================================================================ reLOC 0.09-vegas : Multirobot Solution solver (C) Copyright 2011-2013 Pavel Surynek ---------------------------------------------------------------- Reading graph... 1,0 12,0 2,1 13,1 3,2 14,2 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 11,10 22,10 13,12 24,12 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 23,22 34,22 25,24 36,24 26,25 37,25 27,26 38,26 28,27 39,27 29,28 40,28 30,29 41,29 31,30 42,30 32,31 43,31 33,32 44,32 34,33 45,33 35,34 46,34 37,36 48,36 38,37 49,37 39,38 50,38 40,39 51,39 41,40 52,40 42,41 53,41 43,42 54,42 44,43 55,43 45,44 56,44 46,45 57,45 47,46 58,46 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 56,55 67,55 57,56 68,56 58,57 69,57 59,58 70,58 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 78,66 68,67 79,67 69,68 80,68 70,69 81,69 71,70 82,70 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 90,78 80,79 91,79 81,80 92,80 82,81 93,81 83,82 94,82 85,84 96,84 86,85 97,85 87,86 98,86 88,87 99,87 89,88 100,88 90,89 101,89 91,90 102,90 92,91 103,91 93,92 104,92 94,93 105,93 95,94 106,94 97,96 108,96 98,97 109,97 99,98 110,98 100,99 111,99 101,100 112,100 102,101 113,101 103,102 114,102 104,103 115,103 105,104 116,104 106,105 117,105 107,106 118,106 109,108 120,108 110,109 121,109 111,110 122,110 112,111 123,111 113,112 124,112 114,113 125,113 115,114 126,114 116,115 127,115 117,116 128,116 118,117 129,117 119,118 130,118 121,120 132,120 122,121 133,121 123,122 134,122 124,123 135,123 125,124 136,124 126,125 137,125 127,126 138,126 128,127 139,127 129,128 140,128 130,129 141,129 131,130 142,130 23,11 35,23 47,35 59,47 71,59 83,71 95,83 107,95 119,107 131,119 143,131 133,132 134,133 135,134 136,135 137,136 138,137 139,138 140,139 141,140 142,141 143,142 Reading initial arrangement... Reading goal arrangement... Undirected graph: (|V|=144 |E|=264) [ Vertex: (id = 0) {1 12 } Vertex: (id = 1) {0 2 13 } Vertex: (id = 2) {1 3 14 } Vertex: (id = 3) {2 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 11 22 } Vertex: (id = 11) {10 23 } Vertex: (id = 12) {0 13 24 } Vertex: (id = 13) {1 12 14 25 } Vertex: (id = 14) {2 13 15 26 } Vertex: (id = 15) {3 14 16 27 } Vertex: (id = 16) {4 15 17 28 } Vertex: (id = 17) {5 16 18 29 } Vertex: (id = 18) {6 17 19 30 } Vertex: (id = 19) {7 18 20 31 } Vertex: (id = 20) {8 19 21 32 } Vertex: (id = 21) {9 20 22 33 } Vertex: (id = 22) {10 21 23 34 } Vertex: (id = 23) {22 11 35 } Vertex: (id = 24) {12 25 36 } Vertex: (id = 25) {13 24 26 37 } Vertex: (id = 26) {14 25 27 38 } Vertex: (id = 27) {15 26 28 39 } Vertex: (id = 28) {16 27 29 40 } Vertex: (id = 29) {17 28 30 41 } Vertex: (id = 30) {18 29 31 42 } Vertex: (id = 31) {19 30 32 43 } Vertex: (id = 32) {20 31 33 44 } Vertex: (id = 33) {21 32 34 45 } Vertex: (id = 34) {22 33 35 46 } Vertex: (id = 35) {34 23 47 } Vertex: (id = 36) {24 37 48 } Vertex: (id = 37) {25 36 38 49 } Vertex: (id = 38) {26 37 39 50 } Vertex: (id = 39) {27 38 40 51 } Vertex: (id = 40) {28 39 41 52 } Vertex: (id = 41) {29 40 42 53 } Vertex: (id = 42) {30 41 43 54 } Vertex: (id = 43) {31 42 44 55 } Vertex: (id = 44) {32 43 45 56 } Vertex: (id = 45) {33 44 46 57 } Vertex: (id = 46) {34 45 47 58 } Vertex: (id = 47) {46 35 59 } Vertex: (id = 48) {36 49 60 } Vertex: (id = 49) {37 48 50 61 } Vertex: (id = 50) {38 49 51 62 } Vertex: (id = 51) {39 50 52 63 } Vertex: (id = 52) {40 51 53 64 } Vertex: (id = 53) {41 52 54 65 } Vertex: (id = 54) {42 53 55 66 } Vertex: (id = 55) {43 54 56 67 } Vertex: (id = 56) {44 55 57 68 } Vertex: (id = 57) {45 56 58 69 } Vertex: (id = 58) {46 57 59 70 } Vertex: (id = 59) {58 47 71 } Vertex: (id = 60) {48 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 78 } Vertex: (id = 67) {55 66 68 79 } Vertex: (id = 68) {56 67 69 80 } Vertex: (id = 69) {57 68 70 81 } Vertex: (id = 70) {58 69 71 82 } Vertex: (id = 71) {70 59 83 } Vertex: (id = 72) {60 73 84 } Vertex: (id = 73) {61 72 74 85 } Vertex: (id = 74) {62 73 75 86 } Vertex: (id = 75) {63 74 76 87 } Vertex: (id = 76) {64 75 77 88 } Vertex: (id = 77) {65 76 78 89 } Vertex: (id = 78) {66 77 79 90 } Vertex: (id = 79) {67 78 80 91 } Vertex: (id = 80) {68 79 81 92 } Vertex: (id = 81) {69 80 82 93 } Vertex: (id = 82) {70 81 83 94 } Vertex: (id = 83) {82 71 95 } Vertex: (id = 84) {72 85 96 } Vertex: (id = 85) {73 84 86 97 } Vertex: (id = 86) {74 85 87 98 } Vertex: (id = 87) {75 86 88 99 } Vertex: (id = 88) {76 87 89 100 } Vertex: (id = 89) {77 88 90 101 } Vertex: (id = 90) {78 89 91 102 } Vertex: (id = 91) {79 90 92 103 } Vertex: (id = 92) {80 91 93 104 } Vertex: (id = 93) {81 92 94 105 } Vertex: (id = 94) {82 93 95 106 } Vertex: (id = 95) {94 83 107 } Vertex: (id = 96) {84 97 108 } Vertex: (id = 97) {85 96 98 109 } Vertex: (id = 98) {86 97 99 110 } Vertex: (id = 99) {87 98 100 111 } Vertex: (id = 100) {88 99 101 112 } Vertex: (id = 101) {89 100 102 113 } 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) {94 105 107 118 } Vertex: (id = 107) {106 95 119 } Vertex: (id = 108) {96 109 120 } Vertex: (id = 109) {97 108 110 121 } Vertex: (id = 110) {98 109 111 122 } Vertex: (id = 111) {99 110 112 123 } Vertex: (id = 112) {100 111 113 124 } Vertex: (id = 113) {101 112 114 125 } Vertex: (id = 114) {102 113 115 126 } Vertex: (id = 115) {103 114 116 127 } Vertex: (id = 116) {104 115 117 128 } Vertex: (id = 117) {105 116 118 129 } Vertex: (id = 118) {106 117 119 130 } Vertex: (id = 119) {118 107 131 } Vertex: (id = 120) {108 121 132 } Vertex: (id = 121) {109 120 122 133 } Vertex: (id = 122) {110 121 123 134 } Vertex: (id = 123) {111 122 124 135 } Vertex: (id = 124) {112 123 125 136 } Vertex: (id = 125) {113 124 126 137 } Vertex: (id = 126) {114 125 127 138 } Vertex: (id = 127) {115 126 128 139 } Vertex: (id = 128) {116 127 129 140 } Vertex: (id = 129) {117 128 130 141 } Vertex: (id = 130) {118 129 131 142 } Vertex: (id = 131) {130 119 143 } Vertex: (id = 132) {120 133 } Vertex: (id = 133) {121 132 134 } Vertex: (id = 134) {122 133 135 } Vertex: (id = 135) {123 134 136 } Vertex: (id = 136) {124 135 137 } Vertex: (id = 137) {125 136 138 } Vertex: (id = 138) {126 137 139 } Vertex: (id = 139) {127 138 140 } Vertex: (id = 140) {128 139 141 } Vertex: (id = 141) {129 140 142 } Vertex: (id = 142) {130 141 143 } Vertex: (id = 143) {131 142 } Edge 0: 1 <-> 0 Edge 1: 12 <-> 0 Edge 2: 2 <-> 1 Edge 3: 13 <-> 1 Edge 4: 3 <-> 2 Edge 5: 14 <-> 2 Edge 6: 4 <-> 3 Edge 7: 15 <-> 3 Edge 8: 5 <-> 4 Edge 9: 16 <-> 4 Edge 10: 6 <-> 5 Edge 11: 17 <-> 5 Edge 12: 7 <-> 6 Edge 13: 18 <-> 6 Edge 14: 8 <-> 7 Edge 15: 19 <-> 7 Edge 16: 9 <-> 8 Edge 17: 20 <-> 8 Edge 18: 10 <-> 9 Edge 19: 21 <-> 9 Edge 20: 11 <-> 10 Edge 21: 22 <-> 10 Edge 22: 13 <-> 12 Edge 23: 24 <-> 12 Edge 24: 14 <-> 13 Edge 25: 25 <-> 13 Edge 26: 15 <-> 14 Edge 27: 26 <-> 14 Edge 28: 16 <-> 15 Edge 29: 27 <-> 15 Edge 30: 17 <-> 16 Edge 31: 28 <-> 16 Edge 32: 18 <-> 17 Edge 33: 29 <-> 17 Edge 34: 19 <-> 18 Edge 35: 30 <-> 18 Edge 36: 20 <-> 19 Edge 37: 31 <-> 19 Edge 38: 21 <-> 20 Edge 39: 32 <-> 20 Edge 40: 22 <-> 21 Edge 41: 33 <-> 21 Edge 42: 23 <-> 22 Edge 43: 34 <-> 22 Edge 44: 25 <-> 24 Edge 45: 36 <-> 24 Edge 46: 26 <-> 25 Edge 47: 37 <-> 25 Edge 48: 27 <-> 26 Edge 49: 38 <-> 26 Edge 50: 28 <-> 27 Edge 51: 39 <-> 27 Edge 52: 29 <-> 28 Edge 53: 40 <-> 28 Edge 54: 30 <-> 29 Edge 55: 41 <-> 29 Edge 56: 31 <-> 30 Edge 57: 42 <-> 30 Edge 58: 32 <-> 31 Edge 59: 43 <-> 31 Edge 60: 33 <-> 32 Edge 61: 44 <-> 32 Edge 62: 34 <-> 33 Edge 63: 45 <-> 33 Edge 64: 35 <-> 34 Edge 65: 46 <-> 34 Edge 66: 37 <-> 36 Edge 67: 48 <-> 36 Edge 68: 38 <-> 37 Edge 69: 49 <-> 37 Edge 70: 39 <-> 38 Edge 71: 50 <-> 38 Edge 72: 40 <-> 39 Edge 73: 51 <-> 39 Edge 74: 41 <-> 40 Edge 75: 52 <-> 40 Edge 76: 42 <-> 41 Edge 77: 53 <-> 41 Edge 78: 43 <-> 42 Edge 79: 54 <-> 42 Edge 80: 44 <-> 43 Edge 81: 55 <-> 43 Edge 82: 45 <-> 44 Edge 83: 56 <-> 44 Edge 84: 46 <-> 45 Edge 85: 57 <-> 45 Edge 86: 47 <-> 46 Edge 87: 58 <-> 46 Edge 88: 49 <-> 48 Edge 89: 60 <-> 48 Edge 90: 50 <-> 49 Edge 91: 61 <-> 49 Edge 92: 51 <-> 50 Edge 93: 62 <-> 50 Edge 94: 52 <-> 51 Edge 95: 63 <-> 51 Edge 96: 53 <-> 52 Edge 97: 64 <-> 52 Edge 98: 54 <-> 53 Edge 99: 65 <-> 53 Edge 100: 55 <-> 54 Edge 101: 66 <-> 54 Edge 102: 56 <-> 55 Edge 103: 67 <-> 55 Edge 104: 57 <-> 56 Edge 105: 68 <-> 56 Edge 106: 58 <-> 57 Edge 107: 69 <-> 57 Edge 108: 59 <-> 58 Edge 109: 70 <-> 58 Edge 110: 61 <-> 60 Edge 111: 72 <-> 60 Edge 112: 62 <-> 61 Edge 113: 73 <-> 61 Edge 114: 63 <-> 62 Edge 115: 74 <-> 62 Edge 116: 64 <-> 63 Edge 117: 75 <-> 63 Edge 118: 65 <-> 64 Edge 119: 76 <-> 64 Edge 120: 66 <-> 65 Edge 121: 77 <-> 65 Edge 122: 67 <-> 66 Edge 123: 78 <-> 66 Edge 124: 68 <-> 67 Edge 125: 79 <-> 67 Edge 126: 69 <-> 68 Edge 127: 80 <-> 68 Edge 128: 70 <-> 69 Edge 129: 81 <-> 69 Edge 130: 71 <-> 70 Edge 131: 82 <-> 70 Edge 132: 73 <-> 72 Edge 133: 84 <-> 72 Edge 134: 74 <-> 73 Edge 135: 85 <-> 73 Edge 136: 75 <-> 74 Edge 137: 86 <-> 74 Edge 138: 76 <-> 75 Edge 139: 87 <-> 75 Edge 140: 77 <-> 76 Edge 141: 88 <-> 76 Edge 142: 78 <-> 77 Edge 143: 89 <-> 77 Edge 144: 79 <-> 78 Edge 145: 90 <-> 78 Edge 146: 80 <-> 79 Edge 147: 91 <-> 79 Edge 148: 81 <-> 80 Edge 149: 92 <-> 80 Edge 150: 82 <-> 81 Edge 151: 93 <-> 81 Edge 152: 83 <-> 82 Edge 153: 94 <-> 82 Edge 154: 85 <-> 84 Edge 155: 96 <-> 84 Edge 156: 86 <-> 85 Edge 157: 97 <-> 85 Edge 158: 87 <-> 86 Edge 159: 98 <-> 86 Edge 160: 88 <-> 87 Edge 161: 99 <-> 87 Edge 162: 89 <-> 88 Edge 163: 100 <-> 88 Edge 164: 90 <-> 89 Edge 165: 101 <-> 89 Edge 166: 91 <-> 90 Edge 167: 102 <-> 90 Edge 168: 92 <-> 91 Edge 169: 103 <-> 91 Edge 170: 93 <-> 92 Edge 171: 104 <-> 92 Edge 172: 94 <-> 93 Edge 173: 105 <-> 93 Edge 174: 95 <-> 94 Edge 175: 106 <-> 94 Edge 176: 97 <-> 96 Edge 177: 108 <-> 96 Edge 178: 98 <-> 97 Edge 179: 109 <-> 97 Edge 180: 99 <-> 98 Edge 181: 110 <-> 98 Edge 182: 100 <-> 99 Edge 183: 111 <-> 99 Edge 184: 101 <-> 100 Edge 185: 112 <-> 100 Edge 186: 102 <-> 101 Edge 187: 113 <-> 101 Edge 188: 103 <-> 102 Edge 189: 114 <-> 102 Edge 190: 104 <-> 103 Edge 191: 115 <-> 103 Edge 192: 105 <-> 104 Edge 193: 116 <-> 104 Edge 194: 106 <-> 105 Edge 195: 117 <-> 105 Edge 196: 107 <-> 106 Edge 197: 118 <-> 106 Edge 198: 109 <-> 108 Edge 199: 120 <-> 108 Edge 200: 110 <-> 109 Edge 201: 121 <-> 109 Edge 202: 111 <-> 110 Edge 203: 122 <-> 110 Edge 204: 112 <-> 111 Edge 205: 123 <-> 111 Edge 206: 113 <-> 112 Edge 207: 124 <-> 112 Edge 208: 114 <-> 113 Edge 209: 125 <-> 113 Edge 210: 115 <-> 114 Edge 211: 126 <-> 114 Edge 212: 116 <-> 115 Edge 213: 127 <-> 115 Edge 214: 117 <-> 116 Edge 215: 128 <-> 116 Edge 216: 118 <-> 117 Edge 217: 129 <-> 117 Edge 218: 119 <-> 118 Edge 219: 130 <-> 118 Edge 220: 121 <-> 120 Edge 221: 132 <-> 120 Edge 222: 122 <-> 121 Edge 223: 133 <-> 121 Edge 224: 123 <-> 122 Edge 225: 134 <-> 122 Edge 226: 124 <-> 123 Edge 227: 135 <-> 123 Edge 228: 125 <-> 124 Edge 229: 136 <-> 124 Edge 230: 126 <-> 125 Edge 231: 137 <-> 125 Edge 232: 127 <-> 126 Edge 233: 138 <-> 126 Edge 234: 128 <-> 127 Edge 235: 139 <-> 127 Edge 236: 129 <-> 128 Edge 237: 140 <-> 128 Edge 238: 130 <-> 129 Edge 239: 141 <-> 129 Edge 240: 131 <-> 130 Edge 241: 142 <-> 130 Edge 242: 23 <-> 11 Edge 243: 35 <-> 23 Edge 244: 47 <-> 35 Edge 245: 59 <-> 47 Edge 246: 71 <-> 59 Edge 247: 83 <-> 71 Edge 248: 95 <-> 83 Edge 249: 107 <-> 95 Edge 250: 119 <-> 107 Edge 251: 131 <-> 119 Edge 252: 143 <-> 131 Edge 253: 133 <-> 132 Edge 254: 134 <-> 133 Edge 255: 135 <-> 134 Edge 256: 136 <-> 135 Edge 257: 137 <-> 136 Edge 258: 138 <-> 137 Edge 259: 139 <-> 138 Edge 260: 140 <-> 139 Edge 261: 141 <-> 140 Edge 262: 142 <-> 141 Edge 263: 143 <-> 142 ] Robot arrangement: (|R| = 7, |V| = 144) [ robot locations: {1#41 2#57 3#26 4#102 5#36 6#116 7#40 } 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 3#26 0#27 0#28 0#29 0#30 0#31 0#32 0#33 0#34 0#35 5#36 0#37 0#38 0#39 7#40 1#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 2#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 4#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 6#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 0#132 0#133 0#134 0#135 0#136 0#137 0#138 0#139 0#140 0#141 0#142 0#143 } ] Robot arrangement: (|R| = -1, |V| = 0) [ robot locations: {} vertex occupancy: {} ] Robot goal: (|R| = 7, |V| = 144) [ robot goals: { 1#{33} 2#{49} 3#{128} 4#{98} 5#{76} 6#{113} 7#{20} } vertex compatibilities: { 0@{} 1@{} 2@{} 3@{} 4@{} 5@{} 6@{} 7@{} 8@{} 9@{} 10@{} 11@{} 12@{} 13@{} 14@{} 15@{} 16@{} 17@{} 18@{} 19@{} 20@{7} 21@{} 22@{} 23@{} 24@{} 25@{} 26@{} 27@{} 28@{} 29@{} 30@{} 31@{} 32@{} 33@{1} 34@{} 35@{} 36@{} 37@{} 38@{} 39@{} 40@{} 41@{} 42@{} 43@{} 44@{} 45@{} 46@{} 47@{} 48@{} 49@{2} 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@{5} 77@{} 78@{} 79@{} 80@{} 81@{} 82@{} 83@{} 84@{} 85@{} 86@{} 87@{} 88@{} 89@{} 90@{} 91@{} 92@{} 93@{} 94@{} 95@{} 96@{} 97@{} 98@{4} 99@{} 100@{} 101@{} 102@{} 103@{} 104@{} 105@{} 106@{} 107@{} 108@{} 109@{} 110@{} 111@{} 112@{} 113@{6} 114@{} 115@{} 116@{} 117@{} 118@{} 119@{} 120@{} 121@{} 122@{} 123@{} 124@{} 125@{} 126@{} 127@{} 128@{3} 129@{} 130@{} 131@{} 132@{} 133@{} 134@{} 135@{} 136@{} 137@{} 138@{} 139@{} 140@{} 141@{} 142@{} 143@{} } ] Open/close/exp size (steps): 5/1/5 (2) Open/close/exp size (steps): 17/4/17 (5) Open/close/exp size (steps): 23/8/23 (9) Open/close/exp size (steps): 13/3/13 (14) Open/close/exp size (steps): 5/1/5 (20) Open/close/exp size (steps): 32/9/32 (28) Open/close/exp size (steps): 52/19/52 (38) Open/close/exp size (steps): 75/31/75 (50) Open/close/exp size (steps): 105/46/105 (65) Open/close/exp size (steps): 132/64/132 (83) Open/close/exp size (steps): 170/86/170 (105) Open/close/exp size (steps): 11/3/11 (132) Open/close/exp size (steps): 20/6/20 (165) 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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Solution of group 1 Mulirobot solution: (|moves| = 8, paralellism = 1.000) [ Step 0: 1#57->56 Step 1: 1#56->55 Step 2: 1#55->54 Step 3: 1#54->53 Step 4: 1#53->52 Step 5: 1#52->51 Step 6: 1#51->50 Step 7: 1#50->49 ] Solution of group 4 Mulirobot solution: (|moves| = 7, paralellism = 1.000) [ Step 0: 1#36->37 Step 1: 1#37->38 Step 2: 1#38->39 Step 3: 1#39->40 Step 4: 1#40->52 Step 5: 1#52->64 Step 6: 1#64->76 ] Occupation table complementary for group 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 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Open/close/exp size (steps): 49/27/49 (28) ** Open/close/exp size (steps): 39/37/39 (38) ** Open/close/exp size (steps): 48/49/48 (50) Alternative solution of group 1 Mulirobot solution: (|moves| = 10, paralellism = 1.000) [ Step 0: 1#57->56 Step 1: 1#56->55 Step 2: 1#55->54 Step 3: 1#54->53 Step 4: 1#53->41 Step 5: 1#41->40 Step 6: 1#40->39 Step 7: 1#39->38 Step 8: 1#38->37 Step 9: 1#37->49 ] 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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Solution of group 2 Mulirobot solution: (|moves| = 14, paralellism = 1.000) [ Step 0: 1#26->27 Step 1: 1#27->28 Step 2: 1#28->29 Step 3: 1#29->30 Step 4: 1#30->31 Step 5: 1#31->32 Step 6: 1#32->44 Step 7: 1#44->56 Step 8: 1#56->68 Step 9: 1#68->80 Step 10: 1#80->92 Step 11: 1#92->104 Step 12: 1#104->116 Step 13: 1#116->128 ] Solution of group 6 Mulirobot solution: (|moves| = 6, paralellism = 1.000) [ Step 0: 1#40->28 Step 1: 1#28->16 Step 2: 1#16->17 Step 3: 1#17->18 Step 4: 1#18->19 Step 5: 1#19->20 ] Occupation table complementary for group 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Computed optimal makespan:14 Makespan optimal solution: Mulirobot solution: (|moves| = 51, paralellism = 3.643) [ Step 0: 1#41->29 2#57->56 3#26->27 4#102->101 5#36->37 6#116->115 Step 1: 1#29->30 2#56->55 3#27->28 4#101->100 5#37->38 6#115->114 7#40->41 Step 2: 1#30->31 2#55->54 3#28->29 4#100->99 5#38->39 6#114->113 7#41->42 Step 3: 1#31->32 2#54->53 3#29->30 4#99->98 5#39->40 7#42->43 Step 4: 1#32->33 2#53->41 3#30->31 5#40->52 7#43->44 Step 5: 2#41->40 3#31->32 5#52->64 7#44->43 Step 6: 2#40->39 3#32->44 5#64->76 7#43->31 Step 7: 2#39->38 3#44->56 7#31->19 Step 8: 2#38->37 3#56->68 7#19->20 Step 9: 2#37->49 3#68->80 Step 10: 3#80->92 Step 11: 3#92->104 Step 12: 3#104->116 Step 13: 3#116->128 ] Multirobot solution analysis: ( total makespan = 14 total distance = 41 total trajectory = 51 average parallelism = 3.643 average distance = 5.857 average trajectory = 7.286 parallelism distribution = [ 4 1 2 2 1 2 2 ] distance distribution = [ 0 0 1 1 1 0 1 1 0 0 0 0 0 1 ] trajectory distribution = [ 0 0 1 1 1 0 1 1 0 1 0 0 0 1 ] ) Phase statistics (current phase = 'root_phase') [ Phase (name = 'root_phase') [ Total SAT solver calls = 0 Satisfiable SAT solver calls = 0 Unsatisfiable SAT solver calls = 0 Indeterminate SAT solver calls = 0 Move executions = 51 Produced CNF variables = 0 Produced CNF clauses = 0 Search steps = 0 Wall clock TIME (seconds) = 0.010 CPU/machine TIME (seconds) = 0.000 ] Sub-phases { Phase (name = 'independent_solving') [ Total SAT solver calls = 0 Satisfiable SAT solver calls = 0 Unsatisfiable SAT solver calls = 0 Indeterminate SAT solver calls = 0 Move executions = 3122 Produced CNF variables = 0 Produced CNF clauses = 0 Search steps = 0 Wall clock TIME (seconds) = 0.059 CPU/machine TIME (seconds) = 0.060 ] } ] ----------------------------------------------------------------