ENUMERATION SOLUTION (14 STEPS) FOR PROBLEM-CORNER.LISP

Continue to layer 6?  (y or n) n

[find-predecessors :FORWARD] Done. *backward-reachable-set* contains 3,894 states.
T
* (solve-meeting-point :depth-cutoff 9)

working...

Hybrid graph search mode active: finding all goal states (not paths) at depth 9.


In problem CORNER, performed hybrid GRAPH search for EVERY solution.

DEPTH-FIRST search process completed normally.

Hybrid mode enumerated all paths to goal states at depth 9.

Depth cutoff = 9

Maximum depth explored = 9

Program cycles = 361,799

Total states processed = 466,054

Repeated states = 97,670, ie, 21.0 percent

Abandoned 18445 inconsistent states due to convergence failure (non-terminating cyclical states).

min-steps-remaining? pruned 296,287 nodes, 63.6% of total states.

Average branching factor = 1.3

Symmetry: 6,545 canonical duplicates pruned (1.4% of total states)

Start state:
((CURRENT-BEAMS NIL) (LOC AGENT1 AREA1) (LOC CONNECTOR1 AREA1) (LOC CONNECTOR2 AREA2) (LOC CONNECTOR3 AREA3))

Goal:
(MEETING-POINT-GOAL TARGET-COUNT 3894 MIN-BACKWARD-DEPTH 5 REQUIRES-BRIDGEABILITY NIL BASE-RELATIONS (LOC PAIRED))



Total solution paths recorded = 6, of which 6 is/are unique solution paths
Check *solutions* and *unique-solutions* for solution records.

Number of steps in a minimum path length solution = 9

A minimum length solution path from start state to goal state:
(0.0 (START-STATE))
((CURRENT-BEAMS NIL) (LOC AGENT1 AREA1) (LOC CONNECTOR1 AREA1) (LOC CONNECTOR2 AREA2) (LOC CONNECTOR3 AREA3))

(1.0 (PICKUP-CONNECTOR AGENT1 CONNECTOR1 AREA1))
((CURRENT-BEAMS NIL) (HOLDS AGENT1 CONNECTOR1) (LOC AGENT1 AREA1) (LOC CONNECTOR2 AREA2) (LOC CONNECTOR3 AREA3))

(2.0 (MOVE AGENT1 AREA1 AREA2))
((CURRENT-BEAMS NIL) (HOLDS AGENT1 CONNECTOR1) (LOC AGENT1 AREA2) (LOC CONNECTOR2 AREA2) (LOC CONNECTOR3 AREA3))

(3.0 (CONNECT-TO-3-TERMINUS AGENT1 CONNECTOR1 RECEIVER3 RECEIVER1 TRANSMITTER2 AREA2 GROUND))
((ACTIVE RECEIVER3) (BEAM-SEGMENT BEAM1 TRANSMITTER2 CONNECTOR1 9 8) (BEAM-SEGMENT BEAM2 CONNECTOR1 TRANSMITTER2 10 1/10)
 (BEAM-SEGMENT BEAM3 CONNECTOR1 RECEIVER1 81/10 1) (BEAM-SEGMENT BEAM4 CONNECTOR1 RECEIVER3 1 109/10) (COLOR CONNECTOR1 BLUE)
 (CURRENT-BEAMS (BEAM4 BEAM3 BEAM2 BEAM1)) (LOC AGENT1 AREA2) (LOC CONNECTOR2 AREA2) (LOC CONNECTOR3 AREA3) (LOC CONNECTOR1 AREA2)
 (PAIRED CONNECTOR1 RECEIVER3) (PAIRED CONNECTOR1 RECEIVER1) (PAIRED CONNECTOR1 TRANSMITTER2))

(4.0 (PICKUP-CONNECTOR AGENT1 CONNECTOR2 AREA2))
((ACTIVE RECEIVER3) (BEAM-SEGMENT BEAM1 TRANSMITTER2 CONNECTOR1 9 8) (BEAM-SEGMENT BEAM2 CONNECTOR1 TRANSMITTER2 10 1/10)
 (BEAM-SEGMENT BEAM3 CONNECTOR1 RECEIVER1 81/10 1) (BEAM-SEGMENT BEAM4 CONNECTOR1 RECEIVER3 1 109/10) (COLOR CONNECTOR1 BLUE)
 (CURRENT-BEAMS (BEAM4 BEAM3 BEAM2 BEAM1)) (HOLDS AGENT1 CONNECTOR2) (LOC AGENT1 AREA2) (LOC CONNECTOR3 AREA3) (LOC CONNECTOR1 AREA2)
 (PAIRED CONNECTOR1 RECEIVER3) (PAIRED CONNECTOR1 RECEIVER1) (PAIRED CONNECTOR1 TRANSMITTER2))

(5.0 (MOVE AGENT1 AREA2 AREA3))
((ACTIVE RECEIVER3) (BEAM-SEGMENT BEAM1 TRANSMITTER2 CONNECTOR1 9 8) (BEAM-SEGMENT BEAM2 CONNECTOR1 TRANSMITTER2 10 1/10)
 (BEAM-SEGMENT BEAM3 CONNECTOR1 RECEIVER1 81/10 1) (BEAM-SEGMENT BEAM4 CONNECTOR1 RECEIVER3 1 109/10) (COLOR CONNECTOR1 BLUE)
 (CURRENT-BEAMS (BEAM4 BEAM3 BEAM2 BEAM1)) (HOLDS AGENT1 CONNECTOR2) (LOC AGENT1 AREA3) (LOC CONNECTOR3 AREA3) (LOC CONNECTOR1 AREA2)
 (PAIRED CONNECTOR1 RECEIVER3) (PAIRED CONNECTOR1 RECEIVER1) (PAIRED CONNECTOR1 TRANSMITTER2))

(6.0 (CONNECT-TO-3-TERMINUS AGENT1 CONNECTOR2 CONNECTOR1 RECEIVER1 TRANSMITTER1 AREA3 GROUND))
((ACTIVE RECEIVER1) (BEAM-SEGMENT BEAM1 TRANSMITTER2 CONNECTOR1 21319/2301 13589/2301)
 (BEAM-SEGMENT BEAM10 CONNECTOR1 TRANSMITTER2 21319/2301 13589/2301) (BEAM-SEGMENT BEAM11 CONNECTOR1 RECEIVER1 81/10 1)
 (BEAM-SEGMENT BEAM12 CONNECTOR1 RECEIVER3 1 109/10) (BEAM-SEGMENT BEAM5 TRANSMITTER1 CONNECTOR2 10 9)
 (BEAM-SEGMENT BEAM13 CONNECTOR1 CONNECTOR2 10 9) (BEAM-SEGMENT BEAM7 CONNECTOR2 TRANSMITTER1 11 1/10)
 (BEAM-SEGMENT BEAM8 CONNECTOR2 RECEIVER1 21319/2301 13589/2301) (BEAM-SEGMENT BEAM9 CONNECTOR2 CONNECTOR1 9 8) (COLOR CONNECTOR1 RED)
 (COLOR CONNECTOR2 RED) (CURRENT-BEAMS (BEAM13 BEAM12 BEAM11 BEAM10 BEAM9 BEAM8 BEAM7 NIL BEAM5 NIL NIL NIL BEAM1)) (LOC AGENT1 AREA3)
 (LOC CONNECTOR3 AREA3) (LOC CONNECTOR1 AREA2) (LOC CONNECTOR2 AREA3) (OPEN GATE1) (PAIRED CONNECTOR1 RECEIVER3)
 (PAIRED CONNECTOR1 RECEIVER1) (PAIRED CONNECTOR1 TRANSMITTER2) (PAIRED CONNECTOR2 CONNECTOR1) (PAIRED CONNECTOR2 RECEIVER1)
 (PAIRED CONNECTOR2 TRANSMITTER1))

(7.0 (PICKUP-CONNECTOR AGENT1 CONNECTOR3 AREA3))
((ACTIVE RECEIVER1) (BEAM-SEGMENT BEAM1 TRANSMITTER2 CONNECTOR1 21319/2301 13589/2301)
 (BEAM-SEGMENT BEAM10 CONNECTOR1 TRANSMITTER2 21319/2301 13589/2301) (BEAM-SEGMENT BEAM11 CONNECTOR1 RECEIVER1 81/10 1)
 (BEAM-SEGMENT BEAM12 CONNECTOR1 RECEIVER3 1 109/10) (BEAM-SEGMENT BEAM5 TRANSMITTER1 CONNECTOR2 10 9)
 (BEAM-SEGMENT BEAM13 CONNECTOR1 CONNECTOR2 10 9) (BEAM-SEGMENT BEAM7 CONNECTOR2 TRANSMITTER1 11 1/10)
 (BEAM-SEGMENT BEAM8 CONNECTOR2 RECEIVER1 21319/2301 13589/2301) (BEAM-SEGMENT BEAM9 CONNECTOR2 CONNECTOR1 9 8) (COLOR CONNECTOR1 RED)
 (COLOR CONNECTOR2 RED) (CURRENT-BEAMS (BEAM13 BEAM12 BEAM11 BEAM10 BEAM9 BEAM8 BEAM7 NIL BEAM5 NIL NIL NIL BEAM1))
 (HOLDS AGENT1 CONNECTOR3) (LOC AGENT1 AREA3) (LOC CONNECTOR1 AREA2) (LOC CONNECTOR2 AREA3) (OPEN GATE1) (PAIRED CONNECTOR1 RECEIVER3)
 (PAIRED CONNECTOR1 RECEIVER1) (PAIRED CONNECTOR1 TRANSMITTER2) (PAIRED CONNECTOR2 CONNECTOR1) (PAIRED CONNECTOR2 RECEIVER1)
 (PAIRED CONNECTOR2 TRANSMITTER1))

(8.0 (MOVE AGENT1 AREA3 AREA4))
((ACTIVE RECEIVER1) (BEAM-SEGMENT BEAM1 TRANSMITTER2 CONNECTOR1 21319/2301 13589/2301)
 (BEAM-SEGMENT BEAM10 CONNECTOR1 TRANSMITTER2 21319/2301 13589/2301) (BEAM-SEGMENT BEAM11 CONNECTOR1 RECEIVER1 81/10 1)
 (BEAM-SEGMENT BEAM12 CONNECTOR1 RECEIVER3 1 109/10) (BEAM-SEGMENT BEAM5 TRANSMITTER1 CONNECTOR2 10 9)
 (BEAM-SEGMENT BEAM13 CONNECTOR1 CONNECTOR2 10 9) (BEAM-SEGMENT BEAM7 CONNECTOR2 TRANSMITTER1 11 1/10)
 (BEAM-SEGMENT BEAM8 CONNECTOR2 RECEIVER1 21319/2301 13589/2301) (BEAM-SEGMENT BEAM9 CONNECTOR2 CONNECTOR1 9 8) (COLOR CONNECTOR1 RED)
 (COLOR CONNECTOR2 RED) (CURRENT-BEAMS (BEAM13 BEAM12 BEAM11 BEAM10 BEAM9 BEAM8 BEAM7 NIL BEAM5 NIL NIL NIL BEAM1))
 (HOLDS AGENT1 CONNECTOR3) (LOC AGENT1 AREA4) (LOC CONNECTOR1 AREA2) (LOC CONNECTOR2 AREA3) (OPEN GATE1) (PAIRED CONNECTOR1 RECEIVER3)
 (PAIRED CONNECTOR1 RECEIVER1) (PAIRED CONNECTOR1 TRANSMITTER2) (PAIRED CONNECTOR2 CONNECTOR1) (PAIRED CONNECTOR2 RECEIVER1)
 (PAIRED CONNECTOR2 TRANSMITTER1))

(9.0 (CONNECT-TO-2-TERMINUS AGENT1 CONNECTOR3 RECEIVER3 TRANSMITTER1 AREA4 GROUND))
((ACTIVE RECEIVER1) (BEAM-SEGMENT BEAM1 TRANSMITTER2 CONNECTOR1 29/3 41/15)
 (BEAM-SEGMENT BEAM10 CONNECTOR1 TRANSMITTER2 21319/2301 13589/2301) (BEAM-SEGMENT BEAM11 CONNECTOR1 RECEIVER1 81/10 1)
 (BEAM-SEGMENT BEAM12 CONNECTOR1 RECEIVER3 1 109/10) (BEAM-SEGMENT BEAM5 TRANSMITTER1 CONNECTOR2 10 9)
 (BEAM-SEGMENT BEAM13 CONNECTOR1 CONNECTOR2 10 9) (BEAM-SEGMENT BEAM7 CONNECTOR2 TRANSMITTER1 11 1/10)
 (BEAM-SEGMENT BEAM8 CONNECTOR2 RECEIVER1 21319/2301 13589/2301) (BEAM-SEGMENT BEAM9 CONNECTOR2 CONNECTOR1 9 8)
 (BEAM-SEGMENT BEAM14 TRANSMITTER1 CONNECTOR3 29/3 41/15) (COLOR CONNECTOR1 RED) (COLOR CONNECTOR2 RED)
 (CURRENT-BEAMS (BEAM14 BEAM13 BEAM12 BEAM11 BEAM10 BEAM9 BEAM8 BEAM7 NIL BEAM5 NIL NIL NIL BEAM1)) (LOC AGENT1 AREA4)
 (LOC CONNECTOR1 AREA2) (LOC CONNECTOR2 AREA3) (LOC CONNECTOR3 AREA4) (OPEN GATE1) (PAIRED CONNECTOR1 RECEIVER3)
 (PAIRED CONNECTOR1 RECEIVER1) (PAIRED CONNECTOR1 TRANSMITTER2) (PAIRED CONNECTOR2 CONNECTOR1) (PAIRED CONNECTOR2 RECEIVER1)
 (PAIRED CONNECTOR2 TRANSMITTER1) (PAIRED CONNECTOR3 RECEIVER3) (PAIRED CONNECTOR3 TRANSMITTER1))



A shortest path solution is also a minimum duration solution.

Evaluation took:
  81.448 seconds of real time
  81.203125 seconds of total run time (76.781250 user, 4.421875 system)
  [ Real times consist of 1.383 seconds GC time, and 80.065 seconds non-GC time. ]
  [ Run times consist of 1.375 seconds GC time, and 79.829 seconds non-GC time. ]
  99.70% CPU
  259,591,881,454 processor cycles
  150,237,507,760 bytes consed

[solve-meeting-point] Expanded 1 meeting-point solution(s) to full path(s).
[solve-meeting-point] Expanded 1 meeting-point solution(s) to full goal path(s).
[solve-meeting-point] Example full solution path:
(0.0 (START-STATE))
((CURRENT-BEAMS NIL) (LOC AGENT1 AREA1) (LOC CONNECTOR1 AREA1) (LOC CONNECTOR2 AREA2) (LOC CONNECTOR3 AREA3))

(1.0 (PICKUP-CONNECTOR AGENT1 CONNECTOR1 AREA1))
((CURRENT-BEAMS NIL) (HOLDS AGENT1 CONNECTOR1) (LOC AGENT1 AREA1) (LOC CONNECTOR2 AREA2) (LOC CONNECTOR3 AREA3))

(2.0 (MOVE AGENT1 AREA1 AREA2))
((CURRENT-BEAMS NIL) (HOLDS AGENT1 CONNECTOR1) (LOC AGENT1 AREA2) (LOC CONNECTOR2 AREA2) (LOC CONNECTOR3 AREA3))

(3.0 (CONNECT-TO-3-TERMINUS AGENT1 CONNECTOR1 RECEIVER3 RECEIVER1 TRANSMITTER2 AREA2 GROUND))
((ACTIVE RECEIVER3) (BEAM-SEGMENT BEAM1 TRANSMITTER2 CONNECTOR1 9 8) (BEAM-SEGMENT BEAM2 CONNECTOR1 TRANSMITTER2 10 1/10)
 (BEAM-SEGMENT BEAM3 CONNECTOR1 RECEIVER1 81/10 1) (BEAM-SEGMENT BEAM4 CONNECTOR1 RECEIVER3 1 109/10) (COLOR CONNECTOR1 BLUE)
 (CURRENT-BEAMS (BEAM4 BEAM3 BEAM2 BEAM1)) (LOC AGENT1 AREA2) (LOC CONNECTOR2 AREA2) (LOC CONNECTOR3 AREA3) (LOC CONNECTOR1 AREA2)
 (PAIRED CONNECTOR1 RECEIVER3) (PAIRED CONNECTOR1 RECEIVER1) (PAIRED CONNECTOR1 TRANSMITTER2))

(4.0 (PICKUP-CONNECTOR AGENT1 CONNECTOR2 AREA2))
((ACTIVE RECEIVER3) (BEAM-SEGMENT BEAM1 TRANSMITTER2 CONNECTOR1 9 8) (BEAM-SEGMENT BEAM2 CONNECTOR1 TRANSMITTER2 10 1/10)
 (BEAM-SEGMENT BEAM3 CONNECTOR1 RECEIVER1 81/10 1) (BEAM-SEGMENT BEAM4 CONNECTOR1 RECEIVER3 1 109/10) (COLOR CONNECTOR1 BLUE)
 (CURRENT-BEAMS (BEAM4 BEAM3 BEAM2 BEAM1)) (HOLDS AGENT1 CONNECTOR2) (LOC AGENT1 AREA2) (LOC CONNECTOR3 AREA3) (LOC CONNECTOR1 AREA2)
 (PAIRED CONNECTOR1 RECEIVER3) (PAIRED CONNECTOR1 RECEIVER1) (PAIRED CONNECTOR1 TRANSMITTER2))

(5.0 (MOVE AGENT1 AREA2 AREA3))
((ACTIVE RECEIVER3) (BEAM-SEGMENT BEAM1 TRANSMITTER2 CONNECTOR1 9 8) (BEAM-SEGMENT BEAM2 CONNECTOR1 TRANSMITTER2 10 1/10)
 (BEAM-SEGMENT BEAM3 CONNECTOR1 RECEIVER1 81/10 1) (BEAM-SEGMENT BEAM4 CONNECTOR1 RECEIVER3 1 109/10) (COLOR CONNECTOR1 BLUE)
 (CURRENT-BEAMS (BEAM4 BEAM3 BEAM2 BEAM1)) (HOLDS AGENT1 CONNECTOR2) (LOC AGENT1 AREA3) (LOC CONNECTOR3 AREA3) (LOC CONNECTOR1 AREA2)
 (PAIRED CONNECTOR1 RECEIVER3) (PAIRED CONNECTOR1 RECEIVER1) (PAIRED CONNECTOR1 TRANSMITTER2))

(6.0 (CONNECT-TO-3-TERMINUS AGENT1 CONNECTOR2 CONNECTOR1 RECEIVER1 TRANSMITTER1 AREA3 GROUND))
((ACTIVE RECEIVER1) (BEAM-SEGMENT BEAM1 TRANSMITTER2 CONNECTOR1 21319/2301 13589/2301)
 (BEAM-SEGMENT BEAM10 CONNECTOR1 TRANSMITTER2 21319/2301 13589/2301) (BEAM-SEGMENT BEAM11 CONNECTOR1 RECEIVER1 81/10 1)
 (BEAM-SEGMENT BEAM12 CONNECTOR1 RECEIVER3 1 109/10) (BEAM-SEGMENT BEAM5 TRANSMITTER1 CONNECTOR2 10 9)
 (BEAM-SEGMENT BEAM13 CONNECTOR1 CONNECTOR2 10 9) (BEAM-SEGMENT BEAM7 CONNECTOR2 TRANSMITTER1 11 1/10)
 (BEAM-SEGMENT BEAM8 CONNECTOR2 RECEIVER1 21319/2301 13589/2301) (BEAM-SEGMENT BEAM9 CONNECTOR2 CONNECTOR1 9 8) (COLOR CONNECTOR1 RED)
 (COLOR CONNECTOR2 RED) (CURRENT-BEAMS (BEAM13 BEAM12 BEAM11 BEAM10 BEAM9 BEAM8 BEAM7 NIL BEAM5 NIL NIL NIL BEAM1)) (LOC AGENT1 AREA3)
 (LOC CONNECTOR3 AREA3) (LOC CONNECTOR1 AREA2) (LOC CONNECTOR2 AREA3) (OPEN GATE1) (PAIRED CONNECTOR1 RECEIVER3)
 (PAIRED CONNECTOR1 RECEIVER1) (PAIRED CONNECTOR1 TRANSMITTER2) (PAIRED CONNECTOR2 CONNECTOR1) (PAIRED CONNECTOR2 RECEIVER1)
 (PAIRED CONNECTOR2 TRANSMITTER1))

(7.0 (PICKUP-CONNECTOR AGENT1 CONNECTOR3 AREA3))
((ACTIVE RECEIVER1) (BEAM-SEGMENT BEAM1 TRANSMITTER2 CONNECTOR1 21319/2301 13589/2301)
 (BEAM-SEGMENT BEAM10 CONNECTOR1 TRANSMITTER2 21319/2301 13589/2301) (BEAM-SEGMENT BEAM11 CONNECTOR1 RECEIVER1 81/10 1)
 (BEAM-SEGMENT BEAM12 CONNECTOR1 RECEIVER3 1 109/10) (BEAM-SEGMENT BEAM5 TRANSMITTER1 CONNECTOR2 10 9)
 (BEAM-SEGMENT BEAM13 CONNECTOR1 CONNECTOR2 10 9) (BEAM-SEGMENT BEAM7 CONNECTOR2 TRANSMITTER1 11 1/10)
 (BEAM-SEGMENT BEAM8 CONNECTOR2 RECEIVER1 21319/2301 13589/2301) (BEAM-SEGMENT BEAM9 CONNECTOR2 CONNECTOR1 9 8) (COLOR CONNECTOR1 RED)
 (COLOR CONNECTOR2 RED) (CURRENT-BEAMS (BEAM13 BEAM12 BEAM11 BEAM10 BEAM9 BEAM8 BEAM7 NIL BEAM5 NIL NIL NIL BEAM1))
 (HOLDS AGENT1 CONNECTOR3) (LOC AGENT1 AREA3) (LOC CONNECTOR1 AREA2) (LOC CONNECTOR2 AREA3) (OPEN GATE1) (PAIRED CONNECTOR1 RECEIVER3)
 (PAIRED CONNECTOR1 RECEIVER1) (PAIRED CONNECTOR1 TRANSMITTER2) (PAIRED CONNECTOR2 CONNECTOR1) (PAIRED CONNECTOR2 RECEIVER1)
 (PAIRED CONNECTOR2 TRANSMITTER1))

(8.0 (MOVE AGENT1 AREA3 AREA4))
((ACTIVE RECEIVER1) (BEAM-SEGMENT BEAM1 TRANSMITTER2 CONNECTOR1 21319/2301 13589/2301)
 (BEAM-SEGMENT BEAM10 CONNECTOR1 TRANSMITTER2 21319/2301 13589/2301) (BEAM-SEGMENT BEAM11 CONNECTOR1 RECEIVER1 81/10 1)
 (BEAM-SEGMENT BEAM12 CONNECTOR1 RECEIVER3 1 109/10) (BEAM-SEGMENT BEAM5 TRANSMITTER1 CONNECTOR2 10 9)
 (BEAM-SEGMENT BEAM13 CONNECTOR1 CONNECTOR2 10 9) (BEAM-SEGMENT BEAM7 CONNECTOR2 TRANSMITTER1 11 1/10)
 (BEAM-SEGMENT BEAM8 CONNECTOR2 RECEIVER1 21319/2301 13589/2301) (BEAM-SEGMENT BEAM9 CONNECTOR2 CONNECTOR1 9 8) (COLOR CONNECTOR1 RED)
 (COLOR CONNECTOR2 RED) (CURRENT-BEAMS (BEAM13 BEAM12 BEAM11 BEAM10 BEAM9 BEAM8 BEAM7 NIL BEAM5 NIL NIL NIL BEAM1))
 (HOLDS AGENT1 CONNECTOR3) (LOC AGENT1 AREA4) (LOC CONNECTOR1 AREA2) (LOC CONNECTOR2 AREA3) (OPEN GATE1) (PAIRED CONNECTOR1 RECEIVER3)
 (PAIRED CONNECTOR1 RECEIVER1) (PAIRED CONNECTOR1 TRANSMITTER2) (PAIRED CONNECTOR2 CONNECTOR1) (PAIRED CONNECTOR2 RECEIVER1)
 (PAIRED CONNECTOR2 TRANSMITTER1))

(9.0 (CONNECT-TO-2-TERMINUS AGENT1 CONNECTOR3 RECEIVER3 TRANSMITTER1 AREA4 GROUND))
((ACTIVE RECEIVER1) (BEAM-SEGMENT BEAM1 TRANSMITTER2 CONNECTOR1 29/3 41/15)
 (BEAM-SEGMENT BEAM10 CONNECTOR1 TRANSMITTER2 21319/2301 13589/2301) (BEAM-SEGMENT BEAM11 CONNECTOR1 RECEIVER1 81/10 1)
 (BEAM-SEGMENT BEAM12 CONNECTOR1 RECEIVER3 1 109/10) (BEAM-SEGMENT BEAM5 TRANSMITTER1 CONNECTOR2 10 9)
 (BEAM-SEGMENT BEAM13 CONNECTOR1 CONNECTOR2 10 9) (BEAM-SEGMENT BEAM7 CONNECTOR2 TRANSMITTER1 11 1/10)
 (BEAM-SEGMENT BEAM8 CONNECTOR2 RECEIVER1 21319/2301 13589/2301) (BEAM-SEGMENT BEAM9 CONNECTOR2 CONNECTOR1 9 8)
 (BEAM-SEGMENT BEAM14 TRANSMITTER1 CONNECTOR3 29/3 41/15) (COLOR CONNECTOR1 RED) (COLOR CONNECTOR2 RED)
 (CURRENT-BEAMS (BEAM14 BEAM13 BEAM12 BEAM11 BEAM10 BEAM9 BEAM8 BEAM7 NIL BEAM5 NIL NIL NIL BEAM1)) (LOC AGENT1 AREA4)
 (LOC CONNECTOR1 AREA2) (LOC CONNECTOR2 AREA3) (LOC CONNECTOR3 AREA4) (OPEN GATE1) (PAIRED CONNECTOR1 RECEIVER3)
 (PAIRED CONNECTOR1 RECEIVER1) (PAIRED CONNECTOR1 TRANSMITTER2) (PAIRED CONNECTOR2 CONNECTOR1) (PAIRED CONNECTOR2 RECEIVER1)
 (PAIRED CONNECTOR2 TRANSMITTER1) (PAIRED CONNECTOR3 RECEIVER3) (PAIRED CONNECTOR3 TRANSMITTER1))

(10.0 (MOVE AGENT1 AREA4 AREA3))
((ACTIVE RECEIVER1) (BEAM-SEGMENT BEAM1 TRANSMITTER2 CONNECTOR1 29/3 41/15)
 (BEAM-SEGMENT BEAM10 CONNECTOR1 TRANSMITTER2 21319/2301 13589/2301) (BEAM-SEGMENT BEAM11 CONNECTOR1 RECEIVER1 81/10 1)
 (BEAM-SEGMENT BEAM12 CONNECTOR1 RECEIVER3 1 109/10) (BEAM-SEGMENT BEAM5 TRANSMITTER1 CONNECTOR2 10 9)
 (BEAM-SEGMENT BEAM13 CONNECTOR1 CONNECTOR2 10 9) (BEAM-SEGMENT BEAM7 CONNECTOR2 TRANSMITTER1 11 1/10)
 (BEAM-SEGMENT BEAM8 CONNECTOR2 RECEIVER1 21319/2301 13589/2301) (BEAM-SEGMENT BEAM9 CONNECTOR2 CONNECTOR1 9 8)
 (BEAM-SEGMENT BEAM14 TRANSMITTER1 CONNECTOR3 29/3 41/15) (COLOR CONNECTOR1 RED) (COLOR CONNECTOR2 RED)
 (CURRENT-BEAMS (BEAM14 BEAM13 BEAM12 BEAM11 BEAM10 BEAM9 BEAM8 BEAM7 NIL BEAM5 NIL NIL NIL BEAM1)) (LOC AGENT1 AREA3)
 (LOC CONNECTOR1 AREA2) (LOC CONNECTOR2 AREA3) (LOC CONNECTOR3 AREA4) (OPEN GATE1) (PAIRED CONNECTOR1 RECEIVER3)
 (PAIRED CONNECTOR1 RECEIVER1) (PAIRED CONNECTOR1 TRANSMITTER2) (PAIRED CONNECTOR2 CONNECTOR1) (PAIRED CONNECTOR2 RECEIVER1)
 (PAIRED CONNECTOR2 TRANSMITTER1) (PAIRED CONNECTOR3 RECEIVER3) (PAIRED CONNECTOR3 TRANSMITTER1))

(11.0 (PICKUP-CONNECTOR AGENT1 CONNECTOR2 AREA3))
((BEAM-SEGMENT BEAM1 TRANSMITTER2 CONNECTOR1 29/3 41/15) (BEAM-SEGMENT BEAM14 TRANSMITTER1 CONNECTOR3 29/3 41/15)
 (CURRENT-BEAMS (BEAM14 NIL NIL NIL NIL NIL NIL NIL NIL NIL NIL NIL NIL BEAM1)) (HOLDS AGENT1 CONNECTOR2) (LOC AGENT1 AREA3)
 (LOC CONNECTOR1 AREA2) (LOC CONNECTOR3 AREA4) (PAIRED CONNECTOR1 RECEIVER3) (PAIRED CONNECTOR1 RECEIVER1) (PAIRED CONNECTOR1 TRANSMITTER2)
 (PAIRED CONNECTOR3 RECEIVER3) (PAIRED CONNECTOR3 TRANSMITTER1))

(12.0 (CONNECT-TO-3-TERMINUS AGENT1 CONNECTOR2 CONNECTOR1 RECEIVER2 TRANSMITTER1 AREA3 GROUND))
((ACTIVE RECEIVER2) (ACTIVE RECEIVER1) (BEAM-SEGMENT BEAM1 TRANSMITTER2 CONNECTOR1 29/3 41/15)
 (BEAM-SEGMENT BEAM14 TRANSMITTER1 CONNECTOR3 29/3 41/15) (BEAM-SEGMENT BEAM15 TRANSMITTER1 CONNECTOR2 10 9)
 (BEAM-SEGMENT BEAM16 CONNECTOR2 TRANSMITTER1 11 1/10) (BEAM-SEGMENT BEAM17 CONNECTOR2 RECEIVER2 7 109/10)
 (BEAM-SEGMENT BEAM18 CONNECTOR2 CONNECTOR1 9 8) (BEAM-SEGMENT BEAM19 CONNECTOR1 TRANSMITTER2 29/3 41/15)
 (BEAM-SEGMENT BEAM20 CONNECTOR1 RECEIVER1 81/10 1) (BEAM-SEGMENT BEAM21 CONNECTOR1 RECEIVER3 1 109/10)
 (BEAM-SEGMENT BEAM22 CONNECTOR1 CONNECTOR2 10 9) (COLOR CONNECTOR2 RED) (COLOR CONNECTOR1 RED)
 (CURRENT-BEAMS (BEAM22 BEAM21 BEAM20 BEAM19 BEAM18 BEAM17 BEAM16 BEAM15 BEAM14 NIL NIL NIL NIL NIL NIL NIL NIL NIL NIL NIL NIL BEAM1))
 (LOC AGENT1 AREA3) (LOC CONNECTOR1 AREA2) (LOC CONNECTOR3 AREA4) (LOC CONNECTOR2 AREA3) (OPEN GATE1) (PAIRED CONNECTOR1 RECEIVER3)
 (PAIRED CONNECTOR1 RECEIVER1) (PAIRED CONNECTOR1 TRANSMITTER2) (PAIRED CONNECTOR3 RECEIVER3) (PAIRED CONNECTOR3 TRANSMITTER1)
 (PAIRED CONNECTOR2 CONNECTOR1) (PAIRED CONNECTOR2 RECEIVER2) (PAIRED CONNECTOR2 TRANSMITTER1))

(13.0 (MOVE AGENT1 AREA3 AREA4))
((ACTIVE RECEIVER2) (ACTIVE RECEIVER1) (BEAM-SEGMENT BEAM1 TRANSMITTER2 CONNECTOR1 29/3 41/15)
 (BEAM-SEGMENT BEAM14 TRANSMITTER1 CONNECTOR3 29/3 41/15) (BEAM-SEGMENT BEAM15 TRANSMITTER1 CONNECTOR2 10 9)
 (BEAM-SEGMENT BEAM16 CONNECTOR2 TRANSMITTER1 11 1/10) (BEAM-SEGMENT BEAM17 CONNECTOR2 RECEIVER2 7 109/10)
 (BEAM-SEGMENT BEAM18 CONNECTOR2 CONNECTOR1 9 8) (BEAM-SEGMENT BEAM19 CONNECTOR1 TRANSMITTER2 29/3 41/15)
 (BEAM-SEGMENT BEAM20 CONNECTOR1 RECEIVER1 81/10 1) (BEAM-SEGMENT BEAM21 CONNECTOR1 RECEIVER3 1 109/10)
 (BEAM-SEGMENT BEAM22 CONNECTOR1 CONNECTOR2 10 9) (COLOR CONNECTOR2 RED) (COLOR CONNECTOR1 RED)
 (CURRENT-BEAMS (BEAM22 BEAM21 BEAM20 BEAM19 BEAM18 BEAM17 BEAM16 BEAM15 BEAM14 NIL NIL NIL NIL NIL NIL NIL NIL NIL NIL NIL NIL BEAM1))
 (LOC AGENT1 AREA4) (LOC CONNECTOR1 AREA2) (LOC CONNECTOR3 AREA4) (LOC CONNECTOR2 AREA3) (OPEN GATE1) (PAIRED CONNECTOR1 RECEIVER3)
 (PAIRED CONNECTOR1 RECEIVER1) (PAIRED CONNECTOR1 TRANSMITTER2) (PAIRED CONNECTOR3 RECEIVER3) (PAIRED CONNECTOR3 TRANSMITTER1)
 (PAIRED CONNECTOR2 CONNECTOR1) (PAIRED CONNECTOR2 RECEIVER2) (PAIRED CONNECTOR2 TRANSMITTER1))

(14.0 (PICKUP-CONNECTOR AGENT1 CONNECTOR3 AREA4))
((ACTIVE RECEIVER2) (ACTIVE RECEIVER3) (BEAM-SEGMENT BEAM1 TRANSMITTER2 CONNECTOR1 9 8) (BEAM-SEGMENT BEAM15 TRANSMITTER1 CONNECTOR2 10 9)
 (BEAM-SEGMENT BEAM16 CONNECTOR2 TRANSMITTER1 11 1/10) (BEAM-SEGMENT BEAM17 CONNECTOR2 RECEIVER2 7 109/10)
 (BEAM-SEGMENT BEAM18 CONNECTOR2 CONNECTOR1 19/2 17/2) (BEAM-SEGMENT BEAM19 CONNECTOR1 TRANSMITTER2 10 1/10)
 (BEAM-SEGMENT BEAM20 CONNECTOR1 RECEIVER1 81/10 1) (BEAM-SEGMENT BEAM21 CONNECTOR1 RECEIVER3 1 109/10)
 (BEAM-SEGMENT BEAM22 CONNECTOR1 CONNECTOR2 19/2 17/2) (COLOR CONNECTOR2 RED) (COLOR CONNECTOR1 BLUE)
 (CURRENT-BEAMS (BEAM22 BEAM21 BEAM20 BEAM19 BEAM18 BEAM17 BEAM16 BEAM15 NIL NIL NIL NIL NIL NIL NIL NIL NIL NIL NIL NIL NIL BEAM1))
 (HOLDS AGENT1 CONNECTOR3) (LOC AGENT1 AREA4) (LOC CONNECTOR1 AREA2) (LOC CONNECTOR2 AREA3) (PAIRED CONNECTOR1 RECEIVER3)
 (PAIRED CONNECTOR1 RECEIVER1) (PAIRED CONNECTOR1 TRANSMITTER2) (PAIRED CONNECTOR2 CONNECTOR1) (PAIRED CONNECTOR2 RECEIVER2)
 (PAIRED CONNECTOR2 TRANSMITTER1))


(#S(SOLUTION
    :DEPTH 14
    :TIME 14.0
    :VALUE 0.0
    :PATH ((1.0 (PICKUP-CONNECTOR AGENT1 CONNECTOR1 AREA1)) (2.0 (MOVE AGENT1 AREA1 AREA2))
           (3.0 (CONNECT-TO-3-TERMINUS AGENT1 CONNECTOR1 RECEIVER3 RECEIVER1 TRANSMITTER2 AREA2 GROUND))
           (4.0 (PICKUP-CONNECTOR AGENT1 CONNECTOR2 AREA2)) (5.0 (MOVE AGENT1 AREA2 AREA3))
           (6.0 (CONNECT-TO-3-TERMINUS AGENT1 CONNECTOR2 CONNECTOR1 RECEIVER1 TRANSMITTER1 AREA3 GROUND))
           (7.0 (PICKUP-CONNECTOR AGENT1 CONNECTOR3 AREA3)) (8.0 (MOVE AGENT1 AREA3 AREA4))
           (9.0 (CONNECT-TO-2-TERMINUS AGENT1 CONNECTOR3 RECEIVER3 TRANSMITTER1 AREA4 GROUND)) (10.0 (MOVE AGENT1 AREA4 AREA3))
           (11.0 (PICKUP-CONNECTOR AGENT1 CONNECTOR2 AREA3))
           (12.0 (CONNECT-TO-3-TERMINUS AGENT1 CONNECTOR2 CONNECTOR1 RECEIVER2 TRANSMITTER1 AREA3 GROUND)) (13.0 (MOVE AGENT1 AREA3 AREA4))
           (14.0 (PICKUP-CONNECTOR AGENT1 CONNECTOR3 AREA4)))
    :GOAL #<PROBLEM-STATE <PICKUP-CONNECTOR (AGENT1 CONNECTOR3 AREA4) NIL 14.0 0.0 0.0
  ((ACTIVE RECEIVER2) (ACTIVE RECEIVER3) (BEAM-SEGMENT BEAM1 TRANSMITTER2 CONNECTOR1 9 8)
   (BEAM-SEGMENT BEAM15 TRANSMITTER1 CONNECTOR2 10 9) (BEAM-SEGMENT BEAM16 CONNECTOR2 TRANSMITTER1 11 1/10)
   (BEAM-SEGMENT BEAM17 CONNECTOR2 RECEIVER2 7 109/10) (BEAM-SEGMENT BEAM18 CONNECTOR2 CONNECTOR1 19/2 17/2)
   (BEAM-SEGMENT BEAM19 CONNECTOR1 TRANSMITTER2 10 1/10) (BEAM-SEGMENT BEAM20 CONNECTOR1 RECEIVER1 81/10 1)
   (BEAM-SEGMENT BEAM21 CONNECTOR1 RECEIVER3 1 109/10) (BEAM-SEGMENT BEAM22 CONNECTOR1 CONNECTOR2 19/2 17/2) (COLOR CONNECTOR2 RED)
   (COLOR CONNECTOR1 BLUE)
   (CURRENT-BEAMS (BEAM22 BEAM21 BEAM20 BEAM19 BEAM18 BEAM17 BEAM16 BEAM15 NIL NIL NIL NIL NIL NIL NIL NIL NIL NIL NIL NIL NIL BEAM1))
   (HOLDS AGENT1 CONNECTOR3) (LOC AGENT1 AREA4) (LOC CONNECTOR1 AREA2) (LOC CONNECTOR2 AREA3) (PAIRED CONNECTOR1 RECEIVER3)
   (PAIRED CONNECTOR1 RECEIVER1) (PAIRED CONNECTOR1 TRANSMITTER2) (PAIRED CONNECTOR2 CONNECTOR1) (PAIRED CONNECTOR2 RECEIVER2)
   (PAIRED CONNECTOR2 TRANSMITTER1))
  NIL>>))
* *unique-solutions*
(#S(SOLUTION
    :DEPTH 14
    :TIME 14.0
    :VALUE 0.0
    :PATH ((1.0 (PICKUP-CONNECTOR AGENT1 CONNECTOR1 AREA1)) (2.0 (MOVE AGENT1 AREA1 AREA2))
           (3.0 (CONNECT-TO-3-TERMINUS AGENT1 CONNECTOR1 RECEIVER3 RECEIVER1 TRANSMITTER2 AREA2 GROUND))
           (4.0 (PICKUP-CONNECTOR AGENT1 CONNECTOR2 AREA2)) (5.0 (MOVE AGENT1 AREA2 AREA3))
           (6.0 (CONNECT-TO-3-TERMINUS AGENT1 CONNECTOR2 CONNECTOR1 RECEIVER1 TRANSMITTER1 AREA3 GROUND))
           (7.0 (PICKUP-CONNECTOR AGENT1 CONNECTOR3 AREA3)) (8.0 (MOVE AGENT1 AREA3 AREA4))
           (9.0 (CONNECT-TO-2-TERMINUS AGENT1 CONNECTOR3 RECEIVER3 TRANSMITTER1 AREA4 GROUND)) (10.0 (MOVE AGENT1 AREA4 AREA3))
           (11.0 (PICKUP-CONNECTOR AGENT1 CONNECTOR2 AREA3))
           (12.0 (CONNECT-TO-3-TERMINUS AGENT1 CONNECTOR2 CONNECTOR1 RECEIVER2 TRANSMITTER1 AREA3 GROUND)) (13.0 (MOVE AGENT1 AREA3 AREA4))
           (14.0 (PICKUP-CONNECTOR AGENT1 CONNECTOR3 AREA4)))
    :GOAL #<PROBLEM-STATE <PICKUP-CONNECTOR (AGENT1 CONNECTOR3 AREA4) NIL 14.0 0.0 0.0
  ((ACTIVE RECEIVER2) (ACTIVE RECEIVER3) (BEAM-SEGMENT BEAM1 TRANSMITTER2 CONNECTOR1 9 8)
   (BEAM-SEGMENT BEAM15 TRANSMITTER1 CONNECTOR2 10 9) (BEAM-SEGMENT BEAM16 CONNECTOR2 TRANSMITTER1 11 1/10)
   (BEAM-SEGMENT BEAM17 CONNECTOR2 RECEIVER2 7 109/10) (BEAM-SEGMENT BEAM18 CONNECTOR2 CONNECTOR1 19/2 17/2)
   (BEAM-SEGMENT BEAM19 CONNECTOR1 TRANSMITTER2 10 1/10) (BEAM-SEGMENT BEAM20 CONNECTOR1 RECEIVER1 81/10 1)
   (BEAM-SEGMENT BEAM21 CONNECTOR1 RECEIVER3 1 109/10) (BEAM-SEGMENT BEAM22 CONNECTOR1 CONNECTOR2 19/2 17/2) (COLOR CONNECTOR2 RED)
   (COLOR CONNECTOR1 BLUE)
   (CURRENT-BEAMS (BEAM22 BEAM21 BEAM20 BEAM19 BEAM18 BEAM17 BEAM16 BEAM15 NIL NIL NIL NIL NIL NIL NIL NIL NIL NIL NIL NIL NIL BEAM1))
   (HOLDS AGENT1 CONNECTOR3) (LOC AGENT1 AREA4) (LOC CONNECTOR1 AREA2) (LOC CONNECTOR2 AREA3) (PAIRED CONNECTOR1 RECEIVER3)
   (PAIRED CONNECTOR1 RECEIVER1) (PAIRED CONNECTOR1 TRANSMITTER2) (PAIRED CONNECTOR2 CONNECTOR1) (PAIRED CONNECTOR2 RECEIVER2)
   (PAIRED CONNECTOR2 TRANSMITTER1))
  NIL>>))
* *solutions*
(#S(SOLUTION
    :DEPTH 14
    :TIME 14.0
    :VALUE 0.0
    :PATH ((1.0 (PICKUP-CONNECTOR AGENT1 CONNECTOR1 AREA1)) (2.0 (MOVE AGENT1 AREA1 AREA2))
           (3.0 (CONNECT-TO-3-TERMINUS AGENT1 CONNECTOR1 RECEIVER3 RECEIVER1 TRANSMITTER2 AREA2 GROUND))
           (4.0 (PICKUP-CONNECTOR AGENT1 CONNECTOR2 AREA2)) (5.0 (MOVE AGENT1 AREA2 AREA3))
           (6.0 (CONNECT-TO-3-TERMINUS AGENT1 CONNECTOR2 CONNECTOR1 RECEIVER1 TRANSMITTER1 AREA3 GROUND))
           (7.0 (PICKUP-CONNECTOR AGENT1 CONNECTOR3 AREA3)) (8.0 (MOVE AGENT1 AREA3 AREA4))
           (9.0 (CONNECT-TO-2-TERMINUS AGENT1 CONNECTOR3 RECEIVER3 TRANSMITTER1 AREA4 GROUND)) (10.0 (MOVE AGENT1 AREA4 AREA3))
           (11.0 (PICKUP-CONNECTOR AGENT1 CONNECTOR2 AREA3))
           (12.0 (CONNECT-TO-3-TERMINUS AGENT1 CONNECTOR2 CONNECTOR1 RECEIVER2 TRANSMITTER1 AREA3 GROUND)) (13.0 (MOVE AGENT1 AREA3 AREA4))
           (14.0 (PICKUP-CONNECTOR AGENT1 CONNECTOR3 AREA4)))
    :GOAL #<PROBLEM-STATE <PICKUP-CONNECTOR (AGENT1 CONNECTOR3 AREA4) NIL 14.0 0.0 0.0
  ((ACTIVE RECEIVER2) (ACTIVE RECEIVER3) (BEAM-SEGMENT BEAM1 TRANSMITTER2 CONNECTOR1 9 8)
   (BEAM-SEGMENT BEAM15 TRANSMITTER1 CONNECTOR2 10 9) (BEAM-SEGMENT BEAM16 CONNECTOR2 TRANSMITTER1 11 1/10)
   (BEAM-SEGMENT BEAM17 CONNECTOR2 RECEIVER2 7 109/10) (BEAM-SEGMENT BEAM18 CONNECTOR2 CONNECTOR1 19/2 17/2)
   (BEAM-SEGMENT BEAM19 CONNECTOR1 TRANSMITTER2 10 1/10) (BEAM-SEGMENT BEAM20 CONNECTOR1 RECEIVER1 81/10 1)
   (BEAM-SEGMENT BEAM21 CONNECTOR1 RECEIVER3 1 109/10) (BEAM-SEGMENT BEAM22 CONNECTOR1 CONNECTOR2 19/2 17/2) (COLOR CONNECTOR2 RED)
   (COLOR CONNECTOR1 BLUE)
   (CURRENT-BEAMS (BEAM22 BEAM21 BEAM20 BEAM19 BEAM18 BEAM17 BEAM16 BEAM15 NIL NIL NIL NIL NIL NIL NIL NIL NIL NIL NIL NIL NIL BEAM1))
   (HOLDS AGENT1 CONNECTOR3) (LOC AGENT1 AREA4) (LOC CONNECTOR1 AREA2) (LOC CONNECTOR2 AREA3) (PAIRED CONNECTOR1 RECEIVER3)
   (PAIRED CONNECTOR1 RECEIVER1) (PAIRED CONNECTOR1 TRANSMITTER2) (PAIRED CONNECTOR2 CONNECTOR1) (PAIRED CONNECTOR2 RECEIVER2)
   (PAIRED CONNECTOR2 TRANSMITTER1))
  NIL>>))