================================================================
reLOC 0.09-vegas : Multirobot Solution solver
(C) Copyright 2011-2013 Pavel Surynek
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Reading graph...
1,0
2,1
11,1
3,2
12,2
4,3
5,4
6,5
13,5
7,6
14,6
8,7
15,7
9,8
16,9
12,11
20,11
21,12
14,13
24,13
15,14
25,14
26,15
17,16
28,16
18,17
29,17
20,19
31,19
21,20
22,21
32,21
23,22
33,22
24,23
34,23
25,24
35,24
26,25
36,25
27,26
37,26
28,27
38,27
29,28
39,28
30,29
40,29
42,31
33,32
44,32
34,33
45,33
35,34
46,34
36,35
47,35
37,36
48,36
38,37
49,37
39,38
50,38
40,39
51,39
41,40
52,40
43,42
54,42
44,43
55,43
45,44
56,44
46,45
57,45
47,46
48,47
58,47
49,48
59,48
50,49
60,49
51,50
61,50
52,51
62,51
53,52
63,52
55,54
56,55
65,55
57,56
66,56
67,57
59,58
69,58
60,59
70,59
61,60
71,60
62,61
63,62
72,62
64,63
73,63
66,65
75,65
67,66
76,66
68,67
69,68
77,68
70,69
78,69
71,70
79,70
80,71
73,72
82,72
74,73
76,75
85,75
86,76
78,77
88,77
79,78
80,79
89,79
81,80
90,80
82,81
91,81
92,82
85,84
95,84
86,85
96,85
87,86
97,86
88,87
98,87
99,88
90,89
101,89
91,90
102,90
92,91
93,92
103,92
94,93
104,93
96,95
106,95
97,96
107,96
98,97
99,98
108,98
100,99
109,99
101,100
102,101
110,101
111,102
104,103
113,103
105,104
114,104
107,106
116,106
117,107
109,108
119,109
111,110
121,110
112,111
113,112
122,112
114,113
123,113
115,114
124,114
18,10
30,18
41,30
53,41
64,53
74,64
83,74
94,83
105,94
115,105
125,115
117,116
118,117
120,119
121,120
123,122
124,123
125,124
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=126 |E|=200) [
Vertex: (id = 0) {1 }
Vertex: (id = 1) {0 2 11 }
Vertex: (id = 2) {1 3 12 }
Vertex: (id = 3) {2 4 }
Vertex: (id = 4) {3 5 }
Vertex: (id = 5) {4 6 13 }
Vertex: (id = 6) {5 7 14 }
Vertex: (id = 7) {6 8 15 }
Vertex: (id = 8) {7 9 }
Vertex: (id = 9) {8 16 }
Vertex: (id = 10) {18 }
Vertex: (id = 11) {1 12 20 }
Vertex: (id = 12) {2 11 21 }
Vertex: (id = 13) {5 14 24 }
Vertex: (id = 14) {6 13 15 25 }
Vertex: (id = 15) {7 14 26 }
Vertex: (id = 16) {9 17 28 }
Vertex: (id = 17) {16 18 29 }
Vertex: (id = 18) {17 10 30 }
Vertex: (id = 19) {20 31 }
Vertex: (id = 20) {11 19 21 }
Vertex: (id = 21) {12 20 22 32 }
Vertex: (id = 22) {21 23 33 }
Vertex: (id = 23) {22 24 34 }
Vertex: (id = 24) {13 23 25 35 }
Vertex: (id = 25) {14 24 26 36 }
Vertex: (id = 26) {15 25 27 37 }
Vertex: (id = 27) {26 28 38 }
Vertex: (id = 28) {16 27 29 39 }
Vertex: (id = 29) {17 28 30 40 }
Vertex: (id = 30) {29 18 41 }
Vertex: (id = 31) {19 42 }
Vertex: (id = 32) {21 33 44 }
Vertex: (id = 33) {22 32 34 45 }
Vertex: (id = 34) {23 33 35 46 }
Vertex: (id = 35) {24 34 36 47 }
Vertex: (id = 36) {25 35 37 48 }
Vertex: (id = 37) {26 36 38 49 }
Vertex: (id = 38) {27 37 39 50 }
Vertex: (id = 39) {28 38 40 51 }
Vertex: (id = 40) {29 39 41 52 }
Vertex: (id = 41) {40 30 53 }
Vertex: (id = 42) {31 43 54 }
Vertex: (id = 43) {42 44 55 }
Vertex: (id = 44) {32 43 45 56 }
Vertex: (id = 45) {33 44 46 57 }
Vertex: (id = 46) {34 45 47 }
Vertex: (id = 47) {35 46 48 58 }
Vertex: (id = 48) {36 47 49 59 }
Vertex: (id = 49) {37 48 50 60 }
Vertex: (id = 50) {38 49 51 61 }
Vertex: (id = 51) {39 50 52 62 }
Vertex: (id = 52) {40 51 53 63 }
Vertex: (id = 53) {52 41 64 }
Vertex: (id = 54) {42 55 }
Vertex: (id = 55) {43 54 56 65 }
Vertex: (id = 56) {44 55 57 66 }
Vertex: (id = 57) {45 56 67 }
Vertex: (id = 58) {47 59 69 }
Vertex: (id = 59) {48 58 60 70 }
Vertex: (id = 60) {49 59 61 71 }
Vertex: (id = 61) {50 60 62 }
Vertex: (id = 62) {51 61 63 72 }
Vertex: (id = 63) {52 62 64 73 }
Vertex: (id = 64) {63 53 74 }
Vertex: (id = 65) {55 66 75 }
Vertex: (id = 66) {56 65 67 76 }
Vertex: (id = 67) {57 66 68 }
Vertex: (id = 68) {67 69 77 }
Vertex: (id = 69) {58 68 70 78 }
Vertex: (id = 70) {59 69 71 79 }
Vertex: (id = 71) {60 70 80 }
Vertex: (id = 72) {62 73 82 }
Vertex: (id = 73) {63 72 74 }
Vertex: (id = 74) {73 64 83 }
Vertex: (id = 75) {65 76 85 }
Vertex: (id = 76) {66 75 86 }
Vertex: (id = 77) {68 78 88 }
Vertex: (id = 78) {69 77 79 }
Vertex: (id = 79) {70 78 80 89 }
Vertex: (id = 80) {71 79 81 90 }
Vertex: (id = 81) {80 82 91 }
Vertex: (id = 82) {72 81 92 }
Vertex: (id = 83) {74 94 }
Vertex: (id = 84) {85 95 }
Vertex: (id = 85) {75 84 86 96 }
Vertex: (id = 86) {76 85 87 97 }
Vertex: (id = 87) {86 88 98 }
Vertex: (id = 88) {77 87 99 }
Vertex: (id = 89) {79 90 101 }
Vertex: (id = 90) {80 89 91 102 }
Vertex: (id = 91) {81 90 92 }
Vertex: (id = 92) {82 91 93 103 }
Vertex: (id = 93) {92 94 104 }
Vertex: (id = 94) {93 83 105 }
Vertex: (id = 95) {84 96 106 }
Vertex: (id = 96) {85 95 97 107 }
Vertex: (id = 97) {86 96 98 }
Vertex: (id = 98) {87 97 99 108 }
Vertex: (id = 99) {88 98 100 109 }
Vertex: (id = 100) {99 101 }
Vertex: (id = 101) {89 100 102 110 }
Vertex: (id = 102) {90 101 111 }
Vertex: (id = 103) {92 104 113 }
Vertex: (id = 104) {93 103 105 114 }
Vertex: (id = 105) {104 94 115 }
Vertex: (id = 106) {95 107 116 }
Vertex: (id = 107) {96 106 117 }
Vertex: (id = 108) {98 109 }
Vertex: (id = 109) {99 108 119 }
Vertex: (id = 110) {101 111 121 }
Vertex: (id = 111) {102 110 112 }
Vertex: (id = 112) {111 113 122 }
Vertex: (id = 113) {103 112 114 123 }
Vertex: (id = 114) {104 113 115 124 }
Vertex: (id = 115) {114 105 125 }
Vertex: (id = 116) {106 117 }
Vertex: (id = 117) {107 116 118 }
Vertex: (id = 118) {117 }
Vertex: (id = 119) {109 120 }
Vertex: (id = 120) {119 121 }
Vertex: (id = 121) {110 120 }
Vertex: (id = 122) {112 123 }
Vertex: (id = 123) {113 122 124 }
Vertex: (id = 124) {114 123 125 }
Vertex: (id = 125) {115 124 }
Edge 0: 1 <-> 0
Edge 1: 2 <-> 1
Edge 2: 11 <-> 1
Edge 3: 3 <-> 2
Edge 4: 12 <-> 2
Edge 5: 4 <-> 3
Edge 6: 5 <-> 4
Edge 7: 6 <-> 5
Edge 8: 13 <-> 5
Edge 9: 7 <-> 6
Edge 10: 14 <-> 6
Edge 11: 8 <-> 7
Edge 12: 15 <-> 7
Edge 13: 9 <-> 8
Edge 14: 16 <-> 9
Edge 15: 12 <-> 11
Edge 16: 20 <-> 11
Edge 17: 21 <-> 12
Edge 18: 14 <-> 13
Edge 19: 24 <-> 13
Edge 20: 15 <-> 14
Edge 21: 25 <-> 14
Edge 22: 26 <-> 15
Edge 23: 17 <-> 16
Edge 24: 28 <-> 16
Edge 25: 18 <-> 17
Edge 26: 29 <-> 17
Edge 27: 20 <-> 19
Edge 28: 31 <-> 19
Edge 29: 21 <-> 20
Edge 30: 22 <-> 21
Edge 31: 32 <-> 21
Edge 32: 23 <-> 22
Edge 33: 33 <-> 22
Edge 34: 24 <-> 23
Edge 35: 34 <-> 23
Edge 36: 25 <-> 24
Edge 37: 35 <-> 24
Edge 38: 26 <-> 25
Edge 39: 36 <-> 25
Edge 40: 27 <-> 26
Edge 41: 37 <-> 26
Edge 42: 28 <-> 27
Edge 43: 38 <-> 27
Edge 44: 29 <-> 28
Edge 45: 39 <-> 28
Edge 46: 30 <-> 29
Edge 47: 40 <-> 29
Edge 48: 42 <-> 31
Edge 49: 33 <-> 32
Edge 50: 44 <-> 32
Edge 51: 34 <-> 33
Edge 52: 45 <-> 33
Edge 53: 35 <-> 34
Edge 54: 46 <-> 34
Edge 55: 36 <-> 35
Edge 56: 47 <-> 35
Edge 57: 37 <-> 36
Edge 58: 48 <-> 36
Edge 59: 38 <-> 37
Edge 60: 49 <-> 37
Edge 61: 39 <-> 38
Edge 62: 50 <-> 38
Edge 63: 40 <-> 39
Edge 64: 51 <-> 39
Edge 65: 41 <-> 40
Edge 66: 52 <-> 40
Edge 67: 43 <-> 42
Edge 68: 54 <-> 42
Edge 69: 44 <-> 43
Edge 70: 55 <-> 43
Edge 71: 45 <-> 44
Edge 72: 56 <-> 44
Edge 73: 46 <-> 45
Edge 74: 57 <-> 45
Edge 75: 47 <-> 46
Edge 76: 48 <-> 47
Edge 77: 58 <-> 47
Edge 78: 49 <-> 48
Edge 79: 59 <-> 48
Edge 80: 50 <-> 49
Edge 81: 60 <-> 49
Edge 82: 51 <-> 50
Edge 83: 61 <-> 50
Edge 84: 52 <-> 51
Edge 85: 62 <-> 51
Edge 86: 53 <-> 52
Edge 87: 63 <-> 52
Edge 88: 55 <-> 54
Edge 89: 56 <-> 55
Edge 90: 65 <-> 55
Edge 91: 57 <-> 56
Edge 92: 66 <-> 56
Edge 93: 67 <-> 57
Edge 94: 59 <-> 58
Edge 95: 69 <-> 58
Edge 96: 60 <-> 59
Edge 97: 70 <-> 59
Edge 98: 61 <-> 60
Edge 99: 71 <-> 60
Edge 100: 62 <-> 61
Edge 101: 63 <-> 62
Edge 102: 72 <-> 62
Edge 103: 64 <-> 63
Edge 104: 73 <-> 63
Edge 105: 66 <-> 65
Edge 106: 75 <-> 65
Edge 107: 67 <-> 66
Edge 108: 76 <-> 66
Edge 109: 68 <-> 67
Edge 110: 69 <-> 68
Edge 111: 77 <-> 68
Edge 112: 70 <-> 69
Edge 113: 78 <-> 69
Edge 114: 71 <-> 70
Edge 115: 79 <-> 70
Edge 116: 80 <-> 71
Edge 117: 73 <-> 72
Edge 118: 82 <-> 72
Edge 119: 74 <-> 73
Edge 120: 76 <-> 75
Edge 121: 85 <-> 75
Edge 122: 86 <-> 76
Edge 123: 78 <-> 77
Edge 124: 88 <-> 77
Edge 125: 79 <-> 78
Edge 126: 80 <-> 79
Edge 127: 89 <-> 79
Edge 128: 81 <-> 80
Edge 129: 90 <-> 80
Edge 130: 82 <-> 81
Edge 131: 91 <-> 81
Edge 132: 92 <-> 82
Edge 133: 85 <-> 84
Edge 134: 95 <-> 84
Edge 135: 86 <-> 85
Edge 136: 96 <-> 85
Edge 137: 87 <-> 86
Edge 138: 97 <-> 86
Edge 139: 88 <-> 87
Edge 140: 98 <-> 87
Edge 141: 99 <-> 88
Edge 142: 90 <-> 89
Edge 143: 101 <-> 89
Edge 144: 91 <-> 90
Edge 145: 102 <-> 90
Edge 146: 92 <-> 91
Edge 147: 93 <-> 92
Edge 148: 103 <-> 92
Edge 149: 94 <-> 93
Edge 150: 104 <-> 93
Edge 151: 96 <-> 95
Edge 152: 106 <-> 95
Edge 153: 97 <-> 96
Edge 154: 107 <-> 96
Edge 155: 98 <-> 97
Edge 156: 99 <-> 98
Edge 157: 108 <-> 98
Edge 158: 100 <-> 99
Edge 159: 109 <-> 99
Edge 160: 101 <-> 100
Edge 161: 102 <-> 101
Edge 162: 110 <-> 101
Edge 163: 111 <-> 102
Edge 164: 104 <-> 103
Edge 165: 113 <-> 103
Edge 166: 105 <-> 104
Edge 167: 114 <-> 104
Edge 168: 107 <-> 106
Edge 169: 116 <-> 106
Edge 170: 117 <-> 107
Edge 171: 109 <-> 108
Edge 172: 119 <-> 109
Edge 173: 111 <-> 110
Edge 174: 121 <-> 110
Edge 175: 112 <-> 111
Edge 176: 113 <-> 112
Edge 177: 122 <-> 112
Edge 178: 114 <-> 113
Edge 179: 123 <-> 113
Edge 180: 115 <-> 114
Edge 181: 124 <-> 114
Edge 182: 18 <-> 10
Edge 183: 30 <-> 18
Edge 184: 41 <-> 30
Edge 185: 53 <-> 41
Edge 186: 64 <-> 53
Edge 187: 74 <-> 64
Edge 188: 83 <-> 74
Edge 189: 94 <-> 83
Edge 190: 105 <-> 94
Edge 191: 115 <-> 105
Edge 192: 125 <-> 115
Edge 193: 117 <-> 116
Edge 194: 118 <-> 117
Edge 195: 120 <-> 119
Edge 196: 121 <-> 120
Edge 197: 123 <-> 122
Edge 198: 124 <-> 123
Edge 199: 125 <-> 124
]
Robot arrangement: (|R| = 54, |V| = 126) [
robot locations: {1#20 2#47 3#100 4#25 5#103 6#58 7#36 8#44 9#109 10#62 11#12 12#34 13#82 14#33 15#95 16#76 17#45 18#61 19#29 20#37 21#16 22#125 23#15 24#11 25#24 26#67 27#7 28#30 29#5 30#59 31#49 32#75 33#104 34#56 35#31 36#77 37#9 38#111 39#102 40#78 41#124 42#115 43#23 44#13 45#80 46#28 47#66 48#1 49#38 50#40 51#32 52#54 53#22 54#63 }
vertex occupancy: {0#0 48#1 0#2 0#3 0#4 29#5 0#6 27#7 0#8 37#9 0#10 24#11 11#12 44#13 0#14 23#15 21#16 0#17 0#18 0#19 1#20 0#21 53#22 43#23 25#24 4#25 0#26 0#27 46#28 19#29 28#30 35#31 51#32 14#33 12#34 0#35 7#36 20#37 49#38 0#39 50#40 0#41 0#42 0#43 8#44 17#45 0#46 2#47 0#48 31#49 0#50 0#51 0#52 0#53 52#54 0#55 34#56 0#57 6#58 30#59 0#60 18#61 10#62 54#63 0#64 0#65 47#66 26#67 0#68 0#69 0#70 0#71 0#72 0#73 0#74 32#75 16#76 36#77 40#78 0#79 45#80 0#81 13#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 15#95 0#96 0#97 0#98 0#99 3#100 0#101 39#102 5#103 33#104 0#105 0#106 0#107 0#108 9#109 0#110 38#111 0#112 0#113 0#114 42#115 0#116 0#117 0#118 0#119 0#120 0#121 0#122 0#123 41#124 22#125 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
robot locations: {}
vertex occupancy: {}
]
Robot goal: (|R| = 54, |V| = 126) [
robot goals: {
1#{16}
2#{120}
3#{64}
4#{102}
5#{7}
6#{42}
7#{71}
8#{119}
9#{47}
10#{38}
11#{5}
12#{67}
13#{33}
14#{107}
15#{49}
16#{20}
17#{125}
18#{94}
19#{112}
20#{93}
21#{0}
22#{88}
23#{43}
24#{21}
25#{104}
26#{13}
27#{22}
28#{24}
29#{29}
30#{48}
31#{98}
32#{8}
33#{58}
34#{115}
35#{92}
36#{31}
37#{23}
38#{56}
39#{72}
40#{12}
41#{95}
42#{11}
43#{53}
44#{111}
45#{59}
46#{116}
47#{62}
48#{96}
49#{17}
50#{46}
51#{108}
52#{34}
53#{15}
54#{99}
}
vertex compatibilities: {
0@{21}
1@{}
2@{}
3@{}
4@{}
5@{11}
6@{}
7@{5}
8@{32}
9@{}
10@{}
11@{42}
12@{40}
13@{26}
14@{}
15@{53}
16@{1}
17@{49}
18@{}
19@{}
20@{16}
21@{24}
22@{27}
23@{37}
24@{28}
25@{}
26@{}
27@{}
28@{}
29@{29}
30@{}
31@{36}
32@{}
33@{13}
34@{52}
35@{}
36@{}
37@{}
38@{10}
39@{}
40@{}
41@{}
42@{6}
43@{23}
44@{}
45@{}
46@{50}
47@{9}
48@{30}
49@{15}
50@{}
51@{}
52@{}
53@{43}
54@{}
55@{}
56@{38}
57@{}
58@{33}
59@{45}
60@{}
61@{}
62@{47}
63@{}
64@{3}
65@{}
66@{}
67@{12}
68@{}
69@{}
70@{}
71@{7}
72@{39}
73@{}
74@{}
75@{}
76@{}
77@{}
78@{}
79@{}
80@{}
81@{}
82@{}
83@{}
84@{}
85@{}
86@{}
87@{}
88@{22}
89@{}
90@{}
91@{}
92@{35}
93@{20}
94@{18}
95@{41}
96@{48}
97@{}
98@{31}
99@{54}
100@{}
101@{}
102@{4}
103@{}
104@{25}
105@{}
106@{}
107@{14}
108@{51}
109@{}
110@{}
111@{44}
112@{19}
113@{}
114@{}
115@{34}
116@{46}
117@{}
118@{}
119@{8}
120@{2}
121@{}
122@{}
123@{}
124@{}
125@{17}
}
]
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
Computed optimal makespan:-1
Makespan optimal solution:
Mulirobot solution: (|moves| = 0, paralellism = -nan) [
]
Multirobot solution analysis: (
total makespan = 0
total distance = 0
total trajectory = 0
average parallelism = -nan
average distance = 0.000
average trajectory = 0.000
parallelism distribution = [ ]
distance distribution = [ 53 ]
trajectory distribution = [ ]
)
Phase statistics (current phase = 'root_phase') [
Phase (name = 'root_phase') [
Total SAT solver calls = 18
Satisfiable SAT solver calls = 0
Unsatisfiable SAT solver calls = 17
Indeterminate SAT solver calls = 1
Move executions = 0
Produced CNF variables = 383688
Produced CNF clauses = 3841616
Search steps = 0
Wall clock TIME (seconds) = 263.363
CPU/machine TIME (seconds) = 263.160
]
]
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