diff --git a/m-mp/ipc-2006_rovers-propositional_40.env b/m-mp/ipc-2006_rovers-propositional_40.env
new file mode 100644
index 000000000..7f4c3c339
--- /dev/null
+++ b/m-mp/ipc-2006_rovers-propositional_40.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-40.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: 40
+  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_40.err b/m-mp/ipc-2006_rovers-propositional_40.err
new file mode 100644
index 000000000..741623fa1
--- /dev/null
+++ b/m-mp/ipc-2006_rovers-propositional_40.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': 40}
+# 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-40.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-40.pddl --stats --verbose -m 8192
+FINISHED CPU 287.83 MEM 33472 MAXMEM 1298764 STALE 0 MAXMEM_RSS 649012
+<time name="ALL">287790</time>
+
diff --git a/m-mp/ipc-2006_rovers-propositional_40.out b/m-mp/ipc-2006_rovers-propositional_40.out
new file mode 100644
index 000000000..b27977fce
--- /dev/null
+++ b/m-mp/ipc-2006_rovers-propositional_40.out
@@ -0,0 +1,72 @@
+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-40.pddlignoring --stats
+ignoring --verbose
+ -m 8192
+Domain: rover
+Problem: roverprob2006
+Parser: 50895 ground actions and 9481 state variables
+Invariants: 0 1 2 3 4 5 6 7 8 9  0.33 secs
+Goal: conjunctive
+Simplified: 32437 ground actions and 3010 state variables
+Actions: STRIPS
+Disabling graph %: 10 20 30 40 50 60 70 80 90 100 0.42 secs (max SCC size 33)
+Plan type: E-step
+				Allocated 32 MB permanent (total 366 MB)
+Horizon 0: 3010 variables
+0 UNSAT (0 decisions 0 conflicts)
+Horizon 5: 243465 variables
+				Allocated 32 MB (total 584 MB)
+Horizon 10: 483920 variables
+Horizon 15: 724375 variables
+5 UNSAT (627 decisions 124 conflicts)
+Horizon 20: 964830 variables
+SAT (1177 decisions 1 conflicts)
+PLAN FOUND: 20 steps
+STEP 0.0: calibrate(rover0,camera10,objective2,waypoint5) calibrate(rover10,camera14,objective9,waypoint45) calibrate(rover11,camera2,objective7,waypoint35) calibrate(rover11,camera9,objective3,waypoint35) calibrate(rover12,camera4,objective7,waypoint59) calibrate(rover3,camera7,objective10,waypoint63) calibrate(rover3,camera8,objective8,waypoint63) calibrate(rover4,camera11,objective8,waypoint49) calibrate(rover6,camera13,objective3,waypoint22) navigate(rover5,waypoint57,waypoint18) navigate(rover7,waypoint85,waypoint4) navigate(rover8,waypoint77,waypoint40) navigate(rover9,waypoint12,waypoint20) sample_rock(rover1,rover1store,waypoint94) sample_rock(rover13,rover13store,waypoint66) sample_rock(rover2,rover2store,waypoint86) sample_rock(rover3,rover3store,waypoint63) sample_rock(rover6,rover6store,waypoint22)
+STEP 0.1: navigate(rover0,waypoint5,waypoint97) navigate(rover1,waypoint94,waypoint14) navigate(rover10,waypoint45,waypoint93) navigate(rover11,waypoint35,waypoint28) navigate(rover12,waypoint59,waypoint85) navigate(rover13,waypoint66,waypoint93) navigate(rover2,waypoint86,waypoint32) navigate(rover3,waypoint63,waypoint23) navigate(rover4,waypoint49,waypoint4) navigate(rover6,waypoint22,waypoint11)
+STEP 1.0: calibrate(rover7,camera3,objective9,waypoint4) calibrate(rover7,camera5,objective5,waypoint4) calibrate(rover7,camera6,objective0,waypoint4) communicate_rock_data(rover6,general,waypoint22,waypoint11,waypoint21) drop(rover1,rover1store) drop(rover13,rover13store) drop(rover2,rover2store) drop(rover3,rover3store) drop(rover6,rover6store) navigate(rover1,waypoint14,waypoint42) navigate(rover10,waypoint93,waypoint19) navigate(rover13,waypoint93,waypoint97) navigate(rover2,waypoint32,waypoint53) navigate(rover5,waypoint18,waypoint33) navigate(rover8,waypoint40,waypoint29) sample_soil(rover0,rover0store,waypoint97) sample_soil(rover11,rover11store,waypoint28) sample_soil(rover4,rover4store,waypoint4) sample_soil(rover9,rover9store,waypoint20) take_image(rover11,waypoint28,objective3,camera9,colour) take_image(rover11,waypoint28,objective9,camera2,high_res) take_image(rover12,waypoint85,objective8,camera4,colour) take_image(rover3,waypoint23,objective2,camera7,colour) take_image(rover3,waypoint23,objective6,camera8,colour) take_image(rover4,waypoint4,objective9,camera11,low_res) take_image(rover6,waypoint11,objective9,camera13,colour)
+STEP 1.1: navigate(rover0,waypoint97,waypoint5) navigate(rover11,waypoint28,waypoint35) navigate(rover12,waypoint85,waypoint75) navigate(rover3,waypoint23,waypoint10) navigate(rover4,waypoint4,waypoint66) navigate(rover6,waypoint11,waypoint99) navigate(rover7,waypoint4,waypoint87) navigate(rover9,waypoint20,waypoint12)
+STEP 2.0: calibrate(rover11,camera2,objective7,waypoint35) calibrate(rover11,camera9,objective3,waypoint35) calibrate(rover12,camera4,objective7,waypoint75) calibrate(rover3,camera7,objective10,waypoint10) calibrate(rover3,camera8,objective8,waypoint10) calibrate(rover4,camera11,objective8,waypoint66) communicate_image_data(rover4,general,objective9,low_res,waypoint66,waypoint21) communicate_soil_data(rover4,general,waypoint4,waypoint66,waypoint21) drop(rover0,rover0store) drop(rover11,rover11store) drop(rover4,rover4store) drop(rover9,rover9store) navigate(rover1,waypoint42,waypoint17) navigate(rover9,waypoint12,waypoint59) sample_rock(rover12,rover12store,waypoint75) sample_rock(rover13,rover13store,waypoint97) sample_soil(rover2,rover2store,waypoint53) sample_soil(rover3,rover3store,waypoint10) sample_soil(rover5,rover5store,waypoint33) sample_soil(rover6,rover6store,waypoint99) sample_soil(rover8,rover8store,waypoint29) take_image(rover0,waypoint5,objective5,camera10,low_res) take_image(rover10,waypoint19,objective10,camera14,high_res) take_image(rover7,waypoint87,objective7,camera6,low_res)
+STEP 2.1: navigate(rover0,waypoint5,waypoint87) navigate(rover10,waypoint19,waypoint93) navigate(rover11,waypoint35,waypoint60) navigate(rover12,waypoint75,waypoint85) navigate(rover13,waypoint97,waypoint93) navigate(rover2,waypoint53,waypoint32) navigate(rover3,waypoint10,waypoint23) navigate(rover4,waypoint66,waypoint58) navigate(rover5,waypoint33,waypoint18) navigate(rover6,waypoint99,waypoint11) navigate(rover7,waypoint87,waypoint11) navigate(rover8,waypoint29,waypoint40)
+STEP 3.0: communicate_image_data(rover0,general,objective5,low_res,waypoint87,waypoint21) communicate_image_data(rover6,general,objective9,colour,waypoint11,waypoint21) communicate_image_data(rover7,general,objective7,low_res,waypoint11,waypoint21) communicate_rock_data(rover1,general,waypoint94,waypoint17,waypoint21) communicate_soil_data(rover0,general,waypoint97,waypoint87,waypoint21) communicate_soil_data(rover6,general,waypoint99,waypoint11,waypoint21) communicate_soil_data(rover9,general,waypoint20,waypoint59,waypoint21) drop(rover12,rover12store) drop(rover13,rover13store) drop(rover2,rover2store) drop(rover3,rover3store) drop(rover5,rover5store) drop(rover6,rover6store) drop(rover8,rover8store) navigate(rover10,waypoint93,waypoint66) navigate(rover12,waypoint85,waypoint59) navigate(rover13,waypoint93,waypoint66) navigate(rover2,waypoint32,waypoint86) navigate(rover5,waypoint18,waypoint93) navigate(rover8,waypoint40,waypoint59) sample_rock(rover1,rover1store,waypoint17) sample_rock(rover4,rover4store,waypoint58) sample_soil(rover11,rover11store,waypoint60) sample_soil(rover9,rover9store,waypoint59) take_image(rover11,waypoint60,objective4,camera9,colour) take_image(rover11,waypoint60,objective8,camera2,high_res) take_image(rover3,waypoint23,objective10,camera7,low_res) take_image(rover3,waypoint23,objective6,camera8,low_res) take_image(rover4,waypoint58,objective8,camera11,low_res) take_image(rover7,waypoint11,objective10,camera3,colour) take_image(rover7,waypoint11,objective4,camera5,high_res)
+STEP 3.1: navigate(rover0,waypoint87,waypoint5) navigate(rover11,waypoint60,waypoint81) navigate(rover3,waypoint23,waypoint42) navigate(rover4,waypoint58,waypoint66) navigate(rover6,waypoint11,waypoint40) navigate(rover7,waypoint11,waypoint87)
+STEP 4.0: calibrate(rover10,camera14,objective9,waypoint66) communicate_image_data(rover10,general,objective10,high_res,waypoint66,waypoint21) communicate_image_data(rover11,general,objective3,colour,waypoint81,waypoint21) communicate_image_data(rover11,general,objective4,colour,waypoint81,waypoint21) communicate_image_data(rover11,general,objective8,high_res,waypoint81,waypoint21) communicate_image_data(rover11,general,objective9,high_res,waypoint81,waypoint21) communicate_image_data(rover12,general,objective8,colour,waypoint59,waypoint21) communicate_image_data(rover4,general,objective8,low_res,waypoint66,waypoint21) communicate_image_data(rover7,general,objective10,colour,waypoint87,waypoint21) communicate_image_data(rover7,general,objective4,high_res,waypoint87,waypoint21) communicate_rock_data(rover1,general,waypoint17,waypoint17,waypoint21) communicate_rock_data(rover12,general,waypoint75,waypoint59,waypoint21) communicate_rock_data(rover13,general,waypoint66,waypoint66,waypoint21) communicate_rock_data(rover13,general,waypoint97,waypoint66,waypoint21) communicate_rock_data(rover4,general,waypoint58,waypoint66,waypoint21) communicate_soil_data(rover11,general,waypoint28,waypoint81,waypoint21) communicate_soil_data(rover11,general,waypoint60,waypoint81,waypoint21) communicate_soil_data(rover8,general,waypoint29,waypoint59,waypoint21) communicate_soil_data(rover9,general,waypoint59,waypoint59,waypoint21) drop(rover1,rover1store) drop(rover11,rover11store) drop(rover4,rover4store) navigate(rover0,waypoint5,waypoint84) navigate(rover2,waypoint86,waypoint10) navigate(rover3,waypoint42,waypoint17) navigate(rover5,waypoint93,waypoint66) navigate(rover6,waypoint40,waypoint77) take_image(rover12,waypoint59,objective4,camera4,low_res)
+STEP 4.1: navigate(rover1,waypoint17,waypoint42) navigate(rover10,waypoint66,waypoint93) navigate(rover11,waypoint81,waypoint60) navigate(rover12,waypoint59,waypoint54) navigate(rover13,waypoint66,waypoint95) navigate(rover4,waypoint66,waypoint4) navigate(rover7,waypoint87,waypoint4) navigate(rover8,waypoint59,waypoint40)
+STEP 5.0: calibrate(rover7,camera5,objective5,waypoint4) calibrate(rover7,camera6,objective0,waypoint4) communicate_image_data(rover3,general,objective10,low_res,waypoint17,waypoint21) communicate_image_data(rover3,general,objective2,colour,waypoint17,waypoint21) communicate_image_data(rover3,general,objective6,colour,waypoint17,waypoint21) communicate_image_data(rover3,general,objective6,low_res,waypoint17,waypoint21) communicate_rock_data(rover3,general,waypoint63,waypoint17,waypoint21) communicate_soil_data(rover3,general,waypoint10,waypoint17,waypoint21) communicate_soil_data(rover5,general,waypoint33,waypoint66,waypoint21) navigate(rover1,waypoint42,waypoint14) navigate(rover11,waypoint60,waypoint35) navigate(rover13,waypoint95,waypoint70) navigate(rover2,waypoint10,waypoint38) navigate(rover4,waypoint4,waypoint76) navigate(rover6,waypoint77,waypoint68) navigate(rover8,waypoint40,waypoint79) sample_rock(rover0,rover0store,waypoint84) sample_rock(rover12,rover12store,waypoint54) take_image(rover10,waypoint93,objective7,camera14,high_res)
+STEP 5.1: navigate(rover0,waypoint84,waypoint5) navigate(rover10,waypoint93,waypoint66) navigate(rover12,waypoint54,waypoint59) navigate(rover3,waypoint17,waypoint42) navigate(rover5,waypoint66,waypoint93)
+STEP 6.0: communicate_image_data(rover10,general,objective7,high_res,waypoint66,waypoint21) communicate_image_data(rover12,general,objective4,low_res,waypoint59,waypoint21) communicate_rock_data(rover12,general,waypoint54,waypoint59,waypoint21) communicate_rock_data(rover2,general,waypoint86,waypoint38,waypoint21) communicate_soil_data(rover2,general,waypoint53,waypoint38,waypoint21) drop(rover0,rover0store) drop(rover12,rover12store) navigate(rover0,waypoint5,waypoint92) navigate(rover1,waypoint14,waypoint11) navigate(rover11,waypoint35,waypoint7) navigate(rover3,waypoint42,waypoint23) navigate(rover4,waypoint76,waypoint56) navigate(rover5,waypoint93,waypoint18) sample_rock(rover13,rover13store,waypoint70) sample_rock(rover6,rover6store,waypoint68) sample_rock(rover8,rover8store,waypoint79) take_image(rover7,waypoint4,objective0,camera6,low_res) take_image(rover7,waypoint4,objective7,camera5,colour)
+STEP 6.1: navigate(rover12,waypoint59,waypoint38) navigate(rover13,waypoint70,waypoint95) navigate(rover2,waypoint38,waypoint10) navigate(rover6,waypoint68,waypoint77) navigate(rover7,waypoint4,waypoint66) navigate(rover8,waypoint79,waypoint40)
+STEP 7.0: communicate_image_data(rover7,general,objective0,low_res,waypoint66,waypoint21) communicate_image_data(rover7,general,objective7,colour,waypoint66,waypoint21) drop(rover13,rover13store) drop(rover6,rover6store) drop(rover8,rover8store) navigate(rover1,waypoint11,waypoint87) navigate(rover12,waypoint38,waypoint8) navigate(rover13,waypoint95,waypoint66) navigate(rover2,waypoint10,waypoint86) navigate(rover5,waypoint18,waypoint57) navigate(rover6,waypoint77,waypoint40) navigate(rover8,waypoint40,waypoint59) sample_rock(rover0,rover0store,waypoint92) sample_rock(rover11,rover11store,waypoint7) sample_rock(rover3,rover3store,waypoint23) sample_rock(rover4,rover4store,waypoint56)
+STEP 7.1: navigate(rover0,waypoint92,waypoint5) navigate(rover11,waypoint7,waypoint63) navigate(rover3,waypoint23,waypoint63)
+STEP 8.0: communicate_rock_data(rover13,general,waypoint70,waypoint66,waypoint21) communicate_rock_data(rover4,general,waypoint56,waypoint56,waypoint21) communicate_rock_data(rover8,general,waypoint79,waypoint59,waypoint21) drop(rover0,rover0store) drop(rover11,rover11store) drop(rover3,rover3store) drop(rover4,rover4store) navigate(rover0,waypoint5,waypoint87) navigate(rover11,waypoint63,waypoint80) navigate(rover2,waypoint86,waypoint16) navigate(rover3,waypoint63,waypoint25) navigate(rover5,waypoint57,waypoint47) navigate(rover6,waypoint40,waypoint82) sample_rock(rover1,rover1store,waypoint87) sample_rock(rover12,rover12store,waypoint8)
+STEP 8.1: navigate(rover1,waypoint87,waypoint11) navigate(rover12,waypoint8,waypoint38) navigate(rover13,waypoint66,waypoint17) navigate(rover4,waypoint56,waypoint76) navigate(rover8,waypoint59,waypoint40)
+STEP 9.0: communicate_rock_data(rover0,general,waypoint84,waypoint87,waypoint21) communicate_rock_data(rover0,general,waypoint92,waypoint87,waypoint21) communicate_rock_data(rover1,general,waypoint87,waypoint11,waypoint21) communicate_rock_data(rover12,general,waypoint8,waypoint38,waypoint21) drop(rover1,rover1store) drop(rover12,rover12store) navigate(rover13,waypoint17,waypoint64) navigate(rover4,waypoint76,waypoint4) navigate(rover8,waypoint40,waypoint77) sample_rock(rover11,rover11store,waypoint80) sample_rock(rover2,rover2store,waypoint16) sample_rock(rover3,rover3store,waypoint25) sample_rock(rover5,rover5store,waypoint47) sample_rock(rover6,rover6store,waypoint82)
+STEP 9.1: navigate(rover0,waypoint87,waypoint24) navigate(rover1,waypoint11,waypoint14) navigate(rover11,waypoint80,waypoint63) navigate(rover12,waypoint38,waypoint59) navigate(rover2,waypoint16,waypoint35) navigate(rover3,waypoint25,waypoint51) navigate(rover5,waypoint47,waypoint57) navigate(rover6,waypoint82,waypoint40)
+STEP 10.0: drop(rover11,rover11store) drop(rover3,rover3store) drop(rover6,rover6store) navigate(rover1,waypoint14,waypoint42) navigate(rover11,waypoint63,waypoint7) navigate(rover12,waypoint59,waypoint30) navigate(rover2,waypoint35,waypoint56) navigate(rover3,waypoint51,waypoint61) navigate(rover4,waypoint4,waypoint49) navigate(rover5,waypoint57,waypoint62) navigate(rover6,waypoint40,waypoint11) navigate(rover8,waypoint77,waypoint23) sample_rock(rover0,rover0store,waypoint24) sample_rock(rover13,rover13store,waypoint64)
+STEP 10.1: navigate(rover0,waypoint24,waypoint87) navigate(rover13,waypoint64,waypoint17)
+STEP 11.0: communicate_rock_data(rover0,general,waypoint24,waypoint87,waypoint21) communicate_rock_data(rover13,general,waypoint64,waypoint17,waypoint21) communicate_rock_data(rover2,general,waypoint16,waypoint56,waypoint21) communicate_rock_data(rover6,general,waypoint68,waypoint11,waypoint21) communicate_rock_data(rover6,general,waypoint82,waypoint11,waypoint21) drop(rover0,rover0store) drop(rover13,rover13store) navigate(rover1,waypoint42,waypoint69) navigate(rover11,waypoint7,waypoint35) navigate(rover12,waypoint30,waypoint51) navigate(rover4,waypoint49,waypoint39) navigate(rover5,waypoint62,waypoint38) navigate(rover8,waypoint23,waypoint10) sample_rock(rover3,rover3store,waypoint61)
+STEP 11.1: navigate(rover0,waypoint87,waypoint5) navigate(rover13,waypoint17,waypoint42) navigate(rover3,waypoint61,waypoint51) navigate(rover6,waypoint11,waypoint14)
+STEP 12.0: communicate_rock_data(rover5,general,waypoint47,waypoint38,waypoint21) navigate(rover11,waypoint35,waypoint11) navigate(rover13,waypoint42,waypoint89) navigate(rover3,waypoint51,waypoint25) navigate(rover6,waypoint14,waypoint19) navigate(rover8,waypoint10,waypoint26) sample_rock(rover0,rover0store,waypoint5) sample_rock(rover1,rover1store,waypoint69) sample_rock(rover12,rover12store,waypoint51) sample_rock(rover4,rover4store,waypoint39)
+STEP 12.1: navigate(rover0,waypoint5,waypoint87) navigate(rover1,waypoint69,waypoint42) navigate(rover12,waypoint51,waypoint30) navigate(rover4,waypoint39,waypoint49)
+STEP 13.0: communicate_rock_data(rover0,general,waypoint5,waypoint87,waypoint21) communicate_rock_data(rover11,general,waypoint7,waypoint11,waypoint21) communicate_rock_data(rover11,general,waypoint80,waypoint11,waypoint21) drop(rover4,rover4store) navigate(rover1,waypoint42,waypoint17) navigate(rover12,waypoint30,waypoint59) navigate(rover3,waypoint25,waypoint63) navigate(rover4,waypoint49,waypoint38) sample_rock(rover13,rover13store,waypoint89) sample_rock(rover6,rover6store,waypoint19) sample_rock(rover8,rover8store,waypoint26)
+STEP 13.1: navigate(rover11,waypoint11,waypoint35) navigate(rover13,waypoint89,waypoint42) navigate(rover6,waypoint19,waypoint38) navigate(rover8,waypoint26,waypoint10)
+STEP 14.0: communicate_rock_data(rover1,general,waypoint69,waypoint17,waypoint21) communicate_rock_data(rover12,general,waypoint51,waypoint59,waypoint21) communicate_rock_data(rover4,general,waypoint39,waypoint38,waypoint21) communicate_rock_data(rover6,general,waypoint19,waypoint38,waypoint21) navigate(rover11,waypoint35,waypoint39) navigate(rover13,waypoint42,waypoint17) navigate(rover3,waypoint63,waypoint88) navigate(rover8,waypoint10,waypoint23)
+STEP 14.1: navigate(rover4,waypoint38,waypoint98)
+STEP 15.0: communicate_rock_data(rover13,general,waypoint89,waypoint17,waypoint21) navigate(rover11,waypoint39,waypoint91) navigate(rover3,waypoint88,waypoint36) navigate(rover8,waypoint23,waypoint77) sample_rock(rover4,rover4store,waypoint98)
+STEP 15.1: navigate(rover4,waypoint98,waypoint38)
+STEP 16.0: communicate_rock_data(rover3,general,waypoint23,waypoint36,waypoint21) communicate_rock_data(rover3,general,waypoint25,waypoint36,waypoint21) communicate_rock_data(rover3,general,waypoint61,waypoint36,waypoint21) communicate_rock_data(rover4,general,waypoint98,waypoint38,waypoint21) navigate(rover8,waypoint77,waypoint66) sample_rock(rover11,rover11store,waypoint91)
+STEP 16.1: navigate(rover11,waypoint91,waypoint39)
+STEP 17: communicate_rock_data(rover8,general,waypoint26,waypoint66,waypoint21) navigate(rover11,waypoint39,waypoint35)
+STEP 18: navigate(rover11,waypoint35,waypoint56)
+STEP 19: communicate_rock_data(rover11,general,waypoint91,waypoint56,waypoint21)
+369 actions in the plan.
+total time 287.28 preprocess 283.96 
+total size 1.202 GB
+max. learned clause length 1329
+t val conflicts decisions
+0 0 0 0
+5 0 124 627
+10 -1 180 1935
+15 -1 120 1404
+20 1 1 1177
+