function Sol = heuristic(Rx,Ry,Rz,Sol,n)
%Proposed heuristic based obstacle avoidance approach: Refer onenote
global Comp

kx = cell2mat(Rx(:,3));
ky = cell2mat(Ry(:,3));
kz = cell2mat(Rz(:,3));

for i = 1:size(kx,1)
    Fxy = kx(i,:).* ky;
    Case3a = find(~any(Fxy,2));
    Case3b = find(any(Fxy==2 | Fxy==1,2));
    Case3c = find(any(Fxy>2,2) & ~any(Fxy==2 | Fxy==1,2));
    
    if ~isempty(Case3a)
        Sol{n,1} =  Rx(i,1); % 1elem
        Sol{n,2} =  Ry(Case3a,1); % >1 elem
        Sol{n,3} =  Rz(:,1); % >1 elem
        
        Comp = [Comp; toc size(Sol{n,1},1)*size(Sol{n,2},1)*size(Sol{n,3},1) 2.1];
        
        n = n+1;
        
        %             Ry(Case3a,:) = [];
        %             ky(Case3a,:) = [];
    end
    
    if ~isempty(Case3c)
        for ix = 1:length(Case3c)
            On = find(Fxy(ix,:)>2);
            flg = intersect_pair3(Rx{i,2},Ry{Case3c(ix),2},Rz,On,2);
            if flg
                Sol{n,1} =  Rx(i,1);
                Sol{n,2} =  Ry(Case3c(ix),1);
                Sol{n,3} =  Rz(:,1);
                
                Comp = [Comp; toc size(Sol{n,1},1)*size(Sol{n,2},1)*size(Sol{n,3},1) 2.2];
        
                
                n = n+1;
                
                %                     Ry(Case3c(ix),:) = [];
                %                     ky(Case3c(ix),:) = [];
            else
                Case3b = [Case3b;Case3c(ix)];
            end
        end
    end
    
    if ~isempty(Case3b)
        for ix = 1:length(Case3b)
            Fxyz = Fxy(Case3b(ix),:).* kz;
            Case4a = find(~any(Fxyz,2));
            if ~isempty(Case4a)
                Sol{n,1} =  Rx(i,1);
                Sol{n,2} =  Ry(Case3b(ix),1);
                Sol{n,3} =  Rz(Case4a,1);
                
                Comp = [Comp; toc size(Sol{n,1},1)*size(Sol{n,2},1)*size(Sol{n,3},1) 3.1];
        
                
                n = n+1;
                
                %                     Rz(Case4a,:) = [];
                %                     kz(Case4a,:) = [];
            end
            
            Case4c = find(any(Fxyz>2,2) & ~any(Fxyz==2 | Fxyz==1,2));
            if ~isempty(Case4c)
                for iy = 1:length(Case4c)
                    On = find(Fxyz(iy,:)>2);
                    flg1 = intersect_pair3(Rx{i,2},Ry{Case3b(ix),2},Rz{Case4c(iy),2},On,3);
                    if flg1
                        Sol{n,1} =  Rx(i,1);
                        Sol{n,2} =  Ry(Case3b(ix),1);
                        Sol{n,3} =  Rz(Case4c(iy),1);
        
                        Comp = [Comp; toc size(Sol{n,1},1)*size(Sol{n,2},1)*size(Sol{n,3},1) 3.2];
        
                        
                        n = n+1;
                        
                    end
                end
            end
        end
    end
end
end