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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
11,8
7,3
10,7
13,10
13,12
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=14 |E|=17) [
    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 11 }
    Vertex: (id = 9) {5 8 }
    Vertex: (id = 10) {7 13 }
    Vertex: (id = 11) {8 }
    Vertex: (id = 12) {13 }
    Vertex: (id = 13) {10 12 }
    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 <-> 8
    Edge  13: 7 <-> 3
    Edge  14: 10 <-> 7
    Edge  15: 13 <-> 10
    Edge  16: 13 <-> 12
]
Robot arrangement: (|R| = 8, |V| = 14) [
     robot locations: {1#0 2#4 3#10 4#2 5#8 6#13 7#3 8#11 }
     vertex occupancy: {1#0 0#1 4#2 7#3 2#4 0#5 0#6 0#7 5#8 0#9 3#10 8#11 0#12 6#13 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 8, |V| = 14) [
    robot goals: {
        1#{2,3,6}
        2#{2,3,10}
        3#{3,7}
        4#{7,8}
        5#{5,11}
        6#{11}
        7#{7}
        8#{2}
    }
    vertex compatibilities: {
        0@{}
        1@{}
        2@{1,2,8}
        3@{1,2,3}
        4@{}
        5@{5}
        6@{1}
        7@{3,4,7}
        8@{4}
        9@{}
        10@{2}
        11@{5,6}
        12@{}
        13@{}
    }
]
Solving layer: 2
Solving layer: 3
Solving layer: 4
Solving layer: 5
Solving layer: 6
Solving layer: 7
Solving layer: 8
Solving layer: 9
Solving layer: 10
Solving layer: 11
Solving layer: 12
Solving layer: 13
Solving layer: 14
Computed optimal makespan:13
Makespan optimal solution:
Mulirobot solution: (|moves| = 43, paralellism = 3.308) [
    Step 0: 2#4->5 3#10->7 5#8->9 
    Step 1: 1#0->4 3#7->6 4#2->1 5#9->8 6#13->10 
    Step 2: 3#6->2 4#1->0 6#10->7 
    Step 3: 2#5->1 6#7->6 
    Step 4: 6#6->5 7#3->7 
    Step 5: 3#2->3 6#5->9 7#7->10 
    Step 6: 1#4->5 2#1->2 
    Step 7: 1#5->6 3#3->7 4#0->1 5#8->4 
    Step 8: 3#7->3 5#4->0 6#9->5 7#10->13 8#11->8 
    Step 9: 6#5->9 8#8->4 
    Step 10: 3#3->7 4#1->5 6#9->8 7#13->10 
    Step 11: 3#7->3 4#5->9 5#0->1 6#8->11 
    Step 12: 4#9->8 5#1->5 7#10->7 8#4->0 
]
Multirobot solution analysis: (
    total makespan           = 13
    total distance           = 22
    total trajectory         = 43
    average parallelism      = 3.308
    average distance         = 2.750
    average trajectory       = 5.375
    parallelism distribution  = [ 0 4 3 4 2 ]
    distance distribution     = [ 1 2 2 1 0 0 1 ]
    trajectory distribution   = [ 0 0 3 0 1 2 0 1 1 ]
)
Phase statistics (current phase = 'root_phase') [
        Phase (name = 'root_phase') [
            Total SAT solver calls         = 13
            Satisfiable SAT solver calls   = 1
            Unsatisfiable SAT solver calls = 12
            Indeterminate SAT solver calls = 0
            Move executions                = 43
            Produced CNF variables         = 92443
            Produced CNF clauses           = 2080
            Search steps                   = 0
            Wall clock TIME (seconds)      = 41.695
            CPU/machine TIME (seconds)     = 41.640
        ]
]
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