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reLOC 0.08-osaka : 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
11,8
10,9
12,9
13,10
7,3
12,11
13,12
14,13
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=15 |E|=21) [
    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 }
    Vertex: (id = 8) {4 9 11 }
    Vertex: (id = 9) {5 8 10 12 }
    Vertex: (id = 10) {6 9 13 }
    Vertex: (id = 11) {8 12 }
    Vertex: (id = 12) {9 11 13 }
    Vertex: (id = 13) {10 12 14 }
    Vertex: (id = 14) {13 }
    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: 11 <-> 8
    Edge  14: 10 <-> 9
    Edge  15: 12 <-> 9
    Edge  16: 13 <-> 10
    Edge  17: 7 <-> 3
    Edge  18: 12 <-> 11
    Edge  19: 13 <-> 12
    Edge  20: 14 <-> 13
]
Robot arrangement: (|R| = 9, |V| = 15) [
     robot locations: {1#7 2#5 3#6 4#9 5#4 6#14 7#1 8#2 9#11 }
     vertex occupancy: {0#0 7#1 8#2 0#3 5#4 2#5 3#6 1#7 0#8 4#9 0#10 9#11 0#12 0#13 6#14 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 9, |V| = 15) [
    robot goals: {
        1#{1}
        2#{8,12}
        3#{14}
        4#{6,7,9,12}
        5#{6,7}
        6#{10,12}
        7#{3}
        8#{2,8,11}
        9#{6,12,13}
    }
    vertex compatibilities: {
        0@{}
        1@{1}
        2@{8}
        3@{7}
        4@{}
        5@{}
        6@{4,5,9}
        7@{4,5}
        8@{2,8}
        9@{4}
        10@{6}
        11@{8}
        12@{2,4,6,9}
        13@{9}
        14@{3}
    }
]
Solving layer: 2
Solving layer: 3
Solving layer: 4
Solving layer: 5
Solving layer: 6
Solving layer: 7
Computed optimal makespan:6
Makespan optimal solution:
Mulirobot solution: (|moves| = 25, paralellism = 4.167) [
    Step 0: 8#2->3 5#4->0 3#6->10 4#9->8 6#14->13 
    Step 1: 2#5->4 1#7->6 4#8->9 6#13->12 
    Step 2: 7#1->2 8#3->7 2#4->8 1#6->5 3#10->13 
    Step 3: 5#0->4 7#2->3 1#5->1 8#7->6 3#13->14 
    Step 4: 5#4->5 8#6->2 6#12->13 
    Step 5: 5#5->6 9#11->12 6#13->10 
]
Multirobot solution analysis: (
    total makespan           = 6
    total distance           = 14
    total trajectory         = 25
    average parallelism      = 4.167
    average distance         = 1.556
    average trajectory       = 2.778
    parallelism distribution  = [ 0 0 2 1 3 ]
    distance distribution     = [ 2 0 4 2 ]
    trajectory distribution   = [ 1 3 2 3 ]
)
Phase statistics (current phase = 'root_phase') [
        Phase (name = 'root_phase') [
            Total SAT solver calls         = 6
            Satisfiable SAT solver calls   = 1
            Unsatisfiable SAT solver calls = 5
            Indeterminate SAT solver calls = 0
            Move executions                = 50
            Produced CNF variables         = 5262
            Produced CNF clauses           = 28188
            Search steps                   = 0
            Wall clock TIME (seconds)      = 0.917
            CPU/machine TIME (seconds)     = 1.010
        ]
]
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