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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| = 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#{1,10}
        2#{6,11}
        3#{3,9,10}
        4#{5,9}
        5#{5}
        6#{1,3}
        7#{3,4}
    }
    vertex compatibilities: {
        0@{}
        1@{1,6}
        2@{}
        3@{3,6,7}
        4@{7}
        5@{4,5}
        6@{2}
        7@{}
        8@{}
        9@{3,4}
        10@{1,3}
        11@{2}
        12@{}
    }
]
Solving layer: 2
Solving layer: 3
Solving layer: 4
Solving layer: 5
Solving layer: 6
Computed optimal makespan:5
Makespan optimal solution:
Mulirobot solution: (|moves| = 17, paralellism = 3.400) [
    Step 0: 3#9->5 4#11->7 7#3->4 
    Step 1: 4#7->11 7#4->1 
    Step 2: 3#5->4 4#11->7 5#8->9 7#1->2 
    Step 3: 2#10->11 3#4->3 4#7->8 5#9->5 7#2->1 
    Step 4: 1#6->10 4#8->9 7#1->4 
]
Multirobot solution analysis: (
    total makespan           = 5
    total distance           = 10
    total trajectory         = 17
    average parallelism      = 3.400
    average distance         = 1.429
    average trajectory       = 2.429
    parallelism distribution  = [ 0 1 2 1 1 ]
    distance distribution     = [ 1 2 1 2 ]
    trajectory distribution   = [ 2 1 1 0 2 ]
)
Phase statistics (current phase = 'root_phase') [
        Phase (name = 'root_phase') [
            Total SAT solver calls         = 5
            Satisfiable SAT solver calls   = 1
            Unsatisfiable SAT solver calls = 4
            Indeterminate SAT solver calls = 0
            Move executions                = 17
            Produced CNF variables         = 12425
            Produced CNF clauses           = 560
            Search steps                   = 0
            Wall clock TIME (seconds)      = 0.108
            CPU/machine TIME (seconds)     = 0.080
        ]
]
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