicate_rock_data(rover7,general,waypoint16,waypoint2,waypoint1) drop(rover7,rover7store) navigate(rover0,waypoint11,waypoint8) navigate(rover3,waypoint1,waypoint23) sample_rock(rover2,rover2store,waypoint18) sample_rock(rover4,rover4store,waypoint22) sample_soil(rover6,rover6store,waypoint8) take_image(rover1,waypoint1,objective3,camera4,colour) take_image(rover5,waypoint16,objective0,camera5,high_res) take_image(rover6,waypoint8,objective2,camera6,high_res)
+STEP 1.1: navigate(rover1,waypoint1,waypoint4) navigate(rover2,waypoint18,waypoint3) navigate(rover4,waypoint22,waypoint16) navigate(rover5,waypoint16,waypoint2) navigate(rover6,waypoint8,waypoint4) navigate(rover7,waypoint2,waypoint14)
+STEP 2.0: calibrate(rover1,camera4,objective4,waypoint4) communicate_image_data(rover1,general,objective3,colour,waypoint4,waypoint1) communicate_image_data(rover5,general,objective0,high_res,waypoint2,waypoint1) communicate_image_data(rover6,general,objective2,high_res,waypoint4,waypoint1) communicate_rock_data(rover2,general,waypoint18,waypoint3,waypoint1) communicate_soil_data(rover6,general,waypoint8,waypoint4,waypoint1) drop(rover2,rover2store) drop(rover4,rover4store) drop(rover6,rover6store) navigate(rover0,waypoint8,waypoint7) navigate(rover4,waypoint16,waypoint10) sample_rock(rover7,rover7store,waypoint14) sample_soil(rover3,rover3store,waypoint23) take_image(rover1,waypoint4,objective5,camera1,high_res)
+STEP 2.1: navigate(rover1,waypoint4,waypoint5) navigate(rover2,waypoint3,waypoint13) navigate(rover6,waypoint4,waypoint13) navigate(rover7,waypoint14,waypoint2)
+STEP 3.0: communicate_image_data(rover1,general,objective5,high_res,waypoint5,waypoint1) communicate_rock_data(rover7,general,waypoint14,waypoint2,waypoint1) communicate_soil_data(rover3,general,waypoint23,waypoint23,waypoint1) drop(rover3,rover3store) drop(rover7,rover7store) navigate(rover2,waypoint13,waypoint21) sample_rock(rover4,rover4store,waypoint10) sample_soil(rover0,rover0store,waypoint7) sample_soil(rover6,rover6store,waypoint13) take_image(rover1,waypoint5,objective7,camera4,colour)
+STEP 3.1: navigate(rover0,waypoint7,waypoint8) navigate(rover3,waypoint23,waypoint1) navigate(rover4,waypoint10,waypoint16) navigate(rover6,waypoint13,waypoint4) navigate(rover7,waypoint2,waypoint9)
+STEP 4.0: communicate_image_data(rover1,general,objective7,colour,waypoint5,waypoint1) communicate_soil_data(rover6,general,waypoint13,waypoint4,waypoint1) drop(rover4,rover4store) drop(rover6,rover6store) navigate(rover0,waypoint8,waypoint11) navigate(rover3,waypoint1,waypoint3) navigate(rover4,waypoint16,waypoint15) sample_rock(rover2,rover2store,waypoint21) sample_rock(rover7,rover7store,waypoint9)
+STEP 4.1: navigate(rover2,waypoint21,waypoint13) navigate(rover6,waypoint4,waypoint6) navigate(rover7,waypoint9,waypoint2)
+STEP 5.0: communicate_rock_data(rover4,general,waypoint10,waypoint15,waypoint1) communicate_rock_data(rover4,general,waypoint22,waypoint15,waypoint1) communicate_rock_data(rover7,general,waypoint9,waypoint2,waypoint1) drop(rover2,rover2store) navigate(rover0,waypoint11,waypoint6) navigate(rover2,waypoint13,waypoint4) navigate(rover3,waypoint3,waypoint20) navigate(rover6,waypoint6,waypoint11)
+STEP 5.1: navigate(rover4,waypoint15,waypoint12)
+STEP 6.0: communicate_rock_data(rover2,general,waypoint21,waypoint4,waypoint1) navigate(rover0,waypoint6,waypoint2) sample_rock(rover4,rover4store,waypoint12) sample_soil(rover3,rover3store,waypoint20) sample_soil(rover6,rover6store,waypoint11)
+STEP 6.1: navigate(rover2,waypoint4,waypoint7) navigate(rover3,waypoint20,waypoint3) navigate(rover4,waypoint12,waypoint15) navigate(rover6,waypoint11,waypoint6)
+STEP 7.0: communicate_rock_data(rover4,general,waypoint12,waypoint15,waypoint1) communicate_soil_data(rover0,general,waypoint7,waypoint2,waypoint1) communicate_soil_data(rover3,general,waypoint20,waypoint3,waypoint1) navigate(rover6,waypoint6,waypoint2) sample_rock(rover2,rover2store,waypoint7)
+STEP 7.1: navigate(rover2,waypoint7,waypoint4)
+STEP 8: communicate_rock_data(rover2,general,waypoint7,waypoint4,waypoint1) communicate_soil_data(rover6,general,waypoint11,waypoint2,waypoint1)
+100 actions in the plan.
+total time 0.57 preprocess 0.49 
+total size 498.000 MB
+max. learned clause length 75
+t val conflicts decisions
+0 0 0 0
+5 0 40 62
+10 1 0 258
+