diff --git a/.gitignore b/.gitignore
index 86a9657..11cb3da 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,2 @@
-*.pro.user
\ No newline at end of file
+*.pro.user
+/Examples/*log*
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0b26471..b16c914 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -14,6 +14,7 @@ set(SOURCE_FILES
         isearch.cpp
         mission.cpp
         map.cpp
+        mdd.cpp
         dijkstra.cpp
         config.cpp
         astar.cpp
diff --git a/Examples/empty_log.xml b/Examples/empty_log.xml
deleted file mode 100644
index 2bf766a..0000000
--- a/Examples/empty_log.xml
+++ /dev/null
@@ -1,61 +0,0 @@
-<?xml version="1.0" ?>
-<root>
-    <map>
-        <width>16</width>
-        <height>16</height>
-        <grid>
-            <row>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</row>
-            <row>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</row>
-            <row>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</row>
-            <row>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</row>
-            <row>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</row>
-            <row>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</row>
-            <row>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</row>
-            <row>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</row>
-            <row>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</row>
-            <row>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</row>
-            <row>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</row>
-            <row>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</row>
-            <row>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</row>
-            <row>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</row>
-            <row>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</row>
-            <row>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</row>
-        </grid>
-    </map>
-    <options>
-        <algorithm>cbs</algorithm>
-        <agents_file>empty-16-16-random</agents_file>
-        <tasks_count>2</tasks_count>
-        <agents_range min="1" max="16"/>
-        <maxtime>1000</maxtime>
-        <with_cat>true</with_cat>
-        <with_perfect_h>false</with_perfect_h>
-        <with_card_conf>true</with_card_conf>
-        <pp_order>2</pp_order>
-        <parallelize_paths>true</parallelize_paths>
-        <single_execution>false</single_execution>
-        <logpath/>
-        <logfilename/>
-    </options>
-    <log>
-        <mapfilename>empty.xml</mapfilename>
-        <aggregated_results>
-            <result agents_count="1" success_count="2" makespan="12.5" flowtime="12.5" time="0"/>
-            <result agents_count="2" success_count="2" makespan="19.5" flowtime="31" time="0"/>
-            <result agents_count="3" success_count="2" makespan="19.5" flowtime="42.5" time="0"/>
-            <result agents_count="4" success_count="2" makespan="19.5" flowtime="56" time="0.00050000000000000001"/>
-            <result agents_count="5" success_count="2" makespan="19.5" flowtime="64" time="0.001"/>
-            <result agents_count="6" success_count="2" makespan="19.5" flowtime="77" time="0.0025000000000000001"/>
-            <result agents_count="7" success_count="2" makespan="19.5" flowtime="86.5" time="0.002"/>
-            <result agents_count="8" success_count="2" makespan="19.5" flowtime="97.5" time="0.0015"/>
-            <result agents_count="9" success_count="2" makespan="19.5" flowtime="110.5" time="0.0030000000000000001"/>
-            <result agents_count="10" success_count="2" makespan="19.5" flowtime="122" time="0.0035000000000000001"/>
-            <result agents_count="11" success_count="2" makespan="19.5" flowtime="128.5" time="0.0030000000000000001"/>
-            <result agents_count="12" success_count="2" makespan="19.5" flowtime="140.5" time="0.0035000000000000001"/>
-            <result agents_count="13" success_count="2" makespan="19.5" flowtime="148.5" time="0.0045000000000000005"/>
-            <result agents_count="14" success_count="2" makespan="19.5" flowtime="157" time="0.0060000000000000001"/>
-            <result agents_count="15" success_count="2" makespan="19.5" flowtime="169" time="0.0085000000000000006"/>
-            <result agents_count="16" success_count="1" makespan="21" flowtime="168" time="0.0040000000000000001"/>
-        </aggregated_results>
-    </log>
-</root>
diff --git a/Examples/empty_single_log.xml b/Examples/empty_single_log.xml
deleted file mode 100644
index df6f3dc..0000000
--- a/Examples/empty_single_log.xml
+++ /dev/null
@@ -1,261 +0,0 @@
-<?xml version="1.0" ?>
-<root>
-    <map>
-        <width>16</width>
-        <height>16</height>
-        <grid>
-            <row>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</row>
-            <row>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</row>
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-            <row>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</row>
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-            <row>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</row>
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-            <row>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</row>
-            <row>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</row>
-            <row>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</row>
-            <row>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</row>
-            <row>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</row>
-            <row>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</row>
-        </grid>
-    </map>
-    <options>
-        <algorithm>cbs</algorithm>
-        <agents_file>empty-16-16-random</agents_file>
-        <tasks_count>1</tasks_count>
-        <agents_range min="1" max="16"/>
-        <maxtime>1000</maxtime>
-        <with_cat>true</with_cat>
-        <with_card_conf>true</with_card_conf>
-        <with_perfect_h>false</with_perfect_h>
-        <pp_order>2</pp_order>
-        <parallelize_paths>true</parallelize_paths>
-        <single_execution>true</single_execution>
-        <logpath/>
-        <logfilename/>
-    </options>
-    <log>
-        <mapfilename>empty_single.xml</mapfilename>
-        <taskfilename>empty-16-16-random-1.xml</taskfilename>
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-                <section id="1" start.x="9" start.y="8" goal.x="9" goal.y="9" duration="1"/>
-                <section id="2" start.x="9" start.y="9" goal.x="9" goal.y="10" duration="1"/>
-                <section id="3" start.x="9" start.y="10" goal.x="10" goal.y="10" duration="1"/>
-                <section id="4" start.x="10" start.y="10" goal.x="11" goal.y="10" duration="1"/>
-                <section id="5" start.x="11" start.y="10" goal.x="12" goal.y="10" duration="1"/>
-                <section id="6" start.x="12" start.y="10" goal.x="12" goal.y="11" duration="1"/>
-                <section id="7" start.x="12" start.y="11" goal.x="12" goal.y="12" duration="1"/>
-                <section id="8" start.x="12" start.y="12" goal.x="12" goal.y="13" duration="1"/>
-            </path>
-        </agent>
-        <agent id="15" start.x="6" start.y="10" goal.x="14" goal.y="1">
-            <path pathfound="true">
-                <section id="0" start.x="6" start.y="10" goal.x="6" goal.y="9" duration="1"/>
-                <section id="1" start.x="6" start.y="9" goal.x="6" goal.y="8" duration="1"/>
-                <section id="2" start.x="6" start.y="8" goal.x="6" goal.y="7" duration="1"/>
-                <section id="3" start.x="6" start.y="7" goal.x="6" goal.y="6" duration="1"/>
-                <section id="4" start.x="6" start.y="6" goal.x="6" goal.y="5" duration="1"/>
-                <section id="5" start.x="6" start.y="5" goal.x="6" goal.y="4" duration="1"/>
-                <section id="6" start.x="6" start.y="4" goal.x="6" goal.y="3" duration="1"/>
-                <section id="7" start.x="6" start.y="3" goal.x="6" goal.y="2" duration="1"/>
-                <section id="8" start.x="6" start.y="2" goal.x="6" goal.y="1" duration="1"/>
-                <section id="9" start.x="6" start.y="1" goal.x="7" goal.y="1" duration="1"/>
-                <section id="10" start.x="7" start.y="1" goal.x="8" goal.y="1" duration="1"/>
-                <section id="11" start.x="8" start.y="1" goal.x="9" goal.y="1" duration="1"/>
-                <section id="12" start.x="9" start.y="1" goal.x="10" goal.y="1" duration="1"/>
-                <section id="13" start.x="10" start.y="1" goal.x="11" goal.y="1" duration="1"/>
-                <section id="14" start.x="11" start.y="1" goal.x="12" goal.y="1" duration="1"/>
-                <section id="15" start.x="12" start.y="1" goal.x="13" goal.y="1" duration="1"/>
-                <section id="16" start.x="13" start.y="1" goal.x="14" goal.y="1" duration="1"/>
-            </path>
-        </agent>
-    </log>
-</root>
diff --git a/ilogger.h b/ilogger.h
index e3c3d81..56f73a3 100644
--- a/ilogger.h
+++ b/ilogger.h
@@ -1,7 +1,7 @@
 #ifndef ILOGGER_H
 #define	ILOGGER_H
 #include "map.h"
-#include <node.h>
+#include "node.h"
 #include <unordered_map>
 #include <list>
 
diff --git a/multiagent_search_result.h b/multiagent_search_result.h
index 547c964..7231558 100644
--- a/multiagent_search_result.h
+++ b/multiagent_search_result.h
@@ -3,7 +3,7 @@
 
 #include <vector>
 #include "node.h"
-#include <agent_move.h>
+#include "agent_move.h"
 
 struct MultiagentSearchResult
 {