================================================================
reLOC 0.09-vegas : Multirobot Solution solver
(C) Copyright 2011-2013 Pavel Surynek
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Reading graph...
1,0
11,0
2,1
12,1
3,2
13,2
5,4
6,5
15,5
7,6
16,6
8,7
9,8
17,8
10,9
18,9
12,11
20,11
13,12
21,12
22,13
24,14
16,15
26,15
27,16
18,17
28,17
19,18
29,18
21,20
30,20
22,21
31,21
23,22
32,22
24,23
33,23
25,24
34,24
26,25
35,25
27,26
36,26
37,27
29,28
39,28
40,29
31,30
42,30
32,31
43,31
33,32
34,33
44,33
35,34
45,34
36,35
46,35
37,36
47,36
38,37
48,37
39,38
49,38
40,39
50,39
41,40
51,40
43,42
53,42
54,43
45,44
56,44
46,45
57,45
47,46
58,46
48,47
59,47
49,48
60,48
50,49
61,49
51,50
62,50
52,51
63,51
54,53
65,53
55,54
66,54
56,55
67,55
57,56
68,56
58,57
69,57
59,58
70,58
60,59
71,59
61,60
72,60
62,61
73,61
63,62
74,62
64,63
75,63
66,65
77,65
67,66
78,66
68,67
79,67
69,68
70,69
80,69
71,70
81,70
72,71
82,71
73,72
83,72
74,73
84,73
75,74
85,74
76,75
86,75
78,77
88,77
79,78
89,78
90,79
81,80
91,80
82,81
92,81
83,82
93,82
84,83
85,84
94,84
86,85
95,85
87,86
96,86
89,88
98,88
90,89
99,90
92,91
100,91
93,92
101,92
102,93
95,94
104,94
96,95
105,95
97,96
106,96
108,98
110,99
101,100
102,101
112,101
103,102
113,102
104,103
114,103
105,104
115,104
106,105
116,105
107,106
117,106
109,108
119,108
110,109
120,109
111,110
121,110
122,111
113,112
124,112
114,113
125,113
115,114
126,114
116,115
127,115
117,116
118,117
128,117
19,10
52,41
64,52
76,64
87,76
97,87
107,97
118,107
129,118
120,119
121,120
122,121
123,122
124,123
125,124
126,125
127,126
129,128
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=130 |E|=214) [
Vertex: (id = 0) {1 11 }
Vertex: (id = 1) {0 2 12 }
Vertex: (id = 2) {1 3 13 }
Vertex: (id = 3) {2 }
Vertex: (id = 4) {5 }
Vertex: (id = 5) {4 6 15 }
Vertex: (id = 6) {5 7 16 }
Vertex: (id = 7) {6 8 }
Vertex: (id = 8) {7 9 17 }
Vertex: (id = 9) {8 10 18 }
Vertex: (id = 10) {9 19 }
Vertex: (id = 11) {0 12 20 }
Vertex: (id = 12) {1 11 13 21 }
Vertex: (id = 13) {2 12 22 }
Vertex: (id = 14) {24 }
Vertex: (id = 15) {5 16 26 }
Vertex: (id = 16) {6 15 27 }
Vertex: (id = 17) {8 18 28 }
Vertex: (id = 18) {9 17 19 29 }
Vertex: (id = 19) {18 10 }
Vertex: (id = 20) {11 21 30 }
Vertex: (id = 21) {12 20 22 31 }
Vertex: (id = 22) {13 21 23 32 }
Vertex: (id = 23) {22 24 33 }
Vertex: (id = 24) {14 23 25 34 }
Vertex: (id = 25) {24 26 35 }
Vertex: (id = 26) {15 25 27 36 }
Vertex: (id = 27) {16 26 37 }
Vertex: (id = 28) {17 29 39 }
Vertex: (id = 29) {18 28 40 }
Vertex: (id = 30) {20 31 42 }
Vertex: (id = 31) {21 30 32 43 }
Vertex: (id = 32) {22 31 33 }
Vertex: (id = 33) {23 32 34 44 }
Vertex: (id = 34) {24 33 35 45 }
Vertex: (id = 35) {25 34 36 46 }
Vertex: (id = 36) {26 35 37 47 }
Vertex: (id = 37) {27 36 38 48 }
Vertex: (id = 38) {37 39 49 }
Vertex: (id = 39) {28 38 40 50 }
Vertex: (id = 40) {29 39 41 51 }
Vertex: (id = 41) {40 52 }
Vertex: (id = 42) {30 43 53 }
Vertex: (id = 43) {31 42 54 }
Vertex: (id = 44) {33 45 56 }
Vertex: (id = 45) {34 44 46 57 }
Vertex: (id = 46) {35 45 47 58 }
Vertex: (id = 47) {36 46 48 59 }
Vertex: (id = 48) {37 47 49 60 }
Vertex: (id = 49) {38 48 50 61 }
Vertex: (id = 50) {39 49 51 62 }
Vertex: (id = 51) {40 50 52 63 }
Vertex: (id = 52) {51 41 64 }
Vertex: (id = 53) {42 54 65 }
Vertex: (id = 54) {43 53 55 66 }
Vertex: (id = 55) {54 56 67 }
Vertex: (id = 56) {44 55 57 68 }
Vertex: (id = 57) {45 56 58 69 }
Vertex: (id = 58) {46 57 59 70 }
Vertex: (id = 59) {47 58 60 71 }
Vertex: (id = 60) {48 59 61 72 }
Vertex: (id = 61) {49 60 62 73 }
Vertex: (id = 62) {50 61 63 74 }
Vertex: (id = 63) {51 62 64 75 }
Vertex: (id = 64) {63 52 76 }
Vertex: (id = 65) {53 66 77 }
Vertex: (id = 66) {54 65 67 78 }
Vertex: (id = 67) {55 66 68 79 }
Vertex: (id = 68) {56 67 69 }
Vertex: (id = 69) {57 68 70 80 }
Vertex: (id = 70) {58 69 71 81 }
Vertex: (id = 71) {59 70 72 82 }
Vertex: (id = 72) {60 71 73 83 }
Vertex: (id = 73) {61 72 74 84 }
Vertex: (id = 74) {62 73 75 85 }
Vertex: (id = 75) {63 74 76 86 }
Vertex: (id = 76) {75 64 87 }
Vertex: (id = 77) {65 78 88 }
Vertex: (id = 78) {66 77 79 89 }
Vertex: (id = 79) {67 78 90 }
Vertex: (id = 80) {69 81 91 }
Vertex: (id = 81) {70 80 82 92 }
Vertex: (id = 82) {71 81 83 93 }
Vertex: (id = 83) {72 82 84 }
Vertex: (id = 84) {73 83 85 94 }
Vertex: (id = 85) {74 84 86 95 }
Vertex: (id = 86) {75 85 87 96 }
Vertex: (id = 87) {86 76 97 }
Vertex: (id = 88) {77 89 98 }
Vertex: (id = 89) {78 88 90 }
Vertex: (id = 90) {79 89 99 }
Vertex: (id = 91) {80 92 100 }
Vertex: (id = 92) {81 91 93 101 }
Vertex: (id = 93) {82 92 102 }
Vertex: (id = 94) {84 95 104 }
Vertex: (id = 95) {85 94 96 105 }
Vertex: (id = 96) {86 95 97 106 }
Vertex: (id = 97) {96 87 107 }
Vertex: (id = 98) {88 108 }
Vertex: (id = 99) {90 110 }
Vertex: (id = 100) {91 101 }
Vertex: (id = 101) {92 100 102 112 }
Vertex: (id = 102) {93 101 103 113 }
Vertex: (id = 103) {102 104 114 }
Vertex: (id = 104) {94 103 105 115 }
Vertex: (id = 105) {95 104 106 116 }
Vertex: (id = 106) {96 105 107 117 }
Vertex: (id = 107) {106 97 118 }
Vertex: (id = 108) {98 109 119 }
Vertex: (id = 109) {108 110 120 }
Vertex: (id = 110) {99 109 111 121 }
Vertex: (id = 111) {110 122 }
Vertex: (id = 112) {101 113 124 }
Vertex: (id = 113) {102 112 114 125 }
Vertex: (id = 114) {103 113 115 126 }
Vertex: (id = 115) {104 114 116 127 }
Vertex: (id = 116) {105 115 117 }
Vertex: (id = 117) {106 116 118 128 }
Vertex: (id = 118) {117 107 129 }
Vertex: (id = 119) {108 120 }
Vertex: (id = 120) {109 119 121 }
Vertex: (id = 121) {110 120 122 }
Vertex: (id = 122) {111 121 123 }
Vertex: (id = 123) {122 124 }
Vertex: (id = 124) {112 123 125 }
Vertex: (id = 125) {113 124 126 }
Vertex: (id = 126) {114 125 127 }
Vertex: (id = 127) {115 126 }
Vertex: (id = 128) {117 129 }
Vertex: (id = 129) {118 128 }
Edge 0: 1 <-> 0
Edge 1: 11 <-> 0
Edge 2: 2 <-> 1
Edge 3: 12 <-> 1
Edge 4: 3 <-> 2
Edge 5: 13 <-> 2
Edge 6: 5 <-> 4
Edge 7: 6 <-> 5
Edge 8: 15 <-> 5
Edge 9: 7 <-> 6
Edge 10: 16 <-> 6
Edge 11: 8 <-> 7
Edge 12: 9 <-> 8
Edge 13: 17 <-> 8
Edge 14: 10 <-> 9
Edge 15: 18 <-> 9
Edge 16: 12 <-> 11
Edge 17: 20 <-> 11
Edge 18: 13 <-> 12
Edge 19: 21 <-> 12
Edge 20: 22 <-> 13
Edge 21: 24 <-> 14
Edge 22: 16 <-> 15
Edge 23: 26 <-> 15
Edge 24: 27 <-> 16
Edge 25: 18 <-> 17
Edge 26: 28 <-> 17
Edge 27: 19 <-> 18
Edge 28: 29 <-> 18
Edge 29: 21 <-> 20
Edge 30: 30 <-> 20
Edge 31: 22 <-> 21
Edge 32: 31 <-> 21
Edge 33: 23 <-> 22
Edge 34: 32 <-> 22
Edge 35: 24 <-> 23
Edge 36: 33 <-> 23
Edge 37: 25 <-> 24
Edge 38: 34 <-> 24
Edge 39: 26 <-> 25
Edge 40: 35 <-> 25
Edge 41: 27 <-> 26
Edge 42: 36 <-> 26
Edge 43: 37 <-> 27
Edge 44: 29 <-> 28
Edge 45: 39 <-> 28
Edge 46: 40 <-> 29
Edge 47: 31 <-> 30
Edge 48: 42 <-> 30
Edge 49: 32 <-> 31
Edge 50: 43 <-> 31
Edge 51: 33 <-> 32
Edge 52: 34 <-> 33
Edge 53: 44 <-> 33
Edge 54: 35 <-> 34
Edge 55: 45 <-> 34
Edge 56: 36 <-> 35
Edge 57: 46 <-> 35
Edge 58: 37 <-> 36
Edge 59: 47 <-> 36
Edge 60: 38 <-> 37
Edge 61: 48 <-> 37
Edge 62: 39 <-> 38
Edge 63: 49 <-> 38
Edge 64: 40 <-> 39
Edge 65: 50 <-> 39
Edge 66: 41 <-> 40
Edge 67: 51 <-> 40
Edge 68: 43 <-> 42
Edge 69: 53 <-> 42
Edge 70: 54 <-> 43
Edge 71: 45 <-> 44
Edge 72: 56 <-> 44
Edge 73: 46 <-> 45
Edge 74: 57 <-> 45
Edge 75: 47 <-> 46
Edge 76: 58 <-> 46
Edge 77: 48 <-> 47
Edge 78: 59 <-> 47
Edge 79: 49 <-> 48
Edge 80: 60 <-> 48
Edge 81: 50 <-> 49
Edge 82: 61 <-> 49
Edge 83: 51 <-> 50
Edge 84: 62 <-> 50
Edge 85: 52 <-> 51
Edge 86: 63 <-> 51
Edge 87: 54 <-> 53
Edge 88: 65 <-> 53
Edge 89: 55 <-> 54
Edge 90: 66 <-> 54
Edge 91: 56 <-> 55
Edge 92: 67 <-> 55
Edge 93: 57 <-> 56
Edge 94: 68 <-> 56
Edge 95: 58 <-> 57
Edge 96: 69 <-> 57
Edge 97: 59 <-> 58
Edge 98: 70 <-> 58
Edge 99: 60 <-> 59
Edge 100: 71 <-> 59
Edge 101: 61 <-> 60
Edge 102: 72 <-> 60
Edge 103: 62 <-> 61
Edge 104: 73 <-> 61
Edge 105: 63 <-> 62
Edge 106: 74 <-> 62
Edge 107: 64 <-> 63
Edge 108: 75 <-> 63
Edge 109: 66 <-> 65
Edge 110: 77 <-> 65
Edge 111: 67 <-> 66
Edge 112: 78 <-> 66
Edge 113: 68 <-> 67
Edge 114: 79 <-> 67
Edge 115: 69 <-> 68
Edge 116: 70 <-> 69
Edge 117: 80 <-> 69
Edge 118: 71 <-> 70
Edge 119: 81 <-> 70
Edge 120: 72 <-> 71
Edge 121: 82 <-> 71
Edge 122: 73 <-> 72
Edge 123: 83 <-> 72
Edge 124: 74 <-> 73
Edge 125: 84 <-> 73
Edge 126: 75 <-> 74
Edge 127: 85 <-> 74
Edge 128: 76 <-> 75
Edge 129: 86 <-> 75
Edge 130: 78 <-> 77
Edge 131: 88 <-> 77
Edge 132: 79 <-> 78
Edge 133: 89 <-> 78
Edge 134: 90 <-> 79
Edge 135: 81 <-> 80
Edge 136: 91 <-> 80
Edge 137: 82 <-> 81
Edge 138: 92 <-> 81
Edge 139: 83 <-> 82
Edge 140: 93 <-> 82
Edge 141: 84 <-> 83
Edge 142: 85 <-> 84
Edge 143: 94 <-> 84
Edge 144: 86 <-> 85
Edge 145: 95 <-> 85
Edge 146: 87 <-> 86
Edge 147: 96 <-> 86
Edge 148: 89 <-> 88
Edge 149: 98 <-> 88
Edge 150: 90 <-> 89
Edge 151: 99 <-> 90
Edge 152: 92 <-> 91
Edge 153: 100 <-> 91
Edge 154: 93 <-> 92
Edge 155: 101 <-> 92
Edge 156: 102 <-> 93
Edge 157: 95 <-> 94
Edge 158: 104 <-> 94
Edge 159: 96 <-> 95
Edge 160: 105 <-> 95
Edge 161: 97 <-> 96
Edge 162: 106 <-> 96
Edge 163: 108 <-> 98
Edge 164: 110 <-> 99
Edge 165: 101 <-> 100
Edge 166: 102 <-> 101
Edge 167: 112 <-> 101
Edge 168: 103 <-> 102
Edge 169: 113 <-> 102
Edge 170: 104 <-> 103
Edge 171: 114 <-> 103
Edge 172: 105 <-> 104
Edge 173: 115 <-> 104
Edge 174: 106 <-> 105
Edge 175: 116 <-> 105
Edge 176: 107 <-> 106
Edge 177: 117 <-> 106
Edge 178: 109 <-> 108
Edge 179: 119 <-> 108
Edge 180: 110 <-> 109
Edge 181: 120 <-> 109
Edge 182: 111 <-> 110
Edge 183: 121 <-> 110
Edge 184: 122 <-> 111
Edge 185: 113 <-> 112
Edge 186: 124 <-> 112
Edge 187: 114 <-> 113
Edge 188: 125 <-> 113
Edge 189: 115 <-> 114
Edge 190: 126 <-> 114
Edge 191: 116 <-> 115
Edge 192: 127 <-> 115
Edge 193: 117 <-> 116
Edge 194: 118 <-> 117
Edge 195: 128 <-> 117
Edge 196: 19 <-> 10
Edge 197: 52 <-> 41
Edge 198: 64 <-> 52
Edge 199: 76 <-> 64
Edge 200: 87 <-> 76
Edge 201: 97 <-> 87
Edge 202: 107 <-> 97
Edge 203: 118 <-> 107
Edge 204: 129 <-> 118
Edge 205: 120 <-> 119
Edge 206: 121 <-> 120
Edge 207: 122 <-> 121
Edge 208: 123 <-> 122
Edge 209: 124 <-> 123
Edge 210: 125 <-> 124
Edge 211: 126 <-> 125
Edge 212: 127 <-> 126
Edge 213: 129 <-> 128
]
Robot arrangement: (|R| = 3, |V| = 130) [
robot locations: {1#118 2#12 3#124 }
vertex occupancy: {0#0 0#1 0#2 0#3 0#4 0#5 0#6 0#7 0#8 0#9 0#10 0#11 2#12 0#13 0#14 0#15 0#16 0#17 0#18 0#19 0#20 0#21 0#22 0#23 0#24 0#25 0#26 0#27 0#28 0#29 0#30 0#31 0#32 0#33 0#34 0#35 0#36 0#37 0#38 0#39 0#40 0#41 0#42 0#43 0#44 0#45 0#46 0#47 0#48 0#49 0#50 0#51 0#52 0#53 0#54 0#55 0#56 0#57 0#58 0#59 0#60 0#61 0#62 0#63 0#64 0#65 0#66 0#67 0#68 0#69 0#70 0#71 0#72 0#73 0#74 0#75 0#76 0#77 0#78 0#79 0#80 0#81 0#82 0#83 0#84 0#85 0#86 0#87 0#88 0#89 0#90 0#91 0#92 0#93 0#94 0#95 0#96 0#97 0#98 0#99 0#100 0#101 0#102 0#103 0#104 0#105 0#106 0#107 0#108 0#109 0#110 0#111 0#112 0#113 0#114 0#115 0#116 0#117 1#118 0#119 0#120 0#121 0#122 0#123 3#124 0#125 0#126 0#127 0#128 0#129 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
robot locations: {}
vertex occupancy: {}
]
Robot goal: (|R| = 3, |V| = 130) [
robot goals: {
1#{3}
2#{53}
3#{9}
}
vertex compatibilities: {
0@{}
1@{}
2@{}
3@{1}
4@{}
5@{}
6@{}
7@{}
8@{}
9@{3}
10@{}
11@{}
12@{}
13@{}
14@{}
15@{}
16@{}
17@{}
18@{}
19@{}
20@{}
21@{}
22@{}
23@{}
24@{}
25@{}
26@{}
27@{}
28@{}
29@{}
30@{}
31@{}
32@{}
33@{}
34@{}
35@{}
36@{}
37@{}
38@{}
39@{}
40@{}
41@{}
42@{}
43@{}
44@{}
45@{}
46@{}
47@{}
48@{}
49@{}
50@{}
51@{}
52@{}
53@{2}
54@{}
55@{}
56@{}
57@{}
58@{}
59@{}
60@{}
61@{}
62@{}
63@{}
64@{}
65@{}
66@{}
67@{}
68@{}
69@{}
70@{}
71@{}
72@{}
73@{}
74@{}
75@{}
76@{}
77@{}
78@{}
79@{}
80@{}
81@{}
82@{}
83@{}
84@{}
85@{}
86@{}
87@{}
88@{}
89@{}
90@{}
91@{}
92@{}
93@{}
94@{}
95@{}
96@{}
97@{}
98@{}
99@{}
100@{}
101@{}
102@{}
103@{}
104@{}
105@{}
106@{}
107@{}
108@{}
109@{}
110@{}
111@{}
112@{}
113@{}
114@{}
115@{}
116@{}
117@{}
118@{}
119@{}
120@{}
121@{}
122@{}
123@{}
124@{}
125@{}
126@{}
127@{}
128@{}
129@{}
}
]
Solving layer: 2
Solving layer: 3
Solving layer: 4
Solving layer: 5
Solving layer: 6
Solving layer: 7
Solving layer: 8
Solving layer: 9
Solving layer: 10
Solving layer: 11
Solving layer: 12
Solving layer: 13
Solving layer: 14
Solving layer: 15
Solving layer: 16
Solving layer: 17
Solving layer: 18
Solving layer: 19
Solving layer: 20
Solving layer: 21
Computed optimal makespan:20
Makespan optimal solution:
Mulirobot solution: (|moves| = 55, paralellism = 2.750) [
Step 0: 2#12->13 1#118->107 3#124->112
Step 1: 2#13->22 1#107->97 3#112->101
Step 2: 2#22->23 1#97->87 3#101->92
Step 3: 2#23->24 1#87->86 3#92->81
Step 4: 2#24->34 3#81->70 1#86->85
Step 5: 2#34->35 3#70->71 1#85->84
Step 6: 2#35->46 3#71->59 1#84->83
Step 7: 2#46->58 3#59->47 1#83->72
Step 8: 2#58->70 1#72->60
Step 9: 3#47->59 1#60->48 2#70->58
Step 10: 1#48->47 2#58->57 3#59->60
Step 11: 1#47->36 2#57->69 3#60->61
Step 12: 1#36->35
Step 13: 1#35->34 3#61->62 2#69->68
Step 14: 1#34->33 3#62->50
Step 15: 1#33->32 3#50->39
Step 16: 1#32->22 3#39->28 2#68->67
Step 17: 1#22->13 3#28->29 2#67->55
Step 18: 1#13->2 3#29->18 2#55->54
Step 19: 1#2->3 3#18->9 2#54->53
]
Multirobot solution analysis: (
total makespan = 20
total distance = 25
total trajectory = 55
average parallelism = 2.750
average distance = 8.333
average trajectory = 18.333
parallelism distribution = [ 1 3 16 ]
distance distribution = [ 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 ]
trajectory distribution = [ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 ]
)
Phase statistics (current phase = 'root_phase') [
Phase (name = 'root_phase') [
Total SAT solver calls = 20
Satisfiable SAT solver calls = 1
Unsatisfiable SAT solver calls = 19
Indeterminate SAT solver calls = 0
Move executions = 110
Produced CNF variables = 369790
Produced CNF clauses = 1862844
Search steps = 0
Wall clock TIME (seconds) = 59.163
CPU/machine TIME (seconds) = 28.230
]
]
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