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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
9,8
11,9
7,3
10,7
12,11
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=13 |E|=16) [
    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 }
    Vertex: (id = 7) {6 3 10 }
    Vertex: (id = 8) {4 9 }
    Vertex: (id = 9) {5 8 11 }
    Vertex: (id = 10) {7 }
    Vertex: (id = 11) {9 12 }
    Vertex: (id = 12) {11 }
    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: 9 <-> 8
    Edge  12: 11 <-> 9
    Edge  13: 7 <-> 3
    Edge  14: 10 <-> 7
    Edge  15: 12 <-> 11
]
Robot arrangement: (|R| = 4, |V| = 13) [
     robot locations: {1#9 2#1 3#0 4#10 }
     vertex occupancy: {3#0 2#1 0#2 0#3 0#4 0#5 0#6 0#7 0#8 1#9 4#10 0#11 0#12 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 4, |V| = 13) [
    robot goals: {
        1#{5}
        2#{9}
        3#{8}
        4#{2}
    }
    vertex compatibilities: {
        0@{}
        1@{}
        2@{4}
        3@{}
        4@{}
        5@{1}
        6@{}
        7@{}
        8@{3}
        9@{2}
        10@{}
        11@{}
        12@{}
    }
]
Solving layer: 2
Solving layer: 3
Solving layer: 4
Computed optimal makespan:3
Makespan optimal solution:
Mulirobot solution: (|moves| = 10, paralellism = 3.333) [
    Step 0: 1#9->8 2#1->5 4#10->7 
    Step 1: 1#8->4 2#5->9 3#0->1 4#7->6 
    Step 2: 1#4->5 3#1->0 4#6->2 
]
Multirobot solution analysis: (
    total makespan           = 3
    total distance           = 3
    total trajectory         = 10
    average parallelism      = 3.333
    average distance         = 0.750
    average trajectory       = 2.500
    parallelism distribution  = [ 0 0 2 1 ]
    distance distribution     = [ 1 1 1 ]
    trajectory distribution   = [ 0 2 2 ]
)
Phase statistics (current phase = 'root_phase') [
        Phase (name = 'root_phase') [
            Total SAT solver calls         = 3
            Satisfiable SAT solver calls   = 1
            Unsatisfiable SAT solver calls = 2
            Indeterminate SAT solver calls = 0
            Move executions                = 10
            Produced CNF variables         = 2280
            Produced CNF clauses           = 156
            Search steps                   = 0
            Wall clock TIME (seconds)      = 0.024
            CPU/machine TIME (seconds)     = 0.000
        ]
]
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