1. we use the same method to run the input: OptimizeMakespan.java small_000_10x10_20_10.instance.json MotionViewer small_000_10x10_20_10.instance.json small_000_10x10_20_10_makespan.json 2. the main function is: Multiagent_Planning.java Agent.java Map.java AugementSolution.java AugmentSolution.java the others are auxiliary classes or experimental methods 3. we define N = 1, S = 2, W = 3, E = 4 4. Some results are in the solution, we didn't test all the instance, most of them are so large that they will take a lot of time.