================================================================
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
3,2
12,2
4,3
13,3
5,4
14,4
6,5
15,5
7,6
16,6
8,7
17,7
9,8
18,8
19,9
22,11
13,12
24,12
14,13
25,13
15,14
16,15
26,15
17,16
27,16
18,17
28,17
19,18
29,18
20,19
30,19
21,20
31,20
23,22
24,23
33,23
25,24
34,24
35,25
27,26
37,26
28,27
38,27
29,28
39,28
30,29
40,29
31,30
41,30
32,31
42,31
34,33
45,33
35,34
36,35
46,35
37,36
47,36
38,37
48,37
39,38
49,38
40,39
50,39
41,40
51,40
42,41
52,41
43,42
53,42
45,44
55,44
56,45
47,46
48,47
58,47
49,48
50,49
59,49
51,50
60,50
52,51
53,52
61,52
54,53
56,55
63,55
57,56
64,56
65,57
67,58
60,59
69,59
70,60
72,61
64,63
75,63
65,64
76,64
66,65
77,65
67,66
78,66
68,67
79,67
69,68
80,68
70,69
81,69
71,70
82,70
72,71
83,71
73,72
84,72
74,73
85,73
76,75
86,75
77,76
87,76
78,77
88,77
79,78
89,78
80,79
90,79
81,80
91,80
82,81
92,81
83,82
93,82
84,83
94,83
85,84
95,84
87,86
97,86
88,87
98,87
89,88
99,88
90,89
91,90
100,90
92,91
101,91
93,92
94,93
102,93
95,94
103,95
98,97
106,97
99,98
107,98
108,99
101,100
110,100
111,101
113,102
104,103
115,103
105,104
116,104
107,106
118,106
108,107
119,107
109,108
120,108
110,109
121,109
111,110
122,110
112,111
123,111
113,112
124,112
114,113
125,113
115,114
126,114
116,115
127,115
117,116
128,116
21,10
32,21
43,32
54,43
62,54
74,62
105,96
117,105
129,117
119,118
120,119
121,120
122,121
123,122
124,123
125,124
126,125
127,126
128,127
129,128
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=130 |E|=211) [
Vertex: (id = 0) {1 11 }
Vertex: (id = 1) {0 2 }
Vertex: (id = 2) {1 3 12 }
Vertex: (id = 3) {2 4 13 }
Vertex: (id = 4) {3 5 14 }
Vertex: (id = 5) {4 6 15 }
Vertex: (id = 6) {5 7 16 }
Vertex: (id = 7) {6 8 17 }
Vertex: (id = 8) {7 9 18 }
Vertex: (id = 9) {8 19 }
Vertex: (id = 10) {21 }
Vertex: (id = 11) {0 22 }
Vertex: (id = 12) {2 13 24 }
Vertex: (id = 13) {3 12 14 25 }
Vertex: (id = 14) {4 13 15 }
Vertex: (id = 15) {5 14 16 26 }
Vertex: (id = 16) {6 15 17 27 }
Vertex: (id = 17) {7 16 18 28 }
Vertex: (id = 18) {8 17 19 29 }
Vertex: (id = 19) {9 18 20 30 }
Vertex: (id = 20) {19 21 31 }
Vertex: (id = 21) {20 10 32 }
Vertex: (id = 22) {11 23 }
Vertex: (id = 23) {22 24 33 }
Vertex: (id = 24) {12 23 25 34 }
Vertex: (id = 25) {13 24 35 }
Vertex: (id = 26) {15 27 37 }
Vertex: (id = 27) {16 26 28 38 }
Vertex: (id = 28) {17 27 29 39 }
Vertex: (id = 29) {18 28 30 40 }
Vertex: (id = 30) {19 29 31 41 }
Vertex: (id = 31) {20 30 32 42 }
Vertex: (id = 32) {31 21 43 }
Vertex: (id = 33) {23 34 45 }
Vertex: (id = 34) {24 33 35 }
Vertex: (id = 35) {25 34 36 46 }
Vertex: (id = 36) {35 37 47 }
Vertex: (id = 37) {26 36 38 48 }
Vertex: (id = 38) {27 37 39 49 }
Vertex: (id = 39) {28 38 40 50 }
Vertex: (id = 40) {29 39 41 51 }
Vertex: (id = 41) {30 40 42 52 }
Vertex: (id = 42) {31 41 43 53 }
Vertex: (id = 43) {42 32 54 }
Vertex: (id = 44) {45 55 }
Vertex: (id = 45) {33 44 56 }
Vertex: (id = 46) {35 47 }
Vertex: (id = 47) {36 46 48 58 }
Vertex: (id = 48) {37 47 49 }
Vertex: (id = 49) {38 48 50 59 }
Vertex: (id = 50) {39 49 51 60 }
Vertex: (id = 51) {40 50 52 }
Vertex: (id = 52) {41 51 53 61 }
Vertex: (id = 53) {42 52 54 }
Vertex: (id = 54) {53 43 62 }
Vertex: (id = 55) {44 56 63 }
Vertex: (id = 56) {45 55 57 64 }
Vertex: (id = 57) {56 65 }
Vertex: (id = 58) {47 67 }
Vertex: (id = 59) {49 60 69 }
Vertex: (id = 60) {50 59 70 }
Vertex: (id = 61) {52 72 }
Vertex: (id = 62) {54 74 }
Vertex: (id = 63) {55 64 75 }
Vertex: (id = 64) {56 63 65 76 }
Vertex: (id = 65) {57 64 66 77 }
Vertex: (id = 66) {65 67 78 }
Vertex: (id = 67) {58 66 68 79 }
Vertex: (id = 68) {67 69 80 }
Vertex: (id = 69) {59 68 70 81 }
Vertex: (id = 70) {60 69 71 82 }
Vertex: (id = 71) {70 72 83 }
Vertex: (id = 72) {61 71 73 84 }
Vertex: (id = 73) {72 74 85 }
Vertex: (id = 74) {73 62 }
Vertex: (id = 75) {63 76 86 }
Vertex: (id = 76) {64 75 77 87 }
Vertex: (id = 77) {65 76 78 88 }
Vertex: (id = 78) {66 77 79 89 }
Vertex: (id = 79) {67 78 80 90 }
Vertex: (id = 80) {68 79 81 91 }
Vertex: (id = 81) {69 80 82 92 }
Vertex: (id = 82) {70 81 83 93 }
Vertex: (id = 83) {71 82 84 94 }
Vertex: (id = 84) {72 83 85 95 }
Vertex: (id = 85) {73 84 }
Vertex: (id = 86) {75 87 97 }
Vertex: (id = 87) {76 86 88 98 }
Vertex: (id = 88) {77 87 89 99 }
Vertex: (id = 89) {78 88 90 }
Vertex: (id = 90) {79 89 91 100 }
Vertex: (id = 91) {80 90 92 101 }
Vertex: (id = 92) {81 91 93 }
Vertex: (id = 93) {82 92 94 102 }
Vertex: (id = 94) {83 93 95 }
Vertex: (id = 95) {84 94 103 }
Vertex: (id = 96) {105 }
Vertex: (id = 97) {86 98 106 }
Vertex: (id = 98) {87 97 99 107 }
Vertex: (id = 99) {88 98 108 }
Vertex: (id = 100) {90 101 110 }
Vertex: (id = 101) {91 100 111 }
Vertex: (id = 102) {93 113 }
Vertex: (id = 103) {95 104 115 }
Vertex: (id = 104) {103 105 116 }
Vertex: (id = 105) {104 96 117 }
Vertex: (id = 106) {97 107 118 }
Vertex: (id = 107) {98 106 108 119 }
Vertex: (id = 108) {99 107 109 120 }
Vertex: (id = 109) {108 110 121 }
Vertex: (id = 110) {100 109 111 122 }
Vertex: (id = 111) {101 110 112 123 }
Vertex: (id = 112) {111 113 124 }
Vertex: (id = 113) {102 112 114 125 }
Vertex: (id = 114) {113 115 126 }
Vertex: (id = 115) {103 114 116 127 }
Vertex: (id = 116) {104 115 117 128 }
Vertex: (id = 117) {116 105 129 }
Vertex: (id = 118) {106 119 }
Vertex: (id = 119) {107 118 120 }
Vertex: (id = 120) {108 119 121 }
Vertex: (id = 121) {109 120 122 }
Vertex: (id = 122) {110 121 123 }
Vertex: (id = 123) {111 122 124 }
Vertex: (id = 124) {112 123 125 }
Vertex: (id = 125) {113 124 126 }
Vertex: (id = 126) {114 125 127 }
Vertex: (id = 127) {115 126 128 }
Vertex: (id = 128) {116 127 129 }
Vertex: (id = 129) {117 128 }
Edge 0: 1 <-> 0
Edge 1: 11 <-> 0
Edge 2: 2 <-> 1
Edge 3: 3 <-> 2
Edge 4: 12 <-> 2
Edge 5: 4 <-> 3
Edge 6: 13 <-> 3
Edge 7: 5 <-> 4
Edge 8: 14 <-> 4
Edge 9: 6 <-> 5
Edge 10: 15 <-> 5
Edge 11: 7 <-> 6
Edge 12: 16 <-> 6
Edge 13: 8 <-> 7
Edge 14: 17 <-> 7
Edge 15: 9 <-> 8
Edge 16: 18 <-> 8
Edge 17: 19 <-> 9
Edge 18: 22 <-> 11
Edge 19: 13 <-> 12
Edge 20: 24 <-> 12
Edge 21: 14 <-> 13
Edge 22: 25 <-> 13
Edge 23: 15 <-> 14
Edge 24: 16 <-> 15
Edge 25: 26 <-> 15
Edge 26: 17 <-> 16
Edge 27: 27 <-> 16
Edge 28: 18 <-> 17
Edge 29: 28 <-> 17
Edge 30: 19 <-> 18
Edge 31: 29 <-> 18
Edge 32: 20 <-> 19
Edge 33: 30 <-> 19
Edge 34: 21 <-> 20
Edge 35: 31 <-> 20
Edge 36: 23 <-> 22
Edge 37: 24 <-> 23
Edge 38: 33 <-> 23
Edge 39: 25 <-> 24
Edge 40: 34 <-> 24
Edge 41: 35 <-> 25
Edge 42: 27 <-> 26
Edge 43: 37 <-> 26
Edge 44: 28 <-> 27
Edge 45: 38 <-> 27
Edge 46: 29 <-> 28
Edge 47: 39 <-> 28
Edge 48: 30 <-> 29
Edge 49: 40 <-> 29
Edge 50: 31 <-> 30
Edge 51: 41 <-> 30
Edge 52: 32 <-> 31
Edge 53: 42 <-> 31
Edge 54: 34 <-> 33
Edge 55: 45 <-> 33
Edge 56: 35 <-> 34
Edge 57: 36 <-> 35
Edge 58: 46 <-> 35
Edge 59: 37 <-> 36
Edge 60: 47 <-> 36
Edge 61: 38 <-> 37
Edge 62: 48 <-> 37
Edge 63: 39 <-> 38
Edge 64: 49 <-> 38
Edge 65: 40 <-> 39
Edge 66: 50 <-> 39
Edge 67: 41 <-> 40
Edge 68: 51 <-> 40
Edge 69: 42 <-> 41
Edge 70: 52 <-> 41
Edge 71: 43 <-> 42
Edge 72: 53 <-> 42
Edge 73: 45 <-> 44
Edge 74: 55 <-> 44
Edge 75: 56 <-> 45
Edge 76: 47 <-> 46
Edge 77: 48 <-> 47
Edge 78: 58 <-> 47
Edge 79: 49 <-> 48
Edge 80: 50 <-> 49
Edge 81: 59 <-> 49
Edge 82: 51 <-> 50
Edge 83: 60 <-> 50
Edge 84: 52 <-> 51
Edge 85: 53 <-> 52
Edge 86: 61 <-> 52
Edge 87: 54 <-> 53
Edge 88: 56 <-> 55
Edge 89: 63 <-> 55
Edge 90: 57 <-> 56
Edge 91: 64 <-> 56
Edge 92: 65 <-> 57
Edge 93: 67 <-> 58
Edge 94: 60 <-> 59
Edge 95: 69 <-> 59
Edge 96: 70 <-> 60
Edge 97: 72 <-> 61
Edge 98: 64 <-> 63
Edge 99: 75 <-> 63
Edge 100: 65 <-> 64
Edge 101: 76 <-> 64
Edge 102: 66 <-> 65
Edge 103: 77 <-> 65
Edge 104: 67 <-> 66
Edge 105: 78 <-> 66
Edge 106: 68 <-> 67
Edge 107: 79 <-> 67
Edge 108: 69 <-> 68
Edge 109: 80 <-> 68
Edge 110: 70 <-> 69
Edge 111: 81 <-> 69
Edge 112: 71 <-> 70
Edge 113: 82 <-> 70
Edge 114: 72 <-> 71
Edge 115: 83 <-> 71
Edge 116: 73 <-> 72
Edge 117: 84 <-> 72
Edge 118: 74 <-> 73
Edge 119: 85 <-> 73
Edge 120: 76 <-> 75
Edge 121: 86 <-> 75
Edge 122: 77 <-> 76
Edge 123: 87 <-> 76
Edge 124: 78 <-> 77
Edge 125: 88 <-> 77
Edge 126: 79 <-> 78
Edge 127: 89 <-> 78
Edge 128: 80 <-> 79
Edge 129: 90 <-> 79
Edge 130: 81 <-> 80
Edge 131: 91 <-> 80
Edge 132: 82 <-> 81
Edge 133: 92 <-> 81
Edge 134: 83 <-> 82
Edge 135: 93 <-> 82
Edge 136: 84 <-> 83
Edge 137: 94 <-> 83
Edge 138: 85 <-> 84
Edge 139: 95 <-> 84
Edge 140: 87 <-> 86
Edge 141: 97 <-> 86
Edge 142: 88 <-> 87
Edge 143: 98 <-> 87
Edge 144: 89 <-> 88
Edge 145: 99 <-> 88
Edge 146: 90 <-> 89
Edge 147: 91 <-> 90
Edge 148: 100 <-> 90
Edge 149: 92 <-> 91
Edge 150: 101 <-> 91
Edge 151: 93 <-> 92
Edge 152: 94 <-> 93
Edge 153: 102 <-> 93
Edge 154: 95 <-> 94
Edge 155: 103 <-> 95
Edge 156: 98 <-> 97
Edge 157: 106 <-> 97
Edge 158: 99 <-> 98
Edge 159: 107 <-> 98
Edge 160: 108 <-> 99
Edge 161: 101 <-> 100
Edge 162: 110 <-> 100
Edge 163: 111 <-> 101
Edge 164: 113 <-> 102
Edge 165: 104 <-> 103
Edge 166: 115 <-> 103
Edge 167: 105 <-> 104
Edge 168: 116 <-> 104
Edge 169: 107 <-> 106
Edge 170: 118 <-> 106
Edge 171: 108 <-> 107
Edge 172: 119 <-> 107
Edge 173: 109 <-> 108
Edge 174: 120 <-> 108
Edge 175: 110 <-> 109
Edge 176: 121 <-> 109
Edge 177: 111 <-> 110
Edge 178: 122 <-> 110
Edge 179: 112 <-> 111
Edge 180: 123 <-> 111
Edge 181: 113 <-> 112
Edge 182: 124 <-> 112
Edge 183: 114 <-> 113
Edge 184: 125 <-> 113
Edge 185: 115 <-> 114
Edge 186: 126 <-> 114
Edge 187: 116 <-> 115
Edge 188: 127 <-> 115
Edge 189: 117 <-> 116
Edge 190: 128 <-> 116
Edge 191: 21 <-> 10
Edge 192: 32 <-> 21
Edge 193: 43 <-> 32
Edge 194: 54 <-> 43
Edge 195: 62 <-> 54
Edge 196: 74 <-> 62
Edge 197: 105 <-> 96
Edge 198: 117 <-> 105
Edge 199: 129 <-> 117
Edge 200: 119 <-> 118
Edge 201: 120 <-> 119
Edge 202: 121 <-> 120
Edge 203: 122 <-> 121
Edge 204: 123 <-> 122
Edge 205: 124 <-> 123
Edge 206: 125 <-> 124
Edge 207: 126 <-> 125
Edge 208: 127 <-> 126
Edge 209: 128 <-> 127
Edge 210: 129 <-> 128
]
Robot arrangement: (|R| = 70, |V| = 130) [
robot locations: {1#125 2#43 3#67 4#58 5#84 6#1 7#80 8#108 9#15 10#0 11#54 12#97 13#78 14#23 15#7 16#93 17#69 18#38 19#87 20#105 21#117 22#6 23#83 24#55 25#103 26#91 27#92 28#89 29#116 30#35 31#22 32#4 33#109 34#53 35#110 36#66 37#94 38#126 39#17 40#14 41#64 42#34 43#28 44#128 45#79 46#101 47#86 48#3 49#12 50#50 51#39 52#65 53#82 54#42 55#63 56#127 57#118 58#107 59#72 60#71 61#100 62#98 63#41 64#57 65#9 66#26 67#16 68#18 69#13 70#46 }
vertex occupancy: {10#0 6#1 0#2 48#3 32#4 0#5 22#6 15#7 0#8 65#9 0#10 0#11 49#12 69#13 40#14 9#15 67#16 39#17 68#18 0#19 0#20 0#21 31#22 14#23 0#24 0#25 66#26 0#27 43#28 0#29 0#30 0#31 0#32 0#33 42#34 30#35 0#36 0#37 18#38 51#39 0#40 63#41 54#42 2#43 0#44 0#45 70#46 0#47 0#48 0#49 50#50 0#51 0#52 34#53 11#54 24#55 0#56 64#57 4#58 0#59 0#60 0#61 0#62 55#63 41#64 52#65 36#66 3#67 0#68 17#69 0#70 60#71 59#72 0#73 0#74 0#75 0#76 0#77 13#78 45#79 7#80 0#81 53#82 23#83 5#84 0#85 47#86 19#87 0#88 28#89 0#90 26#91 27#92 16#93 37#94 0#95 0#96 12#97 62#98 0#99 61#100 46#101 0#102 25#103 0#104 20#105 0#106 58#107 8#108 33#109 35#110 0#111 0#112 0#113 0#114 0#115 29#116 21#117 57#118 0#119 0#120 0#121 0#122 0#123 0#124 1#125 38#126 56#127 44#128 0#129 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
robot locations: {}
vertex occupancy: {}
]
Robot goal: (|R| = 70, |V| = 130) [
robot goals: {
1#{97}
2#{18}
3#{95}
4#{58}
5#{93}
6#{86}
7#{20}
8#{34}
9#{10}
10#{122}
11#{9}
12#{106}
13#{91}
14#{104}
15#{112}
16#{63}
17#{123}
18#{72}
19#{99}
20#{78}
21#{40}
22#{62}
23#{7}
24#{71}
25#{80}
26#{14}
27#{51}
28#{31}
29#{23}
30#{47}
31#{126}
32#{50}
33#{101}
34#{88}
35#{42}
36#{129}
37#{70}
38#{49}
39#{75}
40#{92}
41#{120}
42#{74}
43#{77}
44#{59}
45#{8}
46#{116}
47#{90}
48#{61}
49#{124}
50#{125}
51#{127}
52#{65}
53#{6}
54#{96}
55#{107}
56#{22}
57#{53}
58#{27}
59#{17}
60#{32}
61#{44}
62#{43}
63#{98}
64#{121}
65#{81}
66#{103}
67#{19}
68#{66}
69#{21}
70#{87}
}
vertex compatibilities: {
0@{}
1@{}
2@{}
3@{}
4@{}
5@{}
6@{53}
7@{23}
8@{45}
9@{11}
10@{9}
11@{}
12@{}
13@{}
14@{26}
15@{}
16@{}
17@{59}
18@{2}
19@{67}
20@{7}
21@{69}
22@{56}
23@{29}
24@{}
25@{}
26@{}
27@{58}
28@{}
29@{}
30@{}
31@{28}
32@{60}
33@{}
34@{8}
35@{}
36@{}
37@{}
38@{}
39@{}
40@{21}
41@{}
42@{35}
43@{62}
44@{61}
45@{}
46@{}
47@{30}
48@{}
49@{38}
50@{32}
51@{27}
52@{}
53@{57}
54@{}
55@{}
56@{}
57@{}
58@{4}
59@{44}
60@{}
61@{48}
62@{22}
63@{16}
64@{}
65@{52}
66@{68}
67@{}
68@{}
69@{}
70@{37}
71@{24}
72@{18}
73@{}
74@{42}
75@{39}
76@{}
77@{43}
78@{20}
79@{}
80@{25}
81@{65}
82@{}
83@{}
84@{}
85@{}
86@{6}
87@{70}
88@{34}
89@{}
90@{47}
91@{13}
92@{40}
93@{5}
94@{}
95@{3}
96@{54}
97@{1}
98@{63}
99@{19}
100@{}
101@{33}
102@{}
103@{66}
104@{14}
105@{}
106@{12}
107@{55}
108@{}
109@{}
110@{}
111@{}
112@{15}
113@{}
114@{}
115@{}
116@{46}
117@{}
118@{}
119@{}
120@{41}
121@{64}
122@{10}
123@{17}
124@{49}
125@{50}
126@{31}
127@{51}
128@{}
129@{36}
}
]
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
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 = [ 69 ]
trajectory distribution = [ ]
)
Phase statistics (current phase = 'root_phase') [
Phase (name = 'root_phase') [
Total SAT solver calls = 17
Satisfiable SAT solver calls = 0
Unsatisfiable SAT solver calls = 16
Indeterminate SAT solver calls = 1
Move executions = 0
Produced CNF variables = 382092
Produced CNF clauses = 5277646
Search steps = 0
Wall clock TIME (seconds) = 268.280
CPU/machine TIME (seconds) = 268.100
]
]
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