diff --git a/m-mp/ipc-2006_rovers-propositional_31.env b/m-mp/ipc-2006_rovers-propositional_31.env
new file mode 100644
index 000000000..fb5c1e200
--- /dev/null
+++ b/m-mp/ipc-2006_rovers-propositional_31.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-31.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: 31
+  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_31.err b/m-mp/ipc-2006_rovers-propositional_31.err
new file mode 100644
index 000000000..9a6662132
--- /dev/null
+++ b/m-mp/ipc-2006_rovers-propositional_31.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': 31}
+# 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-31.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-31.pddl --stats --verbose -m 8192
+FINISHED CPU 16.27 MEM 33472 MAXMEM 627368 STALE 1 MAXMEM_RSS 142116
+<time name="ALL">16240</time>
+
diff --git a/m-mp/ipc-2006_rovers-propositional_31.out b/m-mp/ipc-2006_rovers-propositional_31.out
new file mode 100644
index 000000000..1ab2c5e42
--- /dev/null
+++ b/m-mp/ipc-2006_rovers-propositional_31.out
@@ -0,0 +1,58 @@
+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-31.pddlignoring --stats
+ignoring --verbose
+ -m 8192
+Domain: rover
+Problem: roverprob2006
+Parser: 17627 ground actions and 4599 state variables
+Invariants: 0 1 2 3 4 5 6 7 8  0.05 secs
+Goal: conjunctive
+Simplified: 9059 ground actions and 1255 state variables
+Actions: STRIPS
+Disabling graph %: 10 20 30 40 50 60 70 80 90 100 0.03 secs (max SCC size 24)
+Plan type: E-step
+				Allocated 32 MB permanent (total 176 MB)
+Horizon 0: 1255 variables
+0 UNSAT (0 decisions 0 conflicts)
+Horizon 5: 66765 variables
+				Allocated 32 MB (total 369 MB)
+Horizon 10: 132275 variables
+Horizon 15: 197785 variables
+SAT (556 decisions 0 conflicts)
+PLAN FOUND: 15 steps
+STEP 0.0: calibrate(rover0,camera10,objective3,waypoint15) calibrate(rover2,camera4,objective1,waypoint2) calibrate(rover2,camera8,objective0,waypoint2) calibrate(rover6,camera9,objective5,waypoint34) navigate(rover1,waypoint24,waypoint53) navigate(rover10,waypoint4,waypoint0) navigate(rover3,waypoint33,waypoint14) navigate(rover4,waypoint40,waypoint41) navigate(rover5,waypoint45,waypoint24) navigate(rover7,waypoint27,waypoint35) navigate(rover9,waypoint4,waypoint21) sample_rock(rover11,rover11store,waypoint41) sample_soil(rover8,rover8store,waypoint9)
+STEP 0.1: navigate(rover0,waypoint15,waypoint9) navigate(rover11,waypoint41,waypoint7) navigate(rover2,waypoint2,waypoint42) navigate(rover6,waypoint34,waypoint21) navigate(rover8,waypoint9,waypoint41)
+STEP 1.0: calibrate(rover3,camera6,objective0,waypoint14) drop(rover11,rover11store) drop(rover8,rover8store) navigate(rover1,waypoint53,waypoint48) navigate(rover10,waypoint0,waypoint10) navigate(rover11,waypoint7,waypoint26) navigate(rover4,waypoint41,waypoint30) navigate(rover5,waypoint24,waypoint19) navigate(rover8,waypoint41,waypoint54) navigate(rover9,waypoint21,waypoint7) sample_rock(rover2,rover2store,waypoint42) sample_rock(rover7,rover7store,waypoint35) take_image(rover0,waypoint9,objective7,camera10,low_res) take_image(rover6,waypoint21,objective2,camera9,high_res)
+STEP 1.1: navigate(rover0,waypoint9,waypoint15) navigate(rover2,waypoint42,waypoint2) navigate(rover3,waypoint14,waypoint21) navigate(rover6,waypoint21,waypoint54) navigate(rover7,waypoint35,waypoint27)
+STEP 2.0: communicate_image_data(rover6,general,objective2,high_res,waypoint54,waypoint48) communicate_rock_data(rover2,general,waypoint42,waypoint2,waypoint48) communicate_soil_data(rover8,general,waypoint9,waypoint54,waypoint48) navigate(rover0,waypoint15,waypoint2) navigate(rover10,waypoint10,waypoint18) navigate(rover7,waypoint27,waypoint52) sample_rock(rover11,rover11store,waypoint26) sample_rock(rover5,rover5store,waypoint19) sample_rock(rover6,rover6store,waypoint54) sample_soil(rover1,rover1store,waypoint48) sample_soil(rover4,rover4store,waypoint30) sample_soil(rover9,rover9store,waypoint7) take_image(rover2,waypoint2,objective1,camera4,colour) take_image(rover2,waypoint2,objective3,camera8,low_res) take_image(rover3,waypoint21,objective2,camera6,colour)
+STEP 2.1: navigate(rover1,waypoint48,waypoint53) navigate(rover11,waypoint26,waypoint7) navigate(rover2,waypoint2,waypoint3) navigate(rover3,waypoint21,waypoint2) navigate(rover4,waypoint30,waypoint41) navigate(rover5,waypoint19,waypoint24) navigate(rover8,waypoint54,waypoint41) navigate(rover9,waypoint7,waypoint21)
+STEP 3.0: communicate_image_data(rover0,general,objective7,low_res,waypoint2,waypoint48) communicate_image_data(rover2,general,objective1,colour,waypoint3,waypoint48) communicate_image_data(rover2,general,objective3,low_res,waypoint3,waypoint48) communicate_image_data(rover3,general,objective2,colour,waypoint2,waypoint48) communicate_rock_data(rover6,general,waypoint54,waypoint54,waypoint48) communicate_soil_data(rover1,general,waypoint48,waypoint53,waypoint48) drop(rover1,rover1store) drop(rover4,rover4store) drop(rover9,rover9store) navigate(rover11,waypoint7,waypoint52) navigate(rover4,waypoint41,waypoint54) navigate(rover5,waypoint24,waypoint54) navigate(rover7,waypoint52,waypoint53) navigate(rover8,waypoint41,waypoint9) navigate(rover9,waypoint21,waypoint4) sample_rock(rover10,rover10store,waypoint18)
+STEP 3.1: navigate(rover1,waypoint53,waypoint24) navigate(rover10,waypoint18,waypoint10)
+STEP 4.0: communicate_rock_data(rover5,general,waypoint19,waypoint54,waypoint48) communicate_rock_data(rover7,general,waypoint35,waypoint53,waypoint48) communicate_soil_data(rover4,general,waypoint30,waypoint54,waypoint48) navigate(rover1,waypoint24,waypoint0) navigate(rover10,waypoint10,waypoint0) navigate(rover11,waypoint52,waypoint53) navigate(rover8,waypoint9,waypoint36) navigate(rover9,waypoint4,waypoint5)
+STEP 4.1: navigate(rover4,waypoint54,waypoint41)
+STEP 5: communicate_rock_data(rover11,general,waypoint26,waypoint53,waypoint48) communicate_rock_data(rover11,general,waypoint41,waypoint53,waypoint48) navigate(rover1,waypoint0,waypoint39) navigate(rover10,waypoint0,waypoint53) navigate(rover4,waypoint41,waypoint40) navigate(rover8,waypoint36,waypoint22) navigate(rover9,waypoint5,waypoint26)
+STEP 6.0: communicate_rock_data(rover10,general,waypoint18,waypoint53,waypoint48) navigate(rover4,waypoint40,waypoint1) sample_soil(rover1,rover1store,waypoint39) sample_soil(rover8,rover8store,waypoint22) sample_soil(rover9,rover9store,waypoint26)
+STEP 6.1: navigate(rover1,waypoint39,waypoint0) navigate(rover8,waypoint22,waypoint36) navigate(rover9,waypoint26,waypoint5)
+STEP 7.0: drop(rover1,rover1store) drop(rover8,rover8store) navigate(rover1,waypoint0,waypoint43) navigate(rover8,waypoint36,waypoint9) navigate(rover9,waypoint5,waypoint4) sample_soil(rover4,rover4store,waypoint1)
+STEP 7.1: navigate(rover4,waypoint1,waypoint23)
+STEP 8: drop(rover4,rover4store) navigate(rover1,waypoint43,waypoint20) navigate(rover4,waypoint23,waypoint33) navigate(rover8,waypoint9,waypoint47) navigate(rover9,waypoint4,waypoint21)
+STEP 9.0: communicate_soil_data(rover1,general,waypoint39,waypoint20,waypoint48) navigate(rover8,waypoint47,waypoint6) navigate(rover9,waypoint21,waypoint54) sample_soil(rover4,rover4store,waypoint33)
+STEP 9.1: navigate(rover1,waypoint20,waypoint43) navigate(rover4,waypoint33,waypoint23)
+STEP 10.0: communicate_soil_data(rover9,general,waypoint26,waypoint54,waypoint48) communicate_soil_data(rover9,general,waypoint7,waypoint54,waypoint48) drop(rover4,rover4store) navigate(rover1,waypoint43,waypoint0) navigate(rover4,waypoint23,waypoint1) sample_soil(rover8,rover8store,waypoint6)
+STEP 10.1: navigate(rover8,waypoint6,waypoint47)
+STEP 11: navigate(rover1,waypoint0,waypoint24) navigate(rover4,waypoint1,waypoint3) navigate(rover8,waypoint47,waypoint9)
+STEP 12.0: communicate_soil_data(rover4,general,waypoint1,waypoint3,waypoint48) communicate_soil_data(rover4,general,waypoint33,waypoint3,waypoint48) navigate(rover1,waypoint24,waypoint53) navigate(rover8,waypoint9,waypoint15)
+STEP 12.1: navigate(rover4,waypoint3,waypoint51)
+STEP 13.0: navigate(rover8,waypoint15,waypoint2) sample_soil(rover1,rover1store,waypoint53) sample_soil(rover4,rover4store,waypoint51)
+STEP 13.1: navigate(rover4,waypoint51,waypoint3)
+STEP 14: communicate_soil_data(rover1,general,waypoint53,waypoint53,waypoint48) communicate_soil_data(rover4,general,waypoint51,waypoint3,waypoint48) communicate_soil_data(rover8,general,waypoint22,waypoint2,waypoint48) communicate_soil_data(rover8,general,waypoint6,waypoint2,waypoint48)
+143 actions in the plan.
+total time 15.96 preprocess 15.55 
+total size 663.000 MB
+max. learned clause length 314
+t val conflicts decisions
+0 0 0 0
+5 -1 180 285
+10 -1 121 369
+15 1 0 556
+