================================================================
reLOC 0.08-osaka : Multirobot Solution solver
(C) Copyright 2011-2013 Pavel Surynek
----------------------------------------------------------------
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| = 7, |V| = 13) [
     robot locations: {1#6 2#10 3#9 4#11 5#8 6#0 7#3 }
     vertex occupancy: {6#0 0#1 0#2 7#3 0#4 0#5 1#6 0#7 5#8 3#9 2#10 4#11 0#12 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 7, |V| = 13) [
    robot goals: {
        1#{7}
        2#{3}
        3#{11}
        4#{4}
        5#{8}
        6#{2}
        7#{1}
    }
    vertex compatibilities: {
        0@{}
        1@{7}
        2@{6}
        3@{2}
        4@{4}
        5@{}
        6@{}
        7@{1}
        8@{5}
        9@{}
        10@{}
        11@{3}
        12@{}
    }
]
Solving layer: 2
Solving layer: 3
Solving layer: 4
Solving layer: 5
Solving layer: 6
Solving layer: 7
Solving layer: 8
Solving layer: 9
Computed optimal makespan:8
Makespan optimal solution:
Mulirobot solution: (|moves| = 26, paralellism = 3.250) [
    Step 0: 3#9->12 4#11->7 7#3->4 
    Step 1: 2#10->11 4#7->3 5#8->9 7#4->1 
    Step 2: 1#6->10 2#11->7 4#3->4 5#9->5 
    Step 3: 1#10->11 3#12->9 5#5->2 
    Step 4: 1#11->10 2#7->3 3#9->8 
    Step 5: 1#10->6 3#8->7 5#2->5 
    Step 6: 3#7->11 5#5->9 7#1->2 
    Step 7: 1#6->7 5#9->8 7#2->1 
]
Multirobot solution analysis: (
    total makespan           = 8
    total distance           = 10
    total trajectory         = 26
    average parallelism      = 3.250
    average distance         = 1.429
    average trajectory       = 3.714
    parallelism distribution  = [ 0 0 6 2 ]
    distance distribution     = [ 2 1 0 3 ]
    trajectory distribution   = [ 0 0 2 1 2 1 ]
)
Phase statistics (current phase = 'root_phase') [
        Phase (name = 'root_phase') [
            Total SAT solver calls         = 8
            Satisfiable SAT solver calls   = 1
            Unsatisfiable SAT solver calls = 7
            Indeterminate SAT solver calls = 0
            Move executions                = 26
            Produced CNF variables         = 28896
            Produced CNF clauses           = 1148
            Search steps                   = 0
            Wall clock TIME (seconds)      = 0.313
            CPU/machine TIME (seconds)     = 0.270
        ]
]
----------------------------------------------------------------