================================================================
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
13,2
4,3
15,3
5,4
16,4
6,5
17,5
7,6
18,6
8,7
19,7
9,8
20,8
10,9
21,9
12,11
23,11
13,12
24,12
14,13
25,13
15,14
26,14
16,15
27,15
17,16
28,16
18,17
19,18
29,18
20,19
30,19
21,20
31,20
22,21
32,21
24,23
33,23
25,24
34,24
26,25
35,25
27,26
36,26
28,27
37,28
30,29
39,29
31,30
40,30
32,31
41,31
42,32
34,33
44,33
35,34
45,34
36,35
46,35
47,36
38,37
49,37
39,38
50,38
40,39
51,39
41,40
52,40
42,41
53,41
43,42
54,42
45,44
56,44
46,45
57,45
47,46
58,46
48,47
49,48
50,49
59,49
51,50
60,50
52,51
61,51
53,52
62,52
54,53
55,54
63,54
57,56
65,56
58,57
66,57
67,58
60,59
70,59
61,60
71,60
62,61
72,61
73,62
64,63
75,63
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
75,74
76,75
86,75
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
96,85
87,86
98,86
89,88
90,89
100,89
91,90
101,90
92,91
102,91
93,92
103,92
94,93
104,93
95,94
105,94
96,95
106,95
97,96
107,96
98,97
108,97
99,98
109,98
101,100
111,100
102,101
112,101
103,102
113,102
104,103
114,103
105,104
115,104
106,105
116,105
107,106
117,106
108,107
118,107
109,108
119,108
110,109
120,109
112,111
123,111
113,112
124,112
114,113
125,113
115,114
126,114
116,115
127,115
117,116
128,116
118,117
119,118
120,119
129,119
121,120
130,120
22,10
55,43
64,55
76,64
87,76
99,87
110,99
121,110
131,121
123,122
124,123
125,124
126,125
127,126
128,127
130,129
131,130
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=132 |E|=225) [
Vertex: (id = 0) {1 11 }
Vertex: (id = 1) {0 2 12 }
Vertex: (id = 2) {1 13 }
Vertex: (id = 3) {4 15 }
Vertex: (id = 4) {3 5 16 }
Vertex: (id = 5) {4 6 17 }
Vertex: (id = 6) {5 7 18 }
Vertex: (id = 7) {6 8 19 }
Vertex: (id = 8) {7 9 20 }
Vertex: (id = 9) {8 10 21 }
Vertex: (id = 10) {9 22 }
Vertex: (id = 11) {0 12 23 }
Vertex: (id = 12) {1 11 13 24 }
Vertex: (id = 13) {2 12 14 25 }
Vertex: (id = 14) {13 15 26 }
Vertex: (id = 15) {3 14 16 27 }
Vertex: (id = 16) {4 15 17 28 }
Vertex: (id = 17) {5 16 18 }
Vertex: (id = 18) {6 17 19 29 }
Vertex: (id = 19) {7 18 20 30 }
Vertex: (id = 20) {8 19 21 31 }
Vertex: (id = 21) {9 20 22 32 }
Vertex: (id = 22) {21 10 }
Vertex: (id = 23) {11 24 33 }
Vertex: (id = 24) {12 23 25 34 }
Vertex: (id = 25) {13 24 26 35 }
Vertex: (id = 26) {14 25 27 36 }
Vertex: (id = 27) {15 26 28 }
Vertex: (id = 28) {16 27 37 }
Vertex: (id = 29) {18 30 39 }
Vertex: (id = 30) {19 29 31 40 }
Vertex: (id = 31) {20 30 32 41 }
Vertex: (id = 32) {21 31 42 }
Vertex: (id = 33) {23 34 44 }
Vertex: (id = 34) {24 33 35 45 }
Vertex: (id = 35) {25 34 36 46 }
Vertex: (id = 36) {26 35 47 }
Vertex: (id = 37) {28 38 49 }
Vertex: (id = 38) {37 39 50 }
Vertex: (id = 39) {29 38 40 51 }
Vertex: (id = 40) {30 39 41 52 }
Vertex: (id = 41) {31 40 42 53 }
Vertex: (id = 42) {32 41 43 54 }
Vertex: (id = 43) {42 55 }
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 }
Vertex: (id = 48) {47 49 }
Vertex: (id = 49) {37 48 50 59 }
Vertex: (id = 50) {38 49 51 60 }
Vertex: (id = 51) {39 50 52 61 }
Vertex: (id = 52) {40 51 53 62 }
Vertex: (id = 53) {41 52 54 }
Vertex: (id = 54) {42 53 55 63 }
Vertex: (id = 55) {54 43 64 }
Vertex: (id = 56) {44 57 65 }
Vertex: (id = 57) {45 56 58 66 }
Vertex: (id = 58) {46 57 67 }
Vertex: (id = 59) {49 60 70 }
Vertex: (id = 60) {50 59 61 71 }
Vertex: (id = 61) {51 60 62 72 }
Vertex: (id = 62) {52 61 73 }
Vertex: (id = 63) {54 64 75 }
Vertex: (id = 64) {63 55 76 }
Vertex: (id = 65) {56 66 77 }
Vertex: (id = 66) {57 65 67 78 }
Vertex: (id = 67) {58 66 68 79 }
Vertex: (id = 68) {67 69 80 }
Vertex: (id = 69) {68 70 81 }
Vertex: (id = 70) {59 69 71 82 }
Vertex: (id = 71) {60 70 72 83 }
Vertex: (id = 72) {61 71 73 84 }
Vertex: (id = 73) {62 72 74 85 }
Vertex: (id = 74) {73 75 }
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 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 96 }
Vertex: (id = 86) {75 87 98 }
Vertex: (id = 87) {86 76 99 }
Vertex: (id = 88) {77 89 }
Vertex: (id = 89) {78 88 90 100 }
Vertex: (id = 90) {79 89 91 101 }
Vertex: (id = 91) {80 90 92 102 }
Vertex: (id = 92) {81 91 93 103 }
Vertex: (id = 93) {82 92 94 104 }
Vertex: (id = 94) {83 93 95 105 }
Vertex: (id = 95) {84 94 96 106 }
Vertex: (id = 96) {85 95 97 107 }
Vertex: (id = 97) {96 98 108 }
Vertex: (id = 98) {86 97 99 109 }
Vertex: (id = 99) {98 87 110 }
Vertex: (id = 100) {89 101 111 }
Vertex: (id = 101) {90 100 102 112 }
Vertex: (id = 102) {91 101 103 113 }
Vertex: (id = 103) {92 102 104 114 }
Vertex: (id = 104) {93 103 105 115 }
Vertex: (id = 105) {94 104 106 116 }
Vertex: (id = 106) {95 105 107 117 }
Vertex: (id = 107) {96 106 108 118 }
Vertex: (id = 108) {97 107 109 119 }
Vertex: (id = 109) {98 108 110 120 }
Vertex: (id = 110) {109 99 121 }
Vertex: (id = 111) {100 112 123 }
Vertex: (id = 112) {101 111 113 124 }
Vertex: (id = 113) {102 112 114 125 }
Vertex: (id = 114) {103 113 115 126 }
Vertex: (id = 115) {104 114 116 127 }
Vertex: (id = 116) {105 115 117 128 }
Vertex: (id = 117) {106 116 118 }
Vertex: (id = 118) {107 117 119 }
Vertex: (id = 119) {108 118 120 129 }
Vertex: (id = 120) {109 119 121 130 }
Vertex: (id = 121) {120 110 131 }
Vertex: (id = 122) {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 }
Vertex: (id = 129) {119 130 }
Vertex: (id = 130) {120 129 131 }
Vertex: (id = 131) {121 130 }
Edge 0: 1 <-> 0
Edge 1: 11 <-> 0
Edge 2: 2 <-> 1
Edge 3: 12 <-> 1
Edge 4: 13 <-> 2
Edge 5: 4 <-> 3
Edge 6: 15 <-> 3
Edge 7: 5 <-> 4
Edge 8: 16 <-> 4
Edge 9: 6 <-> 5
Edge 10: 17 <-> 5
Edge 11: 7 <-> 6
Edge 12: 18 <-> 6
Edge 13: 8 <-> 7
Edge 14: 19 <-> 7
Edge 15: 9 <-> 8
Edge 16: 20 <-> 8
Edge 17: 10 <-> 9
Edge 18: 21 <-> 9
Edge 19: 12 <-> 11
Edge 20: 23 <-> 11
Edge 21: 13 <-> 12
Edge 22: 24 <-> 12
Edge 23: 14 <-> 13
Edge 24: 25 <-> 13
Edge 25: 15 <-> 14
Edge 26: 26 <-> 14
Edge 27: 16 <-> 15
Edge 28: 27 <-> 15
Edge 29: 17 <-> 16
Edge 30: 28 <-> 16
Edge 31: 18 <-> 17
Edge 32: 19 <-> 18
Edge 33: 29 <-> 18
Edge 34: 20 <-> 19
Edge 35: 30 <-> 19
Edge 36: 21 <-> 20
Edge 37: 31 <-> 20
Edge 38: 22 <-> 21
Edge 39: 32 <-> 21
Edge 40: 24 <-> 23
Edge 41: 33 <-> 23
Edge 42: 25 <-> 24
Edge 43: 34 <-> 24
Edge 44: 26 <-> 25
Edge 45: 35 <-> 25
Edge 46: 27 <-> 26
Edge 47: 36 <-> 26
Edge 48: 28 <-> 27
Edge 49: 37 <-> 28
Edge 50: 30 <-> 29
Edge 51: 39 <-> 29
Edge 52: 31 <-> 30
Edge 53: 40 <-> 30
Edge 54: 32 <-> 31
Edge 55: 41 <-> 31
Edge 56: 42 <-> 32
Edge 57: 34 <-> 33
Edge 58: 44 <-> 33
Edge 59: 35 <-> 34
Edge 60: 45 <-> 34
Edge 61: 36 <-> 35
Edge 62: 46 <-> 35
Edge 63: 47 <-> 36
Edge 64: 38 <-> 37
Edge 65: 49 <-> 37
Edge 66: 39 <-> 38
Edge 67: 50 <-> 38
Edge 68: 40 <-> 39
Edge 69: 51 <-> 39
Edge 70: 41 <-> 40
Edge 71: 52 <-> 40
Edge 72: 42 <-> 41
Edge 73: 53 <-> 41
Edge 74: 43 <-> 42
Edge 75: 54 <-> 42
Edge 76: 45 <-> 44
Edge 77: 56 <-> 44
Edge 78: 46 <-> 45
Edge 79: 57 <-> 45
Edge 80: 47 <-> 46
Edge 81: 58 <-> 46
Edge 82: 48 <-> 47
Edge 83: 49 <-> 48
Edge 84: 50 <-> 49
Edge 85: 59 <-> 49
Edge 86: 51 <-> 50
Edge 87: 60 <-> 50
Edge 88: 52 <-> 51
Edge 89: 61 <-> 51
Edge 90: 53 <-> 52
Edge 91: 62 <-> 52
Edge 92: 54 <-> 53
Edge 93: 55 <-> 54
Edge 94: 63 <-> 54
Edge 95: 57 <-> 56
Edge 96: 65 <-> 56
Edge 97: 58 <-> 57
Edge 98: 66 <-> 57
Edge 99: 67 <-> 58
Edge 100: 60 <-> 59
Edge 101: 70 <-> 59
Edge 102: 61 <-> 60
Edge 103: 71 <-> 60
Edge 104: 62 <-> 61
Edge 105: 72 <-> 61
Edge 106: 73 <-> 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: 80 <-> 68
Edge 117: 70 <-> 69
Edge 118: 81 <-> 69
Edge 119: 71 <-> 70
Edge 120: 82 <-> 70
Edge 121: 72 <-> 71
Edge 122: 83 <-> 71
Edge 123: 73 <-> 72
Edge 124: 84 <-> 72
Edge 125: 74 <-> 73
Edge 126: 85 <-> 73
Edge 127: 75 <-> 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: 80 <-> 79
Edge 135: 90 <-> 79
Edge 136: 81 <-> 80
Edge 137: 91 <-> 80
Edge 138: 82 <-> 81
Edge 139: 92 <-> 81
Edge 140: 83 <-> 82
Edge 141: 93 <-> 82
Edge 142: 84 <-> 83
Edge 143: 94 <-> 83
Edge 144: 85 <-> 84
Edge 145: 95 <-> 84
Edge 146: 96 <-> 85
Edge 147: 87 <-> 86
Edge 148: 98 <-> 86
Edge 149: 89 <-> 88
Edge 150: 90 <-> 89
Edge 151: 100 <-> 89
Edge 152: 91 <-> 90
Edge 153: 101 <-> 90
Edge 154: 92 <-> 91
Edge 155: 102 <-> 91
Edge 156: 93 <-> 92
Edge 157: 103 <-> 92
Edge 158: 94 <-> 93
Edge 159: 104 <-> 93
Edge 160: 95 <-> 94
Edge 161: 105 <-> 94
Edge 162: 96 <-> 95
Edge 163: 106 <-> 95
Edge 164: 97 <-> 96
Edge 165: 107 <-> 96
Edge 166: 98 <-> 97
Edge 167: 108 <-> 97
Edge 168: 99 <-> 98
Edge 169: 109 <-> 98
Edge 170: 101 <-> 100
Edge 171: 111 <-> 100
Edge 172: 102 <-> 101
Edge 173: 112 <-> 101
Edge 174: 103 <-> 102
Edge 175: 113 <-> 102
Edge 176: 104 <-> 103
Edge 177: 114 <-> 103
Edge 178: 105 <-> 104
Edge 179: 115 <-> 104
Edge 180: 106 <-> 105
Edge 181: 116 <-> 105
Edge 182: 107 <-> 106
Edge 183: 117 <-> 106
Edge 184: 108 <-> 107
Edge 185: 118 <-> 107
Edge 186: 109 <-> 108
Edge 187: 119 <-> 108
Edge 188: 110 <-> 109
Edge 189: 120 <-> 109
Edge 190: 112 <-> 111
Edge 191: 123 <-> 111
Edge 192: 113 <-> 112
Edge 193: 124 <-> 112
Edge 194: 114 <-> 113
Edge 195: 125 <-> 113
Edge 196: 115 <-> 114
Edge 197: 126 <-> 114
Edge 198: 116 <-> 115
Edge 199: 127 <-> 115
Edge 200: 117 <-> 116
Edge 201: 128 <-> 116
Edge 202: 118 <-> 117
Edge 203: 119 <-> 118
Edge 204: 120 <-> 119
Edge 205: 129 <-> 119
Edge 206: 121 <-> 120
Edge 207: 130 <-> 120
Edge 208: 22 <-> 10
Edge 209: 55 <-> 43
Edge 210: 64 <-> 55
Edge 211: 76 <-> 64
Edge 212: 87 <-> 76
Edge 213: 99 <-> 87
Edge 214: 110 <-> 99
Edge 215: 121 <-> 110
Edge 216: 131 <-> 121
Edge 217: 123 <-> 122
Edge 218: 124 <-> 123
Edge 219: 125 <-> 124
Edge 220: 126 <-> 125
Edge 221: 127 <-> 126
Edge 222: 128 <-> 127
Edge 223: 130 <-> 129
Edge 224: 131 <-> 130
]
Robot arrangement: (|R| = 3, |V| = 132) [
robot locations: {1#78 2#81 3#14 }
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 3#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 1#78 0#79 0#80 2#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 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 0#131 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
robot locations: {}
vertex occupancy: {}
]
Robot goal: (|R| = 3, |V| = 132) [
robot goals: {
1#{77}
2#{109}
3#{80}
}
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@{}
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@{}
68@{}
69@{}
70@{}
71@{}
72@{}
73@{}
74@{}
75@{}
76@{}
77@{1}
78@{}
79@{}
80@{3}
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@{2}
110@{}
111@{}
112@{}
113@{}
114@{}
115@{}
116@{}
117@{}
118@{}
119@{}
120@{}
121@{}
122@{}
123@{}
124@{}
125@{}
126@{}
127@{}
128@{}
129@{}
130@{}
131@{}
}
]
Solving layer: 2
Solving layer: 3
Solving layer: 4
Solving layer: 5
Solving layer: 6
Solving layer: 7
Solving layer: 8
Solving layer: 9
Computed optimal makespan:8
Makespan optimal solution:
Mulirobot solution: (|moves| = 23, paralellism = 2.875) [
Step 0: 1#78->66 2#81->82 3#14->26
Step 1: 1#66->57 2#82->83 3#26->25
Step 2: 1#57->45 2#83->84 3#25->35
Step 3: 1#45->44 2#84->85 3#35->46
Step 4: 2#85->96 3#46->58
Step 5: 1#44->56 2#96->97 3#58->67
Step 6: 1#56->65 2#97->98 3#67->68
Step 7: 1#65->77 2#98->109 3#68->80
]
Multirobot solution analysis: (
total makespan = 8
total distance = 9
total trajectory = 23
average parallelism = 2.875
average distance = 3.000
average trajectory = 7.667
parallelism distribution = [ 0 1 7 ]
distance distribution = [ 1 0 0 0 0 0 0 1 ]
trajectory distribution = [ 0 0 0 0 0 0 1 2 ]
)
Phase statistics (current phase = 'root_phase') [
Phase (name = 'root_phase') [
Total SAT solver calls = 8
Satisfiable SAT solver calls = 1
Unsatisfiable SAT solver calls = 7
Indeterminate SAT solver calls = 0
Move executions = 46
Produced CNF variables = 38464
Produced CNF clauses = 261613
Search steps = 0
Wall clock TIME (seconds) = 1.530
CPU/machine TIME (seconds) = 0.570
]
]
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