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reLOC 0.09-vegas : Multirobot Solution solver
(C) Copyright 2011-2013 Pavel Surynek
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Reading graph...
1,0
4,0
2,1
5,1
3,2
6,2
5,4
8,4
6,5
9,5
7,6
10,6
9,8
12,8
10,9
13,9
11,10
14,10
7,3
11,7
15,11
13,12
14,13
15,14
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=16 |E|=24) [
    Vertex: (id = 0) {1 4 }
    Vertex: (id = 1) {0 2 5 }
    Vertex: (id = 2) {1 3 6 }
    Vertex: (id = 3) {2 7 }
    Vertex: (id = 4) {0 5 8 }
    Vertex: (id = 5) {1 4 6 9 }
    Vertex: (id = 6) {2 5 7 10 }
    Vertex: (id = 7) {6 3 11 }
    Vertex: (id = 8) {4 9 12 }
    Vertex: (id = 9) {5 8 10 13 }
    Vertex: (id = 10) {6 9 11 14 }
    Vertex: (id = 11) {10 7 15 }
    Vertex: (id = 12) {8 13 }
    Vertex: (id = 13) {9 12 14 }
    Vertex: (id = 14) {10 13 15 }
    Vertex: (id = 15) {11 14 }
    Edge  0: 1 <-> 0
    Edge  1: 4 <-> 0
    Edge  2: 2 <-> 1
    Edge  3: 5 <-> 1
    Edge  4: 3 <-> 2
    Edge  5: 6 <-> 2
    Edge  6: 5 <-> 4
    Edge  7: 8 <-> 4
    Edge  8: 6 <-> 5
    Edge  9: 9 <-> 5
    Edge  10: 7 <-> 6
    Edge  11: 10 <-> 6
    Edge  12: 9 <-> 8
    Edge  13: 12 <-> 8
    Edge  14: 10 <-> 9
    Edge  15: 13 <-> 9
    Edge  16: 11 <-> 10
    Edge  17: 14 <-> 10
    Edge  18: 7 <-> 3
    Edge  19: 11 <-> 7
    Edge  20: 15 <-> 11
    Edge  21: 13 <-> 12
    Edge  22: 14 <-> 13
    Edge  23: 15 <-> 14
]
Robot arrangement: (|R| = 8, |V| = 16) [
     robot locations: {1#9 2#6 3#15 4#14 5#4 6#1 7#3 8#2 }
     vertex occupancy: {0#0 6#1 8#2 7#3 5#4 0#5 2#6 0#7 0#8 1#9 0#10 0#11 0#12 0#13 4#14 3#15 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 8, |V| = 16) [
    robot goals: {
        1#{2}
        2#{13}
        3#{14}
        4#{9}
        5#{12}
        6#{5}
        7#{0}
        8#{10}
    }
    vertex compatibilities: {
        0@{7}
        1@{}
        2@{1}
        3@{}
        4@{}
        5@{6}
        6@{}
        7@{}
        8@{}
        9@{4}
        10@{8}
        11@{}
        12@{5}
        13@{2}
        14@{3}
        15@{}
    }
]
Open/close/exp size (steps): 5/1/5 (2)
Open/close/exp size (steps): 1/0/1 (5)
Open/close/exp size (steps): 1/0/1 (9)
Open/close/exp size (steps): 1/0/1 (14)
0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 
0 0 0 0 0 1 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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 

Groups 0 and 1 collide.
Solution of group 0
Mulirobot solution: (|moves| = 3, paralellism = 1.000) [
    Step 0: 1#9->5 
    Step 1: 1#5->1 
    Step 2: 1#1->2 
]
Solution of group 1
Mulirobot solution: (|moves| = 3, paralellism = 1.000) [
    Step 0: 1#6->5 
    Step 1: 1#5->9 
    Step 2: 1#9->13 
]
Occupation table complementary for group 0
0 1 1 1 1 0 1 0 0 0 0 0 0 0 1 1 
0 0 1 0 0 1 1 0 1 0 1 0 0 0 1 0 
0 1 0 0 0 1 0 0 0 1 1 0 1 0 1 0 
1 0 0 0 0 1 0 0 0 1 1 0 1 1 1 0 

** Open/close/exp size (steps): 1/1/1 (2)
Occupation table complementary for group 1
0 1 1 1 1 0 0 0 0 1 0 0 0 0 1 1 
0 0 1 0 0 1 1 0 1 0 1 0 0 0 1 0 
0 1 0 0 0 1 0 0 0 1 1 0 1 0 1 0 
1 0 1 0 0 1 0 0 0 1 1 0 1 0 1 0 

Unable to resolve collision between groups 0 and 1.
Merging groups 0 and 1.
Searching solution for merged group 0+1.
Open/close/exp size (steps): 1/0/1 (20)
Open/close/exp size (steps): 29/8/29 (28)
Open/close/exp size (steps): 60/18/60 (38)
Open/close/exp size (steps): 85/30/85 (50)
Open/close/exp size (steps): 105/45/105 (65)
Open/close/exp size (steps): 124/63/124 (83)
0 0 0 0 0 0 2 0 0 1 0 0 0 0 0 0 
0 0 0 0 0 1 0 0 0 0 2 0 0 0 0 0 
0 1 0 0 0 0 0 0 0 2 0 0 0 0 0 0 
0 0 1 0 0 0 0 0 0 0 0 0 0 2 0 0 

Groups 0 and 1 collide.
Solution of group 0
Mulirobot solution: (|moves| = 6, paralellism = 2.000) [
    Step 0: 1#9->5 2#6->10 
    Step 1: 1#5->1 2#10->9 
    Step 2: 1#1->2 2#9->13 
]
Solution of group 1
Mulirobot solution: (|moves| = 2, paralellism = 1.000) [
    Step 0: 1#2->6 
    Step 1: 1#6->10 
]
Occupation table complementary for group 0
0 1 1 1 1 0 0 0 0 0 0 0 0 0 1 1 
0 0 1 0 0 1 1 0 1 0 1 0 0 0 1 0 
0 1 0 0 0 1 0 0 0 1 1 0 1 0 1 0 
1 0 0 0 0 1 0 0 0 1 1 0 1 0 1 0 

Occupation table complementary for group 1
0 1 0 1 1 0 2 0 0 1 0 0 0 0 1 1 
0 0 1 0 0 1 0 0 1 0 1 0 0 0 1 0 
0 1 0 0 0 1 0 0 0 1 0 0 1 0 1 0 
1 0 1 0 0 1 0 0 0 1 0 0 1 2 1 0 

Unable to resolve collision between groups 0 and 1.
Merging groups 0 and 1.
Searching solution for merged group 0+1.
Open/close/exp size (steps): 44/19/44 (105)
Open/close/exp size (steps): 120/46/120 (132)
Open/close/exp size (steps): 220/79/220 (165)
Open/close/exp size (steps): 284/119/284 (205)
Open/close/exp size (steps): 356/167/356 (253)
Open/close/exp size (steps): 426/225/426 (311)
Open/close/exp size (steps): 447/295/447 (381)
Open/close/exp size (steps): 605/379/605 (465)
0 0 3 0 0 0 2 0 0 1 0 0 0 0 0 0 
0 0 3 0 0 1 0 0 0 0 2 0 0 0 0 0 
0 1 0 0 0 0 3 0 0 2 0 0 0 0 0 0 
0 0 1 0 0 0 0 0 0 0 3 0 0 2 0 0 

Groups 0 and 1 collide.
Solution of group 0
Mulirobot solution: (|moves| = 8, paralellism = 2.667) [
    Step 0: 1#9->5 2#6->10 
    Step 1: 1#5->1 2#10->9 3#2->6 
    Step 2: 1#1->2 2#9->13 3#6->10 
]
Solution of group 1
Mulirobot solution: (|moves| = 3, paralellism = 1.000) [
    Step 0: 1#3->2 
    Step 1: 1#2->1 
    Step 2: 1#1->0 
]
Occupation table complementary for group 0
0 1 0 1 1 0 0 0 0 0 0 0 0 0 1 1 
0 0 1 0 0 1 0 0 1 0 1 0 0 0 1 0 
0 1 0 0 0 1 0 0 0 1 0 0 1 0 1 0 
1 0 0 0 0 1 0 0 0 1 0 0 1 0 1 0 

Occupation table complementary for group 1
0 1 3 0 1 0 2 0 0 1 0 0 0 0 1 1 
0 0 3 0 0 1 0 0 1 0 1 0 0 0 1 0 
0 1 0 0 0 1 3 0 0 1 0 0 1 0 1 0 
0 0 1 0 0 1 0 0 0 1 3 0 1 2 1 0 

** Open/close/exp size (steps): 1/2/1 (5)
** Open/close/exp size (steps): 3/6/3 (9)
Unable to resolve collision between groups 0 and 1.
Merging groups 0 and 1.
Searching solution for merged group 0+1.
Open/close/exp size (steps): 56/49/56 (566)
Open/close/exp size (steps): 325/171/325 (688)
Open/close/exp size (steps): 524/318/524 (835)
Open/close/exp size (steps): 660/495/660 (1012)
Open/close/exp size (steps): 975/708/975 (1225)
Open/close/exp size (steps): 1422/964/1422 (1481)
Open/close/exp size (steps): 1828/1272/1828 (1789)
Open/close/exp size (steps): 2213/1642/2213 (2159)
Open/close/exp size (steps): 2431/2086/2431 (2603)
Open/close/exp size (steps): 2271/2619/2271 (3136)
Open/close/exp size (steps): 1936/3259/1936 (3776)
Open/close/exp size (steps): 2591/4027/2591 (4544)
Open/close/exp size (steps): 3264/4949/3264 (5466)
Open/close/exp size (steps): 4022/6056/4022 (6573)
Open/close/exp size (steps): 4687/7385/4687 (7902)
Open/close/exp size (steps): 6891/8980/6891 (9497)
Open/close/exp size (steps): 7589/10894/7589 (11411)
Open/close/exp size (steps): 8264/13191/8264 (13708)
Open/close/exp size (steps): 8731/15948/8731 (16465)
Open/close/exp size (steps): 9340/19257/9340 (19774)
Open/close/exp size (steps): 11005/23228/11005 (23745)
Open/close/exp size (steps): 21182/27994/21182 (28511)
Open/close/exp size (steps): 32580/33714/32580 (34231)
Open/close/exp size (steps): 45434/40578/45434 (41095)
Open/close/exp size (steps): 58473/48815/58473 (49332)
Open/close/exp size (steps): 67765/58700/67765 (59217)
Open/close/exp size (steps): 59230/70562/59230 (71079)
Open/close/exp size (steps): 63280/84797/63280 (85314)
Open/close/exp size (steps): 60854/101879/60854 (102396)
Open/close/exp size (steps): 53585/122378/53585 (122895)
Open/close/exp size (steps): 67906/146977/67906 (147494)
Open/close/exp size (steps): 64591/176496/64591 (177013)
Open/close/exp size (steps): 98653/211919/98653 (212436)
Open/close/exp size (steps): 107857/254427/107857 (254944)
0 0 4 3 0 0 2 0 0 1 0 0 0 0 0 0 
0 4 0 3 0 0 0 2 0 0 1 0 0 0 0 0 
0 0 3 0 0 4 1 0 0 0 0 2 0 0 0 0 
0 3 0 0 0 0 1 0 0 4 0 0 0 0 0 2 
3 0 1 0 0 0 0 0 0 0 4 0 0 0 2 0 
3 0 1 0 0 0 0 0 0 0 4 0 0 2 0 0 

Groups 0 and 1 collide.
Solution of group 0
Mulirobot solution: (|moves| = 15, paralellism = 3.000) [
    Step 0: 1#9->10 2#6->7 4#2->1 
    Step 1: 1#10->6 2#7->11 3#3->2 4#1->5 
    Step 2: 2#11->15 3#2->1 4#5->9 
    Step 3: 1#6->2 2#15->14 3#1->0 4#9->10 
    Step 4: 2#14->13 
]
Solution of group 1
Mulirobot solution: (|moves| = 1, paralellism = 1.000) [
    Step 0: 1#1->5 
]
Occupation table complementary for group 0
0 1 0 0 1 0 0 0 0 0 0 0 0 0 1 1 
0 0 0 0 0 1 0 0 1 0 1 0 0 0 1 0 
0 0 0 0 0 1 0 0 0 1 0 0 1 0 1 0 
0 0 0 0 0 1 0 0 0 1 0 0 1 0 1 0 
0 0 0 0 0 1 0 0 0 1 0 0 1 0 1 0 
0 0 0 0 0 1 0 0 0 1 0 0 1 0 1 0 

** Open/close/exp size (steps): 2/2/2 (14)
** Open/close/exp size (steps): 3/8/3 (20)
** Open/close/exp size (steps): 9/16/9 (28)
** Open/close/exp size (steps): 18/26/18 (38)
** Open/close/exp size (steps): 15/38/15 (50)
** Open/close/exp size (steps): 32/53/32 (65)
** Open/close/exp size (steps): 49/71/49 (83)
** Open/close/exp size (steps): 55/93/55 (105)
** Open/close/exp size (steps): 107/120/107 (132)
** Open/close/exp size (steps): 142/153/142 (165)
** Open/close/exp size (steps): 167/193/167 (205)
** Open/close/exp size (steps): 127/241/127 (253)
** Open/close/exp size (steps): 124/299/124 (311)
** Open/close/exp size (steps): 102/369/102 (381)
** Open/close/exp size (steps): 227/453/227 (465)
** Open/close/exp size (steps): 266/554/266 (566)
** Open/close/exp size (steps): 321/676/321 (688)
** Open/close/exp size (steps): 207/823/207 (835)
** Open/close/exp size (steps): 198/1000/198 (1012)
** Open/close/exp size (steps): 300/1213/300 (1225)
** Open/close/exp size (steps): 445/1469/445 (1481)
** Open/close/exp size (steps): 654/1777/654 (1789)
** Open/close/exp size (steps): 927/2147/927 (2159)
** Open/close/exp size (steps): 599/2591/599 (2603)
** Open/close/exp size (steps): 656/3124/656 (3136)
** Open/close/exp size (steps): 609/3764/609 (3776)
** Open/close/exp size (steps): 484/4532/484 (4544)
** Open/close/exp size (steps): 573/5454/573 (5466)
** Open/close/exp size (steps): 252/6561/252 (6573)
** Open/close/exp size (steps): 423/7890/423 (7902)
Occupation table complementary for group 1
0 0 4 3 1 0 2 0 0 1 0 0 0 0 1 1 
0 4 0 3 0 0 0 2 1 0 1 0 0 0 1 0 
0 0 3 0 0 4 1 0 0 1 0 2 1 0 1 0 
0 3 0 0 0 0 1 0 0 1 0 0 1 0 1 2 
3 0 1 0 0 0 0 0 0 1 4 0 1 0 1 0 
3 0 1 0 0 0 0 0 0 1 4 0 1 2 1 0 

Unable to resolve collision between groups 0 and 1.
Merging groups 0 and 1.
Searching solution for merged group 0+1.
Open/close/exp size (steps): 12266/9320/12266 (305954)
Open/close/exp size (steps): 26645/70532/26645 (367166)
Open/close/exp size (steps): 59275/143987/59275 (440621)
Open/close/exp size (steps): 129301/232133/129301 (528767)
Open/close/exp size (steps): 186876/337909/186876 (634543)
Open/close/exp size (steps): 276824/464841/276824 (761475)
Open/close/exp size (steps): 551885/617160/551885 (913794)
Open/close/exp size (steps): 856837/799943/856837 (1096577)
Open/close/exp size (steps): 989522/1019283/989522 (1315917)
Open/close/exp size (steps): 855343/1282491/855343 (1579125)
Open/close/exp size (steps): 658039/1598341/658039 (1894975)
Open/close/exp size (steps): 561207/1977361/561207 (2273995)
Cannot decide existence of solution..
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     = [ 7 ]
    trajectory distribution   = [ ]
)
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                = 0
            Produced CNF variables         = 0
            Produced CNF clauses           = 0
            Search steps                   = 0
            Wall clock TIME (seconds)      = 6.199
            CPU/machine TIME (seconds)     = 6.200
        ]
        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                = 5924381
                Produced CNF variables         = 0
                Produced CNF clauses           = 0
                Search steps                   = 0
                Wall clock TIME (seconds)      = 64.015
                CPU/machine TIME (seconds)     = 64.010
            ]
        }
]
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