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reLOC 0.08-osaka : Multirobot Solution solver
(C) Copyright 2011-2013 Pavel Surynek
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Reading graph...
2,1
4,1
4,3
7,3
5,4
8,4
7,6
10,6
8,7
11,7
9,8
5,2
9,5
12,9
11,10
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=13 |E|=15) [
    Vertex: (id = 0)
    Vertex: (id = 1) {2 4 }
    Vertex: (id = 2) {1 5 }
    Vertex: (id = 3) {4 7 }
    Vertex: (id = 4) {1 3 5 8 }
    Vertex: (id = 5) {4 2 9 }
    Vertex: (id = 6) {7 10 }
    Vertex: (id = 7) {3 6 8 11 }
    Vertex: (id = 8) {4 7 9 }
    Vertex: (id = 9) {8 5 12 }
    Vertex: (id = 10) {6 11 }
    Vertex: (id = 11) {7 10 }
    Vertex: (id = 12) {9 }
    Edge  0: 2 <-> 1
    Edge  1: 4 <-> 1
    Edge  2: 4 <-> 3
    Edge  3: 7 <-> 3
    Edge  4: 5 <-> 4
    Edge  5: 8 <-> 4
    Edge  6: 7 <-> 6
    Edge  7: 10 <-> 6
    Edge  8: 8 <-> 7
    Edge  9: 11 <-> 7
    Edge  10: 9 <-> 8
    Edge  11: 5 <-> 2
    Edge  12: 9 <-> 5
    Edge  13: 12 <-> 9
    Edge  14: 11 <-> 10
]
Robot arrangement: (|R| = 5, |V| = 13) [
     robot locations: {1#9 2#11 3#8 4#0 5#3 }
     vertex occupancy: {4#0 0#1 0#2 5#3 0#4 0#5 0#6 0#7 3#8 1#9 0#10 2#11 0#12 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 5, |V| = 13) [
    robot goals: {
        1#{10}
        2#{8}
        3#{11}
        4#{4}
        5#{1}
    }
    vertex compatibilities: {
        0@{}
        1@{5}
        2@{}
        3@{}
        4@{4}
        5@{}
        6@{}
        7@{}
        8@{2}
        9@{}
        10@{1}
        11@{3}
        12@{}
    }
]
Solving layer: 2
Solving layer: 3
Solving layer: 4
Solving layer: 5
Solving layer: 6
Solving layer: 7
Solving layer: 8
Computed optimal makespan:7
Makespan optimal solution:
Mulirobot solution: (|moves| = 20, paralellism = 2.857) [
    Step 0: 1#9->5 3#8->7 5#3->4 
    Step 1: 1#5->9 3#7->6 5#4->1 
    Step 2: 1#9->8 2#11->7 5#1->4 
    Step 3: 2#7->3 
    Step 4: 1#8->7 3#6->10 5#4->1 
    Step 5: 1#7->6 2#3->4 3#10->11 5#1->2 
    Step 6: 1#6->10 2#4->8 5#2->1 
]
Multirobot solution analysis: (
    total makespan           = 7
    total distance           = 8
    total trajectory         = 20
    average parallelism      = 2.857
    average distance         = 1.600
    average trajectory       = 4.000
    parallelism distribution  = [ 1 0 5 1 ]
    distance distribution     = [ 1 0 2 0 1 ]
    trajectory distribution   = [ 0 0 0 2 0 2 ]
)
Phase statistics (current phase = 'root_phase') [
        Phase (name = 'root_phase') [
            Total SAT solver calls         = 7
            Satisfiable SAT solver calls   = 1
            Unsatisfiable SAT solver calls = 6
            Indeterminate SAT solver calls = 0
            Move executions                = 20
            Produced CNF variables         = 13650
            Produced CNF clauses           = 665
            Search steps                   = 0
            Wall clock TIME (seconds)      = 0.141
            CPU/machine TIME (seconds)     = 0.100
        ]
]
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