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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
11,9
7,3
10,7
12,11
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=13 |E|=16) [
    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 }
    Vertex: (id = 9) {5 8 11 }
    Vertex: (id = 10) {7 }
    Vertex: (id = 11) {9 12 }
    Vertex: (id = 12) {11 }
    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 <-> 9
    Edge  13: 7 <-> 3
    Edge  14: 10 <-> 7
    Edge  15: 12 <-> 11
]
Robot arrangement: (|R| = 9, |V| = 13) [
     robot locations: {1#4 2#8 3#7 4#11 5#3 6#9 7#1 8#0 9#10 }
     vertex occupancy: {8#0 7#1 0#2 5#3 1#4 0#5 0#6 3#7 2#8 6#9 9#10 4#11 0#12 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 9, |V| = 13) [
    robot goals: {
        1#{2}
        2#{3}
        3#{4}
        4#{12}
        5#{10}
        6#{9}
        7#{7}
        8#{0}
        9#{11}
    }
    vertex compatibilities: {
        0@{8}
        1@{}
        2@{1}
        3@{2}
        4@{3}
        5@{}
        6@{}
        7@{7}
        8@{}
        9@{6}
        10@{5}
        11@{9}
        12@{4}
    }
]
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
Computed optimal makespan:12
Makespan optimal solution:
Mulirobot solution: (|moves| = 32, paralellism = 2.667) [
    Step 0: 3#7->6 4#11->12 
    Step 1: 3#6->5 6#9->11 9#10->7 
    Step 2: 3#5->9 9#7->6 
    Step 3: 1#4->5 5#3->7 7#1->2 
    Step 4: 1#5->1 2#8->4 7#2->3 
    Step 5: 1#1->2 2#4->5 3#9->8 
    Step 6: 2#5->1 3#8->4 6#11->9 
    Step 7: 5#7->10 6#9->8 9#6->5 
    Step 8: 1#2->6 9#5->9 
    Step 9: 1#6->5 2#1->2 7#3->7 
    Step 10: 1#5->1 2#2->3 9#9->11 
    Step 11: 1#1->2 6#8->9 
]
Multirobot solution analysis: (
    total makespan           = 12
    total distance           = 17
    total trajectory         = 32
    average parallelism      = 2.667
    average distance         = 1.889
    average trajectory       = 3.556
    parallelism distribution  = [ 0 4 8 ]
    distance distribution     = [ 2 1 1 3 0 1 ]
    trajectory distribution   = [ 1 1 1 1 3 0 1 ]
)
Phase statistics (current phase = 'root_phase') [
        Phase (name = 'root_phase') [
            Total SAT solver calls         = 12
            Satisfiable SAT solver calls   = 1
            Unsatisfiable SAT solver calls = 11
            Indeterminate SAT solver calls = 0
            Move executions                = 32
            Produced CNF variables         = 92556
            Produced CNF clauses           = 2862
            Search steps                   = 0
            Wall clock TIME (seconds)      = 6.742
            CPU/machine TIME (seconds)     = 6.670
        ]
]
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