================================================================
reLOC 0.09-vegas : Multirobot Solution solver
(C) Copyright 2011-2013 Pavel Surynek
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Reading graph...
1,0
12,0
2,1
3,2
13,2
4,3
14,3
5,4
15,4
6,5
16,5
7,6
17,6
8,7
18,7
9,8
19,8
10,9
20,9
11,10
21,10
23,12
14,13
25,13
15,14
26,14
16,15
27,15
17,16
28,16
18,17
29,17
19,18
30,18
20,19
31,19
21,20
32,20
22,21
33,21
24,23
35,23
25,24
36,24
26,25
37,25
27,26
38,26
28,27
29,28
39,28
30,29
31,30
40,30
32,31
41,31
33,32
34,33
42,33
36,35
44,35
37,36
45,36
38,37
46,37
47,38
49,39
41,40
51,40
52,41
43,42
54,42
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
53,52
64,52
54,53
65,53
55,54
66,54
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
65,64
76,64
66,65
77,65
67,66
69,68
79,68
70,69
80,69
71,70
72,71
81,71
73,72
82,72
74,73
83,73
75,74
76,75
84,75
77,76
85,76
80,79
88,79
82,81
90,81
83,82
91,82
92,83
85,84
93,84
94,85
87,86
96,86
97,88
90,89
99,89
91,90
100,90
92,91
101,92
94,93
103,93
95,94
104,94
96,95
105,95
106,96
98,97
108,97
99,98
109,98
100,99
110,99
111,100
102,101
113,101
103,102
114,102
104,103
115,103
105,104
116,104
106,105
117,105
107,106
118,106
109,108
120,108
110,109
121,109
111,110
122,110
112,111
123,111
113,112
114,113
124,113
115,114
125,114
116,115
126,115
117,116
127,116
118,117
128,117
119,118
129,118
22,11
34,22
43,34
55,43
67,55
78,67
87,78
119,107
130,119
121,120
122,121
123,122
125,124
126,125
127,126
128,127
129,128
130,129
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=131 |E|=215) [
Vertex: (id = 0) {1 12 }
Vertex: (id = 1) {0 2 }
Vertex: (id = 2) {1 3 13 }
Vertex: (id = 3) {2 4 14 }
Vertex: (id = 4) {3 5 15 }
Vertex: (id = 5) {4 6 16 }
Vertex: (id = 6) {5 7 17 }
Vertex: (id = 7) {6 8 18 }
Vertex: (id = 8) {7 9 19 }
Vertex: (id = 9) {8 10 20 }
Vertex: (id = 10) {9 11 21 }
Vertex: (id = 11) {10 22 }
Vertex: (id = 12) {0 23 }
Vertex: (id = 13) {2 14 25 }
Vertex: (id = 14) {3 13 15 26 }
Vertex: (id = 15) {4 14 16 27 }
Vertex: (id = 16) {5 15 17 28 }
Vertex: (id = 17) {6 16 18 29 }
Vertex: (id = 18) {7 17 19 30 }
Vertex: (id = 19) {8 18 20 31 }
Vertex: (id = 20) {9 19 21 32 }
Vertex: (id = 21) {10 20 22 33 }
Vertex: (id = 22) {21 11 34 }
Vertex: (id = 23) {12 24 35 }
Vertex: (id = 24) {23 25 36 }
Vertex: (id = 25) {13 24 26 37 }
Vertex: (id = 26) {14 25 27 38 }
Vertex: (id = 27) {15 26 28 }
Vertex: (id = 28) {16 27 29 39 }
Vertex: (id = 29) {17 28 30 }
Vertex: (id = 30) {18 29 31 40 }
Vertex: (id = 31) {19 30 32 41 }
Vertex: (id = 32) {20 31 33 }
Vertex: (id = 33) {21 32 34 42 }
Vertex: (id = 34) {33 22 43 }
Vertex: (id = 35) {23 36 44 }
Vertex: (id = 36) {24 35 37 45 }
Vertex: (id = 37) {25 36 38 46 }
Vertex: (id = 38) {26 37 47 }
Vertex: (id = 39) {28 49 }
Vertex: (id = 40) {30 41 51 }
Vertex: (id = 41) {31 40 52 }
Vertex: (id = 42) {33 43 54 }
Vertex: (id = 43) {42 34 55 }
Vertex: (id = 44) {35 45 56 }
Vertex: (id = 45) {36 44 46 57 }
Vertex: (id = 46) {37 45 47 58 }
Vertex: (id = 47) {38 46 48 59 }
Vertex: (id = 48) {47 49 60 }
Vertex: (id = 49) {39 48 50 61 }
Vertex: (id = 50) {49 51 62 }
Vertex: (id = 51) {40 50 52 63 }
Vertex: (id = 52) {41 51 53 64 }
Vertex: (id = 53) {52 54 65 }
Vertex: (id = 54) {42 53 55 66 }
Vertex: (id = 55) {54 43 67 }
Vertex: (id = 56) {44 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) {52 63 65 76 }
Vertex: (id = 65) {53 64 66 77 }
Vertex: (id = 66) {54 65 67 }
Vertex: (id = 67) {66 55 78 }
Vertex: (id = 68) {56 69 79 }
Vertex: (id = 69) {57 68 70 80 }
Vertex: (id = 70) {58 69 71 }
Vertex: (id = 71) {59 70 72 81 }
Vertex: (id = 72) {60 71 73 82 }
Vertex: (id = 73) {61 72 74 83 }
Vertex: (id = 74) {62 73 75 }
Vertex: (id = 75) {63 74 76 84 }
Vertex: (id = 76) {64 75 77 85 }
Vertex: (id = 77) {65 76 }
Vertex: (id = 78) {67 87 }
Vertex: (id = 79) {68 80 88 }
Vertex: (id = 80) {69 79 }
Vertex: (id = 81) {71 82 90 }
Vertex: (id = 82) {72 81 83 91 }
Vertex: (id = 83) {73 82 92 }
Vertex: (id = 84) {75 85 93 }
Vertex: (id = 85) {76 84 94 }
Vertex: (id = 86) {87 96 }
Vertex: (id = 87) {86 78 }
Vertex: (id = 88) {79 97 }
Vertex: (id = 89) {90 99 }
Vertex: (id = 90) {81 89 91 100 }
Vertex: (id = 91) {82 90 92 }
Vertex: (id = 92) {83 91 101 }
Vertex: (id = 93) {84 94 103 }
Vertex: (id = 94) {85 93 95 104 }
Vertex: (id = 95) {94 96 105 }
Vertex: (id = 96) {86 95 106 }
Vertex: (id = 97) {88 98 108 }
Vertex: (id = 98) {97 99 109 }
Vertex: (id = 99) {89 98 100 110 }
Vertex: (id = 100) {90 99 111 }
Vertex: (id = 101) {92 102 113 }
Vertex: (id = 102) {101 103 114 }
Vertex: (id = 103) {93 102 104 115 }
Vertex: (id = 104) {94 103 105 116 }
Vertex: (id = 105) {95 104 106 117 }
Vertex: (id = 106) {96 105 107 118 }
Vertex: (id = 107) {106 119 }
Vertex: (id = 108) {97 109 120 }
Vertex: (id = 109) {98 108 110 121 }
Vertex: (id = 110) {99 109 111 122 }
Vertex: (id = 111) {100 110 112 123 }
Vertex: (id = 112) {111 113 }
Vertex: (id = 113) {101 112 114 124 }
Vertex: (id = 114) {102 113 115 125 }
Vertex: (id = 115) {103 114 116 126 }
Vertex: (id = 116) {104 115 117 127 }
Vertex: (id = 117) {105 116 118 128 }
Vertex: (id = 118) {106 117 119 129 }
Vertex: (id = 119) {118 107 130 }
Vertex: (id = 120) {108 121 }
Vertex: (id = 121) {109 120 122 }
Vertex: (id = 122) {110 121 123 }
Vertex: (id = 123) {111 122 }
Vertex: (id = 124) {113 125 }
Vertex: (id = 125) {114 124 126 }
Vertex: (id = 126) {115 125 127 }
Vertex: (id = 127) {116 126 128 }
Vertex: (id = 128) {117 127 129 }
Vertex: (id = 129) {118 128 130 }
Vertex: (id = 130) {119 129 }
Edge 0: 1 <-> 0
Edge 1: 12 <-> 0
Edge 2: 2 <-> 1
Edge 3: 3 <-> 2
Edge 4: 13 <-> 2
Edge 5: 4 <-> 3
Edge 6: 14 <-> 3
Edge 7: 5 <-> 4
Edge 8: 15 <-> 4
Edge 9: 6 <-> 5
Edge 10: 16 <-> 5
Edge 11: 7 <-> 6
Edge 12: 17 <-> 6
Edge 13: 8 <-> 7
Edge 14: 18 <-> 7
Edge 15: 9 <-> 8
Edge 16: 19 <-> 8
Edge 17: 10 <-> 9
Edge 18: 20 <-> 9
Edge 19: 11 <-> 10
Edge 20: 21 <-> 10
Edge 21: 23 <-> 12
Edge 22: 14 <-> 13
Edge 23: 25 <-> 13
Edge 24: 15 <-> 14
Edge 25: 26 <-> 14
Edge 26: 16 <-> 15
Edge 27: 27 <-> 15
Edge 28: 17 <-> 16
Edge 29: 28 <-> 16
Edge 30: 18 <-> 17
Edge 31: 29 <-> 17
Edge 32: 19 <-> 18
Edge 33: 30 <-> 18
Edge 34: 20 <-> 19
Edge 35: 31 <-> 19
Edge 36: 21 <-> 20
Edge 37: 32 <-> 20
Edge 38: 22 <-> 21
Edge 39: 33 <-> 21
Edge 40: 24 <-> 23
Edge 41: 35 <-> 23
Edge 42: 25 <-> 24
Edge 43: 36 <-> 24
Edge 44: 26 <-> 25
Edge 45: 37 <-> 25
Edge 46: 27 <-> 26
Edge 47: 38 <-> 26
Edge 48: 28 <-> 27
Edge 49: 29 <-> 28
Edge 50: 39 <-> 28
Edge 51: 30 <-> 29
Edge 52: 31 <-> 30
Edge 53: 40 <-> 30
Edge 54: 32 <-> 31
Edge 55: 41 <-> 31
Edge 56: 33 <-> 32
Edge 57: 34 <-> 33
Edge 58: 42 <-> 33
Edge 59: 36 <-> 35
Edge 60: 44 <-> 35
Edge 61: 37 <-> 36
Edge 62: 45 <-> 36
Edge 63: 38 <-> 37
Edge 64: 46 <-> 37
Edge 65: 47 <-> 38
Edge 66: 49 <-> 39
Edge 67: 41 <-> 40
Edge 68: 51 <-> 40
Edge 69: 52 <-> 41
Edge 70: 43 <-> 42
Edge 71: 54 <-> 42
Edge 72: 45 <-> 44
Edge 73: 56 <-> 44
Edge 74: 46 <-> 45
Edge 75: 57 <-> 45
Edge 76: 47 <-> 46
Edge 77: 58 <-> 46
Edge 78: 48 <-> 47
Edge 79: 59 <-> 47
Edge 80: 49 <-> 48
Edge 81: 60 <-> 48
Edge 82: 50 <-> 49
Edge 83: 61 <-> 49
Edge 84: 51 <-> 50
Edge 85: 62 <-> 50
Edge 86: 52 <-> 51
Edge 87: 63 <-> 51
Edge 88: 53 <-> 52
Edge 89: 64 <-> 52
Edge 90: 54 <-> 53
Edge 91: 65 <-> 53
Edge 92: 55 <-> 54
Edge 93: 66 <-> 54
Edge 94: 57 <-> 56
Edge 95: 68 <-> 56
Edge 96: 58 <-> 57
Edge 97: 69 <-> 57
Edge 98: 59 <-> 58
Edge 99: 70 <-> 58
Edge 100: 60 <-> 59
Edge 101: 71 <-> 59
Edge 102: 61 <-> 60
Edge 103: 72 <-> 60
Edge 104: 62 <-> 61
Edge 105: 73 <-> 61
Edge 106: 63 <-> 62
Edge 107: 74 <-> 62
Edge 108: 64 <-> 63
Edge 109: 75 <-> 63
Edge 110: 65 <-> 64
Edge 111: 76 <-> 64
Edge 112: 66 <-> 65
Edge 113: 77 <-> 65
Edge 114: 67 <-> 66
Edge 115: 69 <-> 68
Edge 116: 79 <-> 68
Edge 117: 70 <-> 69
Edge 118: 80 <-> 69
Edge 119: 71 <-> 70
Edge 120: 72 <-> 71
Edge 121: 81 <-> 71
Edge 122: 73 <-> 72
Edge 123: 82 <-> 72
Edge 124: 74 <-> 73
Edge 125: 83 <-> 73
Edge 126: 75 <-> 74
Edge 127: 76 <-> 75
Edge 128: 84 <-> 75
Edge 129: 77 <-> 76
Edge 130: 85 <-> 76
Edge 131: 80 <-> 79
Edge 132: 88 <-> 79
Edge 133: 82 <-> 81
Edge 134: 90 <-> 81
Edge 135: 83 <-> 82
Edge 136: 91 <-> 82
Edge 137: 92 <-> 83
Edge 138: 85 <-> 84
Edge 139: 93 <-> 84
Edge 140: 94 <-> 85
Edge 141: 87 <-> 86
Edge 142: 96 <-> 86
Edge 143: 97 <-> 88
Edge 144: 90 <-> 89
Edge 145: 99 <-> 89
Edge 146: 91 <-> 90
Edge 147: 100 <-> 90
Edge 148: 92 <-> 91
Edge 149: 101 <-> 92
Edge 150: 94 <-> 93
Edge 151: 103 <-> 93
Edge 152: 95 <-> 94
Edge 153: 104 <-> 94
Edge 154: 96 <-> 95
Edge 155: 105 <-> 95
Edge 156: 106 <-> 96
Edge 157: 98 <-> 97
Edge 158: 108 <-> 97
Edge 159: 99 <-> 98
Edge 160: 109 <-> 98
Edge 161: 100 <-> 99
Edge 162: 110 <-> 99
Edge 163: 111 <-> 100
Edge 164: 102 <-> 101
Edge 165: 113 <-> 101
Edge 166: 103 <-> 102
Edge 167: 114 <-> 102
Edge 168: 104 <-> 103
Edge 169: 115 <-> 103
Edge 170: 105 <-> 104
Edge 171: 116 <-> 104
Edge 172: 106 <-> 105
Edge 173: 117 <-> 105
Edge 174: 107 <-> 106
Edge 175: 118 <-> 106
Edge 176: 109 <-> 108
Edge 177: 120 <-> 108
Edge 178: 110 <-> 109
Edge 179: 121 <-> 109
Edge 180: 111 <-> 110
Edge 181: 122 <-> 110
Edge 182: 112 <-> 111
Edge 183: 123 <-> 111
Edge 184: 113 <-> 112
Edge 185: 114 <-> 113
Edge 186: 124 <-> 113
Edge 187: 115 <-> 114
Edge 188: 125 <-> 114
Edge 189: 116 <-> 115
Edge 190: 126 <-> 115
Edge 191: 117 <-> 116
Edge 192: 127 <-> 116
Edge 193: 118 <-> 117
Edge 194: 128 <-> 117
Edge 195: 119 <-> 118
Edge 196: 129 <-> 118
Edge 197: 22 <-> 11
Edge 198: 34 <-> 22
Edge 199: 43 <-> 34
Edge 200: 55 <-> 43
Edge 201: 67 <-> 55
Edge 202: 78 <-> 67
Edge 203: 87 <-> 78
Edge 204: 119 <-> 107
Edge 205: 130 <-> 119
Edge 206: 121 <-> 120
Edge 207: 122 <-> 121
Edge 208: 123 <-> 122
Edge 209: 125 <-> 124
Edge 210: 126 <-> 125
Edge 211: 127 <-> 126
Edge 212: 128 <-> 127
Edge 213: 129 <-> 128
Edge 214: 130 <-> 129
]
Robot arrangement: (|R| = 4, |V| = 131) [
robot locations: {1#26 2#115 3#37 4#31 }
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 0#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 1#26 0#27 0#28 0#29 0#30 4#31 0#32 0#33 0#34 0#35 0#36 3#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 2#115 0#116 0#117 0#118 0#119 0#120 0#121 0#122 0#123 0#124 0#125 0#126 0#127 0#128 0#129 0#130 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
robot locations: {}
vertex occupancy: {}
]
Robot goal: (|R| = 4, |V| = 131) [
robot goals: {
1#{90}
2#{32}
3#{67}
4#{76}
}
vertex compatibilities: {
0@{}
1@{}
2@{}
3@{}
4@{}
5@{}
6@{}
7@{}
8@{}
9@{}
10@{}
11@{}
12@{}
13@{}
14@{}
15@{}
16@{}
17@{}
18@{}
19@{}
20@{}
21@{}
22@{}
23@{}
24@{}
25@{}
26@{}
27@{}
28@{}
29@{}
30@{}
31@{}
32@{2}
33@{}
34@{}
35@{}
36@{}
37@{}
38@{}
39@{}
40@{}
41@{}
42@{}
43@{}
44@{}
45@{}
46@{}
47@{}
48@{}
49@{}
50@{}
51@{}
52@{}
53@{}
54@{}
55@{}
56@{}
57@{}
58@{}
59@{}
60@{}
61@{}
62@{}
63@{}
64@{}
65@{}
66@{}
67@{3}
68@{}
69@{}
70@{}
71@{}
72@{}
73@{}
74@{}
75@{}
76@{4}
77@{}
78@{}
79@{}
80@{}
81@{}
82@{}
83@{}
84@{}
85@{}
86@{}
87@{}
88@{}
89@{}
90@{1}
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@{}
130@{}
}
]
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
Computed optimal makespan:11
Makespan optimal solution:
Mulirobot solution: (|moves| = 41, paralellism = 3.727) [
Step 0: 1#26->14 4#31->41 3#37->46 2#115->116
Step 1: 4#41->52 3#46->47 2#116->104
Step 2: 1#14->26 3#47->48 4#52->51 2#104->94
Step 3: 1#26->14 3#48->49 4#51->63 2#94->85
Step 4: 1#14->26 3#49->50 4#63->62 2#85->76
Step 5: 1#26->38 3#50->51 4#62->74 2#76->64
Step 6: 1#38->47 3#51->63 2#64->52 4#74->73
Step 7: 1#47->59 2#52->41 3#63->64
Step 8: 1#59->71 3#64->65 4#73->74
Step 9: 2#41->31 3#65->66 1#71->81 4#74->75
Step 10: 2#31->32 3#66->67 4#75->76 1#81->90
]
Multirobot solution analysis: (
total makespan = 11
total distance = 27
total trajectory = 41
average parallelism = 3.727
average distance = 6.750
average trajectory = 10.250
parallelism distribution = [ 0 0 3 8 ]
distance distribution = [ 0 0 0 0 0 1 0 0 0 1 1 ]
trajectory distribution = [ 0 0 0 0 0 0 0 0 0 3 1 ]
)
Phase statistics (current phase = 'root_phase') [
Phase (name = 'root_phase') [
Total SAT solver calls = 11
Satisfiable SAT solver calls = 1
Unsatisfiable SAT solver calls = 10
Indeterminate SAT solver calls = 0
Move executions = 82
Produced CNF variables = 130482
Produced CNF clauses = 761857
Search steps = 0
Wall clock TIME (seconds) = 8.675
CPU/machine TIME (seconds) = 4.260
]
]
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