Example for output - 50 grid 10 agents 20 obst - AutoFwdFwd - 5.8.17.txt

The map was created automatically by the code infrastructure.

Problen description:
Problem map - a grid of 50x50
Number of agents - 10 agents
Percetage of obstacles - 20

************************************************************************
########################################################################
The final summary of the execution:
########################################################################
************************************************************************

#################################################

The problem were solved using the splitted Forward-Forward algorithm - both of the parts were solved using forward search solver

#################################################

The middle position of the plan from full Astar on all the agents together:
|(33,17)|(4,16)|(26,34)|(22,23)|(34,19)|(37,32)|(25,43)|(7,18)|(10,28)|(41,20)|
Here are the new caculated middle positions from the separeted single agents solutions:
|(36,19)|(3,21)|(25,34)|(22,23)|(36,24)|(31,30)|(22,43)|(6,16)|(10,22)|(37,16)|
Great, you executed the automated middle positions algorithm!!

#################################################
                Final Results!:
#################################################
---------------------------------------------------
Total cost full regular A*star = 262
Total cost Bi - Directional A* star = 262
Bi - Directional details:
Total cost starting half A* star = 134
Total cost reverse half A* star = 128
---------------------------------------------------
Total time full regular A*star = 5116
Total time Bi - Directional A* star = 5
Bi - Directional details:
Total time starting half A* star = 3
Total time reverse half A* star = 2
--------------------------------------------------
Total generated nodes full regular A*star = 10058
Total generated nodes Bi-Directional A* star = 505
Bi - Directional details:
Total generated nodes starting half A*star = 376
Total generated nodes reverse half A*star = 129
--------------------------------------------------
Total opened nodes full regular A*star = 3437750
Total opened nodes Bi-Directional A* star = 5787
Bi - Directional details:
Total opened nodes starting half A*star = 3315
Total opened nodes reverse half A*star = 2472
--------------------------------------------------
*********************THE END**************************


----------------------------------------------------------------------------------------------------
====================================================================================================
Full Output:
----------------------------------------------------------------------------------------------------
====================================================================================================

Solving Problem instance:0 Grid Name:Random Grid #Agents:1, GridCells:2000, #Obstacles:500
-----------------EPEA*/SIC-----------------
Total cost: 28
Solution depth: 0

Time In milliseconds: 32.6696
Total Expanded Nodes: 28
Total Generated Nodes: 43
Total Reopened Nodes: 0
Num BPMX boosts: 0
Closed list hits: 0
Reopened Nodes With Old H: 0
No Reopen H Updates: 0
Max expansion delay: 0
EPEA*/SIC Quick insertions: 27
EPEA*/SIC Quick insertions cancelled: 13
Expanded Full States: 28


Number of moves in the final solution: 29
|(47,16)|
|(46,16)|
|(45,16)|
|(44,16)|
|(43,16)|
|(43,17)|
|(42,17)|
|(41,17)|
|(40,17)|
|(40,18)|
|(40,19)|
|(39,19)|
|(38,19)|
|(37,19)|
|(36,19)|<-- the middle of the plan
|(36,18)|
|(35,18)|
|(34,18)|
|(34,17)|
|(33,17)|
|(32,17)|
|(32,16)|
|(31,16)|
|(30,16)|
|(30,15)|
|(30,14)|
|(29,14)|
|(29,13)|
|(29,12)|
+SUCCESS+ (:

Solving Problem instance:1 Grid Name:Random Grid #Agents:1, GridCells:2000, #Obstacles:500
-----------------EPEA*/SIC-----------------
Total cost: 13
Solution depth: 0

Time In milliseconds: 0.130300000000005
Total Expanded Nodes: 13
Total Generated Nodes: 18
Total Reopened Nodes: 0
Num BPMX boosts: 0
Closed list hits: 0
Reopened Nodes With Old H: 0
No Reopen H Updates: 0
Max expansion delay: 0
EPEA*/SIC Quick insertions: 12
EPEA*/SIC Quick insertions cancelled: 3
Expanded Full States: 13


Number of moves in the final solution: 14
|(5,24)|
|(4,24)|
|(3,24)|
|(3,23)|
|(2,23)|
|(2,22)|
|(2,21)|
|(3,21)|<-- the middle of the plan
|(3,20)|
|(3,19)|
|(3,18)|
|(4,18)|
|(4,17)|
|(4,16)|
+SUCCESS+ (:

Solving Problem instance:2 Grid Name:Random Grid #Agents:1, GridCells:2000, #Obstacles:500
-----------------EPEA*/SIC-----------------
Total cost: 35
Solution depth: 0

Time In milliseconds: 1.27250000000001
Total Expanded Nodes: 35
Total Generated Nodes: 53
Total Reopened Nodes: 0
Num BPMX boosts: 0
Closed list hits: 0
Reopened Nodes With Old H: 0
No Reopen H Updates: 0
Max expansion delay: 0
EPEA*/SIC Quick insertions: 34
EPEA*/SIC Quick insertions cancelled: 17
Expanded Full States: 35


Number of moves in the final solution: 36
|(12,39)|
|(12,38)|
|(13,38)|
|(13,37)|
|(13,36)|
|(14,36)|
|(15,36)|
|(16,36)|
|(17,36)|
|(18,36)|
|(19,36)|
|(20,36)|
|(21,36)|
|(21,35)|
|(22,35)|
|(23,35)|
|(24,35)|
|(24,34)|
|(25,34)|<-- the middle of the plan
|(26,34)|
|(27,34)|
|(28,34)|
|(29,34)|
|(30,34)|
|(31,34)|
|(32,34)|
|(32,33)|
|(33,33)|
|(34,33)|
|(34,32)|
|(34,31)|
|(35,31)|
|(35,30)|
|(35,29)|
|(35,28)|
|(35,27)|
+SUCCESS+ (:

Solving Problem instance:3 Grid Name:Random Grid #Agents:1, GridCells:2000, #Obstacles:500
-----------------EPEA*/SIC-----------------
Total cost: 38
Solution depth: 0

Time In milliseconds: 0.186499999999995
Total Expanded Nodes: 38
Total Generated Nodes: 48
Total Reopened Nodes: 0
Num BPMX boosts: 0
Closed list hits: 0
Reopened Nodes With Old H: 0
No Reopen H Updates: 0
Max expansion delay: 0
EPEA*/SIC Quick insertions: 37
EPEA*/SIC Quick insertions cancelled: 9
Expanded Full States: 38


Number of moves in the final solution: 39
|(39,23)|
|(38,23)|
|(37,23)|
|(36,23)|
|(35,23)|
|(34,23)|
|(33,23)|
|(32,23)|
|(31,23)|
|(30,23)|
|(29,23)|
|(28,23)|
|(27,23)|
|(26,23)|
|(26,24)|
|(25,24)|
|(24,24)|
|(23,24)|
|(23,23)|
|(22,23)|<-- the middle of the plan
|(21,23)|
|(20,23)|
|(19,23)|
|(18,23)|
|(17,23)|
|(16,23)|
|(15,23)|
|(14,23)|
|(13,23)|
|(13,22)|
|(12,22)|
|(11,22)|
|(10,22)|
|(10,21)|
|(10,20)|
|(9,20)|
|(8,20)|
|(8,19)|
|(7,19)|
+SUCCESS+ (:

Solving Problem instance:4 Grid Name:Random Grid #Agents:1, GridCells:2000, #Obstacles:500
-----------------EPEA*/SIC-----------------
Total cost: 23
Solution depth: 0

Time In milliseconds: 0.2089
Total Expanded Nodes: 23
Total Generated Nodes: 37
Total Reopened Nodes: 0
Num BPMX boosts: 0
Closed list hits: 0
Reopened Nodes With Old H: 0
No Reopen H Updates: 0
Max expansion delay: 0
EPEA*/SIC Quick insertions: 22
EPEA*/SIC Quick insertions cancelled: 12
Expanded Full States: 23


Number of moves in the final solution: 24
|(47,25)|
|(46,25)|
|(46,24)|
|(45,24)|
|(44,24)|
|(43,24)|
|(42,24)|
|(41,24)|
|(40,24)|
|(39,24)|
|(38,24)|
|(37,24)|
|(36,24)|<-- the middle of the plan
|(35,24)|
|(34,24)|
|(34,23)|
|(34,22)|
|(34,21)|
|(34,20)|
|(34,19)|
|(34,18)|
|(34,17)|
|(33,17)|
|(32,17)|
+SUCCESS+ (:

Solving Problem instance:5 Grid Name:Random Grid #Agents:1, GridCells:2000, #Obstacles:500
-----------------EPEA*/SIC-----------------
Total cost: 22
Solution depth: 0

Time In milliseconds: 0.21690000000001
Total Expanded Nodes: 22
Total Generated Nodes: 29
Total Reopened Nodes: 0
Num BPMX boosts: 0
Closed list hits: 0
Reopened Nodes With Old H: 0
No Reopen H Updates: 0
Max expansion delay: 0
EPEA*/SIC Quick insertions: 21
EPEA*/SIC Quick insertions cancelled: 5
Expanded Full States: 22


Number of moves in the final solution: 23
|(27,23)|
|(27,24)|
|(27,25)|
|(27,26)|
|(27,27)|
|(28,27)|
|(29,27)|
|(30,27)|
|(31,27)|
|(31,28)|
|(31,29)|
|(31,30)|<-- the middle of the plan
|(31,31)|
|(32,31)|
|(33,31)|
|(34,31)|
|(35,31)|
|(36,31)|
|(36,32)|
|(37,32)|
|(38,32)|
|(39,32)|
|(40,32)|
+SUCCESS+ (:

Solving Problem instance:6 Grid Name:Random Grid #Agents:1, GridCells:2000, #Obstacles:500
-----------------EPEA*/SIC-----------------
Total cost: 31
Solution depth: 0

Time In milliseconds: 0.205399999999997
Total Expanded Nodes: 31
Total Generated Nodes: 44
Total Reopened Nodes: 0
Num BPMX boosts: 0
Closed list hits: 0
Reopened Nodes With Old H: 0
No Reopen H Updates: 0
Max expansion delay: 0
EPEA*/SIC Quick insertions: 30
EPEA*/SIC Quick insertions cancelled: 11
Expanded Full States: 31


Number of moves in the final solution: 32
|(11,48)|
|(12,48)|
|(13,48)|
|(14,48)|
|(15,48)|
|(16,48)|
|(16,47)|
|(17,47)|
|(17,46)|
|(18,46)|
|(18,45)|
|(19,45)|
|(19,44)|
|(19,43)|
|(20,43)|
|(21,43)|
|(22,43)|<-- the middle of the plan
|(23,43)|
|(24,43)|
|(25,43)|
|(26,43)|
|(27,43)|
|(28,43)|
|(29,43)|
|(30,43)|
|(31,43)|
|(32,43)|
|(33,43)|
|(33,42)|
|(33,41)|
|(33,40)|
|(33,39)|
+SUCCESS+ (:

Solving Problem instance:7 Grid Name:Random Grid #Agents:1, GridCells:2000, #Obstacles:500
-----------------EPEA*/SIC-----------------
Total cost: 31
Solution depth: 0

Time In milliseconds: 0.180199999999957
Total Expanded Nodes: 31
Total Generated Nodes: 50
Total Reopened Nodes: 0
Num BPMX boosts: 0
Closed list hits: 0
Reopened Nodes With Old H: 0
No Reopen H Updates: 0
Max expansion delay: 0
EPEA*/SIC Quick insertions: 30
EPEA*/SIC Quick insertions cancelled: 17
Expanded Full States: 31


Number of moves in the final solution: 32
|(5,1)|
|(5,2)|
|(5,3)|
|(6,3)|
|(6,4)|
|(6,5)|
|(6,6)|
|(6,7)|
|(6,8)|
|(6,9)|
|(6,10)|
|(6,11)|
|(6,12)|
|(6,13)|
|(6,14)|
|(6,15)|
|(6,16)|<-- the middle of the plan
|(6,17)|
|(6,18)|
|(7,18)|
|(7,19)|
|(8,19)|
|(8,20)|
|(9,20)|
|(10,20)|
|(10,21)|
|(11,21)|
|(12,21)|
|(13,21)|
|(13,20)|
|(14,20)|
|(15,20)|
+SUCCESS+ (:

Solving Problem instance:8 Grid Name:Random Grid #Agents:1, GridCells:2000, #Obstacles:500
-----------------EPEA*/SIC-----------------
Total cost: 25
Solution depth: 0

Time In milliseconds: 0.154499999999985
Total Expanded Nodes: 25
Total Generated Nodes: 33
Total Reopened Nodes: 0
Num BPMX boosts: 0
Closed list hits: 0
Reopened Nodes With Old H: 0
No Reopen H Updates: 0
Max expansion delay: 0
EPEA*/SIC Quick insertions: 24
EPEA*/SIC Quick insertions cancelled: 6
Expanded Full States: 25


Number of moves in the final solution: 26
|(6,13)|
|(6,14)|
|(6,15)|
|(6,16)|
|(6,17)|
|(6,18)|
|(7,18)|
|(7,19)|
|(8,19)|
|(8,20)|
|(9,20)|
|(10,20)|
|(10,21)|
|(10,22)|<-- the middle of the plan
|(10,23)|
|(10,24)|
|(10,25)|
|(10,26)|
|(10,27)|
|(10,28)|
|(10,29)|
|(10,30)|
|(9,30)|
|(9,31)|
|(9,32)|
|(9,33)|
+SUCCESS+ (:

Solving Problem instance:9 Grid Name:Random Grid #Agents:1, GridCells:2000, #Obstacles:500
-----------------EPEA*/SIC-----------------
Total cost: 16
Solution depth: 0

Time In milliseconds: 0.126800000000003
Total Expanded Nodes: 16
Total Generated Nodes: 24
Total Reopened Nodes: 0
Num BPMX boosts: 0
Closed list hits: 0
Reopened Nodes With Old H: 0
No Reopen H Updates: 0
Max expansion delay: 0
EPEA*/SIC Quick insertions: 15
EPEA*/SIC Quick insertions cancelled: 6
Expanded Full States: 16


Number of moves in the final solution: 17
|(35,10)|
|(35,11)|
|(36,11)|
|(36,12)|
|(36,13)|
|(36,14)|
|(36,15)|
|(36,16)|
|(37,16)|<-- the middle of the plan
|(37,17)|
|(37,18)|
|(37,19)|
|(38,19)|
|(38,20)|
|(39,20)|
|(40,20)|
|(41,20)|
+SUCCESS+ (:

#################################################
Here are the new caculated middle positions from the separeted single agents solutions:
|(36,19)|(3,21)|(25,34)|(22,23)|(36,24)|(31,30)|(22,43)|(6,16)|(10,22)|(37,16)|
Great, you executed the automated middle positions algorithm!
Solving Problem instance:0 Grid Name:Random Grid #Agents:10, GridCells:2000, #Obstacles:500
-----------------EPEA*/SIC-----------------
Total cost: 262
Solution depth: 0

Time In milliseconds: 5116.043
Total Expanded Nodes: 9215
Total Generated Nodes: 10058
Total Reopened Nodes: 0
Num BPMX boosts: 0
Closed list hits: 241776
Reopened Nodes With Old H: 0
No Reopen H Updates: 0
Max expansion delay: 9177
EPEA*/SIC Quick insertions: 6442
EPEA*/SIC Quick insertions cancelled: 3359
Expanded Full States: 9215


Number of moves in the final solution: 39
|(47,16)|(5,24)|(12,39)|(39,23)|(47,25)|(27,23)|(11,48)|(5,1)|(6,13)|(35,10)|
|(46,16)|(4,24)|(12,38)|(38,23)|(46,25)|(27,24)|(12,48)|(5,2)|(6,14)|(35,11)|
|(45,16)|(3,24)|(13,38)|(37,23)|(46,24)|(27,25)|(13,48)|(5,3)|(6,15)|(36,11)|
|(44,16)|(3,23)|(13,37)|(36,23)|(45,24)|(27,26)|(14,48)|(6,3)|(6,16)|(36,12)|
|(43,16)|(2,23)|(13,36)|(35,23)|(44,24)|(27,27)|(15,48)|(6,4)|(6,17)|(36,13)|
|(43,17)|(2,22)|(14,36)|(34,23)|(43,24)|(28,27)|(16,48)|(6,5)|(6,18)|(37,13)|
|(42,17)|(2,21)|(15,36)|(33,23)|(42,24)|(29,27)|(16,47)|(6,6)|(7,18)|(38,13)|
|(41,17)|(3,21)|(16,36)|(32,23)|(41,24)|(30,27)|(17,47)|(6,7)|(7,19)|(38,14)|
|(40,17)|(3,20)|(17,36)|(31,23)|(40,24)|(31,27)|(17,46)|(6,8)|(8,19)|(38,15)|
|(40,18)|(3,19)|(18,36)|(30,23)|(39,24)|(31,28)|(18,46)|(6,9)|(8,20)|(39,15)|
|(40,19)|(3,18)|(19,36)|(29,23)|(38,24)|(31,29)|(18,45)|(6,10)|(9,20)|(39,16)|
|(39,19)|(4,18)|(20,36)|(28,23)|(37,24)|(31,30)|(19,45)|(6,11)|(10,20)|(40,16)|
|(38,19)|(4,17)|(21,36)|(27,23)|(36,24)|(31,31)|(19,44)|(6,12)|(10,21)|(40,17)|
|(37,19)|(4,16)|(21,35)|(26,23)|(35,24)|(32,31)|(19,43)|(6,13)|(10,22)|(40,18)|
|(36,19)|(4,16)|(22,35)|(26,24)|(34,24)|(33,31)|(20,43)|(6,14)|(10,23)|(40,19)|
|(36,18)|(4,16)|(23,35)|(25,24)|(34,23)|(34,31)|(21,43)|(6,15)|(10,24)|(40,20)|
|(35,18)|(4,16)|(24,35)|(24,24)|(34,22)|(35,31)|(22,43)|(6,16)|(10,25)|(41,20)|
|(34,18)|(4,16)|(24,34)|(23,24)|(34,21)|(36,31)|(23,43)|(6,17)|(10,26)|(41,20)|
|(34,17)|(4,16)|(25,34)|(23,23)|(34,20)|(36,32)|(24,43)|(6,18)|(10,27)|(41,20)|
|(33,17)|(4,16)|(26,34)|(22,23)|(34,19)|(37,32)|(25,43)|(7,18)|(10,28)|(41,20)|<-- the middle of the plan
|(32,17)|(4,16)|(27,34)|(21,23)|(34,18)|(38,32)|(26,43)|(7,19)|(10,29)|(41,20)|
|(32,16)|(4,16)|(28,34)|(20,23)|(34,17)|(39,32)|(27,43)|(8,19)|(10,30)|(41,20)|
|(31,16)|(4,16)|(29,34)|(19,23)|(33,17)|(40,32)|(28,43)|(8,20)|(9,30)|(41,20)|
|(30,16)|(4,16)|(30,34)|(18,23)|(32,17)|(40,32)|(29,43)|(9,20)|(9,31)|(41,20)|
|(30,15)|(4,16)|(31,34)|(17,23)|(32,17)|(40,32)|(30,43)|(10,20)|(9,32)|(41,20)|
|(30,14)|(4,16)|(32,34)|(16,23)|(32,17)|(40,32)|(31,43)|(10,21)|(9,33)|(41,20)|
|(29,14)|(4,16)|(32,33)|(15,23)|(32,17)|(40,32)|(32,43)|(11,21)|(9,33)|(41,20)|
|(29,13)|(4,16)|(33,33)|(14,23)|(32,17)|(40,32)|(33,43)|(12,21)|(9,33)|(41,20)|
|(29,12)|(4,16)|(34,33)|(13,23)|(32,17)|(40,32)|(33,42)|(13,21)|(9,33)|(41,20)|
|(29,12)|(4,16)|(34,32)|(13,22)|(32,17)|(40,32)|(33,41)|(13,20)|(9,33)|(41,20)|
|(29,12)|(4,16)|(34,31)|(12,22)|(32,17)|(40,32)|(33,40)|(14,20)|(9,33)|(41,20)|
|(29,12)|(4,16)|(35,31)|(11,22)|(32,17)|(40,32)|(33,39)|(15,20)|(9,33)|(41,20)|
|(29,12)|(4,16)|(35,30)|(10,22)|(32,17)|(40,32)|(33,39)|(15,20)|(9,33)|(41,20)|
|(29,12)|(4,16)|(35,29)|(10,21)|(32,17)|(40,32)|(33,39)|(15,20)|(9,33)|(41,20)|
|(29,12)|(4,16)|(35,28)|(10,20)|(32,17)|(40,32)|(33,39)|(15,20)|(9,33)|(41,20)|
|(29,12)|(4,16)|(35,27)|(9,20)|(32,17)|(40,32)|(33,39)|(15,20)|(9,33)|(41,20)|
|(29,12)|(4,16)|(35,27)|(8,20)|(32,17)|(40,32)|(33,39)|(15,20)|(9,33)|(41,20)|
|(29,12)|(4,16)|(35,27)|(8,19)|(32,17)|(40,32)|(33,39)|(15,20)|(9,33)|(41,20)|
|(29,12)|(4,16)|(35,27)|(7,19)|(32,17)|(40,32)|(33,39)|(15,20)|(9,33)|(41,20)|
+SUCCESS+ (:

-----------> Finished the regular A*star solution <-----------

The middle stage of the plan from full Astar on all the agents together:
|(33,17)|(4,16)|(26,34)|(22,23)|(34,19)|(37,32)|(25,43)|(7,18)|(10,28)|(41,20)|
Here are the new caculated middle positions from the separeted single agents solutions:
Middle position for agent 0: 36,19
Middle position for agent 1: 3,21
Middle position for agent 2: 25,34
Middle position for agent 3: 22,23
Middle position for agent 4: 36,24
Middle position for agent 5: 31,30
Middle position for agent 6: 22,43
Middle position for agent 7: 6,16
Middle position for agent 8: 10,22
Middle position for agent 9: 37,16

Solving Problem instance:11 Grid Name:Random Grid #Agents:10, GridCells:2000, #Obstacles:500
-----------------EPEA*/SIC-----------------
Total cost: 134
Solution depth: 0

Time In milliseconds: 3.53549999999996
Total Expanded Nodes: 19
Total Generated Nodes: 376
Total Reopened Nodes: 0
Num BPMX boosts: 0
Closed list hits: 0
Reopened Nodes With Old H: 0
No Reopen H Updates: 0
Max expansion delay: 0
EPEA*/SIC Quick insertions: 18
EPEA*/SIC Quick insertions cancelled: 101
Expanded Full States: 19


Number of moves in the final solution: 20
|(47,16)|(5,24)|(12,39)|(39,23)|(47,25)|(27,23)|(11,48)|(5,1)|(6,13)|(35,10)|
|(46,16)|(4,24)|(12,38)|(38,23)|(46,25)|(27,24)|(12,48)|(5,2)|(6,14)|(35,11)|
|(45,16)|(3,24)|(13,38)|(37,23)|(46,24)|(27,25)|(13,48)|(5,3)|(6,15)|(36,11)|
|(44,16)|(3,23)|(13,37)|(36,23)|(45,24)|(27,26)|(14,48)|(6,3)|(6,16)|(36,12)|
|(43,16)|(2,23)|(13,36)|(35,23)|(44,24)|(27,27)|(15,48)|(6,4)|(6,17)|(36,13)|
|(43,17)|(2,22)|(14,36)|(34,23)|(43,24)|(28,27)|(16,48)|(6,5)|(6,18)|(36,14)|
|(42,17)|(2,21)|(15,36)|(33,23)|(42,24)|(29,27)|(16,47)|(6,6)|(7,18)|(36,15)|
|(41,17)|(3,21)|(16,36)|(32,23)|(41,24)|(30,27)|(17,47)|(6,7)|(7,19)|(36,16)|
|(40,17)|(3,21)|(17,36)|(31,23)|(40,24)|(31,27)|(17,46)|(6,8)|(8,19)|(37,16)|
|(40,18)|(3,21)|(18,36)|(30,23)|(39,24)|(31,28)|(18,46)|(6,9)|(8,20)|(37,16)|
|(40,19)|(3,21)|(19,36)|(29,23)|(38,24)|(31,29)|(18,45)|(6,10)|(9,20)|(37,16)|
|(39,19)|(3,21)|(20,36)|(28,23)|(37,24)|(31,30)|(19,45)|(6,11)|(10,20)|(37,16)|
|(38,19)|(3,21)|(21,36)|(27,23)|(36,24)|(31,30)|(19,44)|(6,12)|(10,21)|(37,16)|
|(37,19)|(3,21)|(21,35)|(26,23)|(36,24)|(31,30)|(19,43)|(6,13)|(10,22)|(37,16)|
|(36,19)|(3,21)|(22,35)|(26,24)|(36,24)|(31,30)|(20,43)|(6,14)|(10,22)|(37,16)|
|(36,19)|(3,21)|(23,35)|(25,24)|(36,24)|(31,30)|(21,43)|(6,15)|(10,22)|(37,16)|
|(36,19)|(3,21)|(24,35)|(24,24)|(36,24)|(31,30)|(22,43)|(6,16)|(10,22)|(37,16)|
|(36,19)|(3,21)|(24,34)|(23,24)|(36,24)|(31,30)|(22,43)|(6,16)|(10,22)|(37,16)|
|(36,19)|(3,21)|(25,34)|(23,23)|(36,24)|(31,30)|(22,43)|(6,16)|(10,22)|(37,16)|
|(36,19)|(3,21)|(25,34)|(22,23)|(36,24)|(31,30)|(22,43)|(6,16)|(10,22)|(37,16)|
+SUCCESS+ (:

-----------> Finished first half of A*star <-----------

Solving Problem instance:12 Grid Name:Random Grid #Agents:10, GridCells:2000, #Obstacles:500
-----------------EPEA*/SIC-----------------
Total cost: 128
Solution depth: 0

Time In milliseconds: 2.6260000000002
Total Expanded Nodes: 19
Total Generated Nodes: 129
Total Reopened Nodes: 0
Num BPMX boosts: 0
Closed list hits: 0
Reopened Nodes With Old H: 0
No Reopen H Updates: 0
Max expansion delay: 0
EPEA*/SIC Quick insertions: 18
EPEA*/SIC Quick insertions cancelled: 102
Expanded Full States: 19


Number of moves in the final solution: 20
|(36,19)|(3,21)|(25,34)|(22,23)|(36,24)|(31,30)|(22,43)|(6,16)|(10,22)|(37,16)|
|(36,18)|(3,20)|(26,34)|(21,23)|(35,24)|(31,31)|(23,43)|(6,17)|(10,23)|(37,17)|
|(35,18)|(3,19)|(27,34)|(20,23)|(34,24)|(32,31)|(24,43)|(6,18)|(10,24)|(37,18)|
|(34,18)|(3,18)|(28,34)|(19,23)|(34,23)|(33,31)|(25,43)|(7,18)|(10,25)|(37,19)|
|(34,17)|(4,18)|(29,34)|(18,23)|(34,22)|(34,31)|(26,43)|(7,19)|(10,26)|(38,19)|
|(33,17)|(4,17)|(30,34)|(17,23)|(34,21)|(35,31)|(27,43)|(8,19)|(10,27)|(38,20)|
|(32,17)|(4,16)|(31,34)|(16,23)|(34,20)|(36,31)|(28,43)|(8,20)|(10,28)|(39,20)|
|(32,16)|(4,16)|(32,34)|(15,23)|(34,19)|(36,32)|(29,43)|(9,20)|(10,29)|(40,20)|
|(31,16)|(4,16)|(32,33)|(14,23)|(34,18)|(37,32)|(30,43)|(10,20)|(10,30)|(41,20)|
|(30,16)|(4,16)|(33,33)|(13,23)|(34,17)|(38,32)|(31,43)|(10,21)|(9,30)|(41,20)|
|(30,15)|(4,16)|(34,33)|(13,22)|(33,17)|(39,32)|(32,43)|(11,21)|(9,31)|(41,20)|
|(30,14)|(4,16)|(34,32)|(12,22)|(32,17)|(40,32)|(33,43)|(12,21)|(9,32)|(41,20)|
|(29,14)|(4,16)|(34,31)|(11,22)|(32,17)|(40,32)|(33,42)|(13,21)|(9,33)|(41,20)|
|(29,13)|(4,16)|(35,31)|(10,22)|(32,17)|(40,32)|(33,41)|(13,20)|(9,33)|(41,20)|
|(29,12)|(4,16)|(35,30)|(10,21)|(32,17)|(40,32)|(33,40)|(14,20)|(9,33)|(41,20)|
|(29,12)|(4,16)|(35,29)|(10,20)|(32,17)|(40,32)|(33,39)|(15,20)|(9,33)|(41,20)|
|(29,12)|(4,16)|(35,28)|(9,20)|(32,17)|(40,32)|(33,39)|(15,20)|(9,33)|(41,20)|
|(29,12)|(4,16)|(35,27)|(8,20)|(32,17)|(40,32)|(33,39)|(15,20)|(9,33)|(41,20)|
|(29,12)|(4,16)|(35,27)|(8,19)|(32,17)|(40,32)|(33,39)|(15,20)|(9,33)|(41,20)|
|(29,12)|(4,16)|(35,27)|(7,19)|(32,17)|(40,32)|(33,39)|(15,20)|(9,33)|(41,20)|
+SUCCESS+ (:

-----------> Finished the second forward A*star <-----------


########################################################################
************************************************************************

You solved the problem using the splitted Forward-Forward algorithm - both of the parts were solved using forward search solver

########################################################################
************************************************************************

The middle position of the plan from full Astar on all the agents together:
|(33,17)|(4,16)|(26,34)|(22,23)|(34,19)|(37,32)|(25,43)|(7,18)|(10,28)|(41,20)|
Here are the new caculated middle positions from the separeted single agents solutions:
|(36,19)|(3,21)|(25,34)|(22,23)|(36,24)|(31,30)|(22,43)|(6,16)|(10,22)|(37,16)|
Great, you executed the automated middle positions algorithm!!

#################################################
                Final Results!:
#################################################
---------------------------------------------------
Total cost full regular A*star = 262
Total cost Bi - Directional A* star = 262
Bi - Directional details:
Total cost starting half A* star = 134
Total cost reverse half A* star = 128
---------------------------------------------------
Total time full regular A*star = 5116
Total time Bi - Directional A* star = 5
Bi - Directional details:
Total time starting half A* star = 3
Total time reverse half A* star = 2
--------------------------------------------------
Total generated nodes full regular A*star = 10058
Total generated nodes Bi-Directional A* star = 505
Bi - Directional details:
Total generated nodes starting half A*star = 376
Total generated nodes reverse half A*star = 129
--------------------------------------------------
Total opened nodes full regular A*star = 3437750
Total opened nodes Bi-Directional A* star = 5787
Bi - Directional details:
Total opened nodes starting half A*star = 3315
Total opened nodes reverse half A*star = 2472
--------------------------------------------------
*********************THE END**************************