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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| = 6, |V| = 13) [
     robot locations: {1#10 2#9 3#11 4#8 5#0 6#3 }
     vertex occupancy: {5#0 0#1 0#2 6#3 0#4 0#5 0#6 0#7 4#8 2#9 1#10 3#11 0#12 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 6, |V| = 13) [
    robot goals: {
        1#{1}
        2#{4}
        3#{9}
        4#{2}
        5#{6}
        6#{12}
    }
    vertex compatibilities: {
        0@{}
        1@{1}
        2@{4}
        3@{}
        4@{2}
        5@{}
        6@{5}
        7@{}
        8@{}
        9@{3}
        10@{}
        11@{}
        12@{6}
    }
]
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| = 19, paralellism = 2.714) [
    Step 0: 1#10->6 4#8->4 6#3->7 
    Step 1: 2#9->5 3#11->10 6#7->8 
    Step 2: 1#6->7 6#8->9 
    Step 3: 1#7->3 3#10->6 4#4->1 6#9->12 
    Step 4: 1#3->4 3#6->7 4#1->2 
    Step 5: 1#4->1 3#7->8 
    Step 6: 2#5->4 3#8->9 
]
Multirobot solution analysis: (
    total makespan           = 7
    total distance           = 13
    total trajectory         = 19
    average parallelism      = 2.714
    average distance         = 2.167
    average trajectory       = 3.167
    parallelism distribution  = [ 0 3 3 1 ]
    distance distribution     = [ 1 0 1 2 0 1 ]
    trajectory distribution   = [ 0 1 1 1 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                = 19
            Produced CNF variables         = 17892
            Produced CNF clauses           = 798
            Search steps                   = 0
            Wall clock TIME (seconds)      = 0.181
            CPU/machine TIME (seconds)     = 0.150
        ]
]
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