================================================================
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
8,7
17,7
9,8
18,8
10,9
19,9
11,10
20,10
22,12
14,13
24,13
15,14
25,14
16,15
26,15
27,16
18,17
29,17
19,18
30,18
20,19
31,19
21,20
32,20
23,22
34,22
24,23
25,24
35,24
26,25
36,25
27,26
28,27
29,28
37,28
30,29
38,29
31,30
32,31
39,31
33,32
40,32
42,34
36,35
44,35
38,37
47,37
48,38
40,39
50,39
41,40
51,40
43,42
53,42
44,43
54,43
55,44
46,45
57,45
47,46
58,46
48,47
59,47
49,48
60,48
50,49
51,50
52,51
61,51
54,53
55,54
63,54
56,55
64,55
57,56
65,56
58,57
66,57
59,58
67,58
60,59
68,59
62,61
64,63
73,63
65,64
74,64
66,65
75,65
67,66
76,66
68,67
77,67
78,68
70,69
80,69
81,70
73,72
84,72
74,73
85,73
75,74
86,74
76,75
87,75
77,76
88,76
78,77
89,77
79,78
80,79
90,79
81,80
91,80
82,81
92,81
83,82
93,82
85,84
95,84
86,85
96,85
87,86
97,86
88,87
98,87
89,88
99,88
100,89
91,90
102,90
92,91
103,91
93,92
104,92
94,93
105,93
96,95
107,95
97,96
108,96
98,97
109,97
99,98
110,98
100,99
111,99
101,100
112,100
102,101
113,101
103,102
114,102
104,103
115,103
105,104
116,104
106,105
117,105
108,107
118,107
109,108
119,108
110,109
120,109
111,110
121,110
112,111
122,111
113,112
123,112
114,113
115,114
124,114
116,115
125,115
117,116
126,116
127,117
21,11
33,21
41,33
52,41
62,52
71,62
83,71
94,83
106,94
119,118
120,119
121,120
122,121
123,122
125,124
126,125
127,126
128,127
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=129 |E|=209) [
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 }
Vertex: (id = 7) {6 8 17 }
Vertex: (id = 8) {7 9 18 }
Vertex: (id = 9) {8 10 19 }
Vertex: (id = 10) {9 11 20 }
Vertex: (id = 11) {10 21 }
Vertex: (id = 12) {0 22 }
Vertex: (id = 13) {2 14 24 }
Vertex: (id = 14) {3 13 15 25 }
Vertex: (id = 15) {4 14 16 26 }
Vertex: (id = 16) {5 15 27 }
Vertex: (id = 17) {7 18 29 }
Vertex: (id = 18) {8 17 19 30 }
Vertex: (id = 19) {9 18 20 31 }
Vertex: (id = 20) {10 19 21 32 }
Vertex: (id = 21) {20 11 33 }
Vertex: (id = 22) {12 23 34 }
Vertex: (id = 23) {22 24 }
Vertex: (id = 24) {13 23 25 35 }
Vertex: (id = 25) {14 24 26 36 }
Vertex: (id = 26) {15 25 27 }
Vertex: (id = 27) {16 26 28 }
Vertex: (id = 28) {27 29 37 }
Vertex: (id = 29) {17 28 30 38 }
Vertex: (id = 30) {18 29 31 }
Vertex: (id = 31) {19 30 32 39 }
Vertex: (id = 32) {20 31 33 40 }
Vertex: (id = 33) {32 21 41 }
Vertex: (id = 34) {22 42 }
Vertex: (id = 35) {24 36 44 }
Vertex: (id = 36) {25 35 }
Vertex: (id = 37) {28 38 47 }
Vertex: (id = 38) {29 37 48 }
Vertex: (id = 39) {31 40 50 }
Vertex: (id = 40) {32 39 41 51 }
Vertex: (id = 41) {40 33 52 }
Vertex: (id = 42) {34 43 53 }
Vertex: (id = 43) {42 44 54 }
Vertex: (id = 44) {35 43 55 }
Vertex: (id = 45) {46 57 }
Vertex: (id = 46) {45 47 58 }
Vertex: (id = 47) {37 46 48 59 }
Vertex: (id = 48) {38 47 49 60 }
Vertex: (id = 49) {48 50 }
Vertex: (id = 50) {39 49 51 }
Vertex: (id = 51) {40 50 52 61 }
Vertex: (id = 52) {51 41 62 }
Vertex: (id = 53) {42 54 }
Vertex: (id = 54) {43 53 55 63 }
Vertex: (id = 55) {44 54 56 64 }
Vertex: (id = 56) {55 57 65 }
Vertex: (id = 57) {45 56 58 66 }
Vertex: (id = 58) {46 57 59 67 }
Vertex: (id = 59) {47 58 60 68 }
Vertex: (id = 60) {48 59 }
Vertex: (id = 61) {51 62 }
Vertex: (id = 62) {61 52 71 }
Vertex: (id = 63) {54 64 73 }
Vertex: (id = 64) {55 63 65 74 }
Vertex: (id = 65) {56 64 66 75 }
Vertex: (id = 66) {57 65 67 76 }
Vertex: (id = 67) {58 66 68 77 }
Vertex: (id = 68) {59 67 78 }
Vertex: (id = 69) {70 80 }
Vertex: (id = 70) {69 81 }
Vertex: (id = 71) {62 83 }
Vertex: (id = 72) {73 84 }
Vertex: (id = 73) {63 72 74 85 }
Vertex: (id = 74) {64 73 75 86 }
Vertex: (id = 75) {65 74 76 87 }
Vertex: (id = 76) {66 75 77 88 }
Vertex: (id = 77) {67 76 78 89 }
Vertex: (id = 78) {68 77 79 }
Vertex: (id = 79) {78 80 90 }
Vertex: (id = 80) {69 79 81 91 }
Vertex: (id = 81) {70 80 82 92 }
Vertex: (id = 82) {81 83 93 }
Vertex: (id = 83) {82 71 94 }
Vertex: (id = 84) {72 85 95 }
Vertex: (id = 85) {73 84 86 96 }
Vertex: (id = 86) {74 85 87 97 }
Vertex: (id = 87) {75 86 88 98 }
Vertex: (id = 88) {76 87 89 99 }
Vertex: (id = 89) {77 88 100 }
Vertex: (id = 90) {79 91 102 }
Vertex: (id = 91) {80 90 92 103 }
Vertex: (id = 92) {81 91 93 104 }
Vertex: (id = 93) {82 92 94 105 }
Vertex: (id = 94) {93 83 106 }
Vertex: (id = 95) {84 96 107 }
Vertex: (id = 96) {85 95 97 108 }
Vertex: (id = 97) {86 96 98 109 }
Vertex: (id = 98) {87 97 99 110 }
Vertex: (id = 99) {88 98 100 111 }
Vertex: (id = 100) {89 99 101 112 }
Vertex: (id = 101) {100 102 113 }
Vertex: (id = 102) {90 101 103 114 }
Vertex: (id = 103) {91 102 104 115 }
Vertex: (id = 104) {92 103 105 116 }
Vertex: (id = 105) {93 104 106 117 }
Vertex: (id = 106) {105 94 }
Vertex: (id = 107) {95 108 118 }
Vertex: (id = 108) {96 107 109 119 }
Vertex: (id = 109) {97 108 110 120 }
Vertex: (id = 110) {98 109 111 121 }
Vertex: (id = 111) {99 110 112 122 }
Vertex: (id = 112) {100 111 113 123 }
Vertex: (id = 113) {101 112 114 }
Vertex: (id = 114) {102 113 115 124 }
Vertex: (id = 115) {103 114 116 125 }
Vertex: (id = 116) {104 115 117 126 }
Vertex: (id = 117) {105 116 127 }
Vertex: (id = 118) {107 119 }
Vertex: (id = 119) {108 118 120 }
Vertex: (id = 120) {109 119 121 }
Vertex: (id = 121) {110 120 122 }
Vertex: (id = 122) {111 121 123 }
Vertex: (id = 123) {112 122 }
Vertex: (id = 124) {114 125 }
Vertex: (id = 125) {115 124 126 }
Vertex: (id = 126) {116 125 127 }
Vertex: (id = 127) {117 126 128 }
Vertex: (id = 128) {127 }
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: 8 <-> 7
Edge 13: 17 <-> 7
Edge 14: 9 <-> 8
Edge 15: 18 <-> 8
Edge 16: 10 <-> 9
Edge 17: 19 <-> 9
Edge 18: 11 <-> 10
Edge 19: 20 <-> 10
Edge 20: 22 <-> 12
Edge 21: 14 <-> 13
Edge 22: 24 <-> 13
Edge 23: 15 <-> 14
Edge 24: 25 <-> 14
Edge 25: 16 <-> 15
Edge 26: 26 <-> 15
Edge 27: 27 <-> 16
Edge 28: 18 <-> 17
Edge 29: 29 <-> 17
Edge 30: 19 <-> 18
Edge 31: 30 <-> 18
Edge 32: 20 <-> 19
Edge 33: 31 <-> 19
Edge 34: 21 <-> 20
Edge 35: 32 <-> 20
Edge 36: 23 <-> 22
Edge 37: 34 <-> 22
Edge 38: 24 <-> 23
Edge 39: 25 <-> 24
Edge 40: 35 <-> 24
Edge 41: 26 <-> 25
Edge 42: 36 <-> 25
Edge 43: 27 <-> 26
Edge 44: 28 <-> 27
Edge 45: 29 <-> 28
Edge 46: 37 <-> 28
Edge 47: 30 <-> 29
Edge 48: 38 <-> 29
Edge 49: 31 <-> 30
Edge 50: 32 <-> 31
Edge 51: 39 <-> 31
Edge 52: 33 <-> 32
Edge 53: 40 <-> 32
Edge 54: 42 <-> 34
Edge 55: 36 <-> 35
Edge 56: 44 <-> 35
Edge 57: 38 <-> 37
Edge 58: 47 <-> 37
Edge 59: 48 <-> 38
Edge 60: 40 <-> 39
Edge 61: 50 <-> 39
Edge 62: 41 <-> 40
Edge 63: 51 <-> 40
Edge 64: 43 <-> 42
Edge 65: 53 <-> 42
Edge 66: 44 <-> 43
Edge 67: 54 <-> 43
Edge 68: 55 <-> 44
Edge 69: 46 <-> 45
Edge 70: 57 <-> 45
Edge 71: 47 <-> 46
Edge 72: 58 <-> 46
Edge 73: 48 <-> 47
Edge 74: 59 <-> 47
Edge 75: 49 <-> 48
Edge 76: 60 <-> 48
Edge 77: 50 <-> 49
Edge 78: 51 <-> 50
Edge 79: 52 <-> 51
Edge 80: 61 <-> 51
Edge 81: 54 <-> 53
Edge 82: 55 <-> 54
Edge 83: 63 <-> 54
Edge 84: 56 <-> 55
Edge 85: 64 <-> 55
Edge 86: 57 <-> 56
Edge 87: 65 <-> 56
Edge 88: 58 <-> 57
Edge 89: 66 <-> 57
Edge 90: 59 <-> 58
Edge 91: 67 <-> 58
Edge 92: 60 <-> 59
Edge 93: 68 <-> 59
Edge 94: 62 <-> 61
Edge 95: 64 <-> 63
Edge 96: 73 <-> 63
Edge 97: 65 <-> 64
Edge 98: 74 <-> 64
Edge 99: 66 <-> 65
Edge 100: 75 <-> 65
Edge 101: 67 <-> 66
Edge 102: 76 <-> 66
Edge 103: 68 <-> 67
Edge 104: 77 <-> 67
Edge 105: 78 <-> 68
Edge 106: 70 <-> 69
Edge 107: 80 <-> 69
Edge 108: 81 <-> 70
Edge 109: 73 <-> 72
Edge 110: 84 <-> 72
Edge 111: 74 <-> 73
Edge 112: 85 <-> 73
Edge 113: 75 <-> 74
Edge 114: 86 <-> 74
Edge 115: 76 <-> 75
Edge 116: 87 <-> 75
Edge 117: 77 <-> 76
Edge 118: 88 <-> 76
Edge 119: 78 <-> 77
Edge 120: 89 <-> 77
Edge 121: 79 <-> 78
Edge 122: 80 <-> 79
Edge 123: 90 <-> 79
Edge 124: 81 <-> 80
Edge 125: 91 <-> 80
Edge 126: 82 <-> 81
Edge 127: 92 <-> 81
Edge 128: 83 <-> 82
Edge 129: 93 <-> 82
Edge 130: 85 <-> 84
Edge 131: 95 <-> 84
Edge 132: 86 <-> 85
Edge 133: 96 <-> 85
Edge 134: 87 <-> 86
Edge 135: 97 <-> 86
Edge 136: 88 <-> 87
Edge 137: 98 <-> 87
Edge 138: 89 <-> 88
Edge 139: 99 <-> 88
Edge 140: 100 <-> 89
Edge 141: 91 <-> 90
Edge 142: 102 <-> 90
Edge 143: 92 <-> 91
Edge 144: 103 <-> 91
Edge 145: 93 <-> 92
Edge 146: 104 <-> 92
Edge 147: 94 <-> 93
Edge 148: 105 <-> 93
Edge 149: 96 <-> 95
Edge 150: 107 <-> 95
Edge 151: 97 <-> 96
Edge 152: 108 <-> 96
Edge 153: 98 <-> 97
Edge 154: 109 <-> 97
Edge 155: 99 <-> 98
Edge 156: 110 <-> 98
Edge 157: 100 <-> 99
Edge 158: 111 <-> 99
Edge 159: 101 <-> 100
Edge 160: 112 <-> 100
Edge 161: 102 <-> 101
Edge 162: 113 <-> 101
Edge 163: 103 <-> 102
Edge 164: 114 <-> 102
Edge 165: 104 <-> 103
Edge 166: 115 <-> 103
Edge 167: 105 <-> 104
Edge 168: 116 <-> 104
Edge 169: 106 <-> 105
Edge 170: 117 <-> 105
Edge 171: 108 <-> 107
Edge 172: 118 <-> 107
Edge 173: 109 <-> 108
Edge 174: 119 <-> 108
Edge 175: 110 <-> 109
Edge 176: 120 <-> 109
Edge 177: 111 <-> 110
Edge 178: 121 <-> 110
Edge 179: 112 <-> 111
Edge 180: 122 <-> 111
Edge 181: 113 <-> 112
Edge 182: 123 <-> 112
Edge 183: 114 <-> 113
Edge 184: 115 <-> 114
Edge 185: 124 <-> 114
Edge 186: 116 <-> 115
Edge 187: 125 <-> 115
Edge 188: 117 <-> 116
Edge 189: 126 <-> 116
Edge 190: 127 <-> 117
Edge 191: 21 <-> 11
Edge 192: 33 <-> 21
Edge 193: 41 <-> 33
Edge 194: 52 <-> 41
Edge 195: 62 <-> 52
Edge 196: 71 <-> 62
Edge 197: 83 <-> 71
Edge 198: 94 <-> 83
Edge 199: 106 <-> 94
Edge 200: 119 <-> 118
Edge 201: 120 <-> 119
Edge 202: 121 <-> 120
Edge 203: 122 <-> 121
Edge 204: 123 <-> 122
Edge 205: 125 <-> 124
Edge 206: 126 <-> 125
Edge 207: 127 <-> 126
Edge 208: 128 <-> 127
]
Robot arrangement: (|R| = 7, |V| = 129) [
robot locations: {1#0 2#80 3#20 4#76 5#17 6#3 7#39 }
vertex occupancy: {1#0 0#1 0#2 6#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 5#17 0#18 0#19 3#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 7#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 4#76 0#77 0#78 0#79 2#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 0#118 0#119 0#120 0#121 0#122 0#123 0#124 0#125 0#126 0#127 0#128 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
robot locations: {}
vertex occupancy: {}
]
Robot goal: (|R| = 7, |V| = 129) [
robot goals: {
1#{86}
2#{59}
3#{0}
4#{38}
5#{91}
6#{109}
7#{53}
}
vertex compatibilities: {
0@{3}
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@{4}
39@{}
40@{}
41@{}
42@{}
43@{}
44@{}
45@{}
46@{}
47@{}
48@{}
49@{}
50@{}
51@{}
52@{}
53@{7}
54@{}
55@{}
56@{}
57@{}
58@{}
59@{2}
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@{1}
87@{}
88@{}
89@{}
90@{}
91@{5}
92@{}
93@{}
94@{}
95@{}
96@{}
97@{}
98@{}
99@{}
100@{}
101@{}
102@{}
103@{}
104@{}
105@{}
106@{}
107@{}
108@{}
109@{6}
110@{}
111@{}
112@{}
113@{}
114@{}
115@{}
116@{}
117@{}
118@{}
119@{}
120@{}
121@{}
122@{}
123@{}
124@{}
125@{}
126@{}
127@{}
128@{}
}
]
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
Computed optimal makespan:12
Makespan optimal solution:
Mulirobot solution: (|moves| = 76, paralellism = 6.333) [
Step 0: 1#0->12 2#80->79 3#20->19 4#76->77 5#17->29 6#3->14 7#39->50
Step 1: 1#12->22 3#19->18 4#77->67 5#29->38 6#14->13 7#50->49
Step 2: 1#22->34 2#79->78 3#18->17 4#67->58 5#38->37 6#13->24 7#49->48
Step 3: 1#34->42 2#78->77 3#17->7 4#58->67 5#37->28 6#24->35 7#48->47
Step 4: 2#77->76 3#7->6 5#28->37 6#35->44 7#47->46
Step 5: 1#42->43 2#76->88 3#6->5 4#67->66 5#37->47 6#44->55 7#46->58
Step 6: 1#43->54 2#88->76 3#5->4 4#66->67 5#47->59 6#55->64 7#58->57
Step 7: 1#54->63 2#76->77 3#4->3 4#67->58 5#59->68 6#64->74 7#57->56
Step 8: 1#63->64 3#3->2 4#58->46 5#68->78 6#74->86
Step 9: 2#77->67 3#2->1 4#46->47 5#78->79 6#86->97 7#56->55
Step 10: 1#64->74 2#67->58 4#47->37 5#79->90 7#55->54
Step 11: 1#74->86 2#58->59 3#1->0 4#37->38 5#90->91 6#97->109 7#54->53
]
Multirobot solution analysis: (
total makespan = 12
total distance = 53
total trajectory = 76
average parallelism = 6.333
average distance = 7.571
average trajectory = 10.857
parallelism distribution = [ 0 0 0 0 3 2 7 ]
distance distribution = [ 0 0 0 1 0 0 1 0 0 2 2 ]
trajectory distribution = [ 0 0 0 0 0 0 0 0 0 2 4 1 ]
)
Phase statistics (current phase = 'root_phase') [
Phase (name = 'root_phase') [
Total SAT solver calls = 12
Satisfiable SAT solver calls = 1
Unsatisfiable SAT solver calls = 11
Indeterminate SAT solver calls = 0
Move executions = 152
Produced CNF variables = 89376
Produced CNF clauses = 663229
Search steps = 0
Wall clock TIME (seconds) = 3.627
CPU/machine TIME (seconds) = 1.570
]
]
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