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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
2,1
4,1
3,2
5,2
5,4
8,4
6,5
9,5
8,7
11,7
9,8
12,8
10,9
13,9
6,3
10,6
12,11
13,12
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=14 |E|=19) [
    Vertex: (id = 0) {1 }
    Vertex: (id = 1) {0 2 4 }
    Vertex: (id = 2) {1 3 5 }
    Vertex: (id = 3) {2 6 }
    Vertex: (id = 4) {1 5 8 }
    Vertex: (id = 5) {2 4 6 9 }
    Vertex: (id = 6) {5 3 10 }
    Vertex: (id = 7) {8 11 }
    Vertex: (id = 8) {4 7 9 12 }
    Vertex: (id = 9) {5 8 10 13 }
    Vertex: (id = 10) {9 6 }
    Vertex: (id = 11) {7 12 }
    Vertex: (id = 12) {8 11 13 }
    Vertex: (id = 13) {9 12 }
    Edge  0: 1 <-> 0
    Edge  1: 2 <-> 1
    Edge  2: 4 <-> 1
    Edge  3: 3 <-> 2
    Edge  4: 5 <-> 2
    Edge  5: 5 <-> 4
    Edge  6: 8 <-> 4
    Edge  7: 6 <-> 5
    Edge  8: 9 <-> 5
    Edge  9: 8 <-> 7
    Edge  10: 11 <-> 7
    Edge  11: 9 <-> 8
    Edge  12: 12 <-> 8
    Edge  13: 10 <-> 9
    Edge  14: 13 <-> 9
    Edge  15: 6 <-> 3
    Edge  16: 10 <-> 6
    Edge  17: 12 <-> 11
    Edge  18: 13 <-> 12
]
Robot arrangement: (|R| = 9, |V| = 14) [
     robot locations: {1#7 2#6 3#13 4#2 5#1 6#0 7#12 8#9 9#10 }
     vertex occupancy: {6#0 5#1 4#2 0#3 0#4 0#5 2#6 1#7 0#8 8#9 9#10 0#11 7#12 3#13 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 9, |V| = 14) [
    robot goals: {
        1#{5,12}
        2#{1,13}
        3#{8,10}
        4#{1}
        5#{2,4}
        6#{3,12}
        7#{12}
        8#{6}
        9#{6,8}
    }
    vertex compatibilities: {
        0@{}
        1@{2,4}
        2@{5}
        3@{6}
        4@{5}
        5@{1}
        6@{8,9}
        7@{}
        8@{3,9}
        9@{}
        10@{3}
        11@{}
        12@{1,6,7}
        13@{2}
    }
]
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| = 28, paralellism = 4.000) [
    Step 0: 1#7->8 4#2->3 7#12->11 8#9->5 
    Step 1: 1#8->4 3#13->12 5#1->2 9#10->9 
    Step 2: 2#6->10 3#12->13 6#0->1 9#9->8 
    Step 3: 2#10->9 3#13->12 6#1->0 8#5->6 9#8->7 
    Step 4: 1#4->5 2#9->13 3#12->8 5#2->1 
    Step 5: 3#8->9 4#3->2 5#1->4 7#11->12 
    Step 6: 3#9->10 4#2->1 9#7->8 
]
Multirobot solution analysis: (
    total makespan           = 7
    total distance           = 12
    total trajectory         = 28
    average parallelism      = 4.000
    average distance         = 1.333
    average trajectory       = 3.111
    parallelism distribution  = [ 0 0 1 5 1 ]
    distance distribution     = [ 2 2 2 2 ]
    trajectory distribution   = [ 0 3 4 1 0 1 ]
)
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                = 28
            Produced CNF variables         = 36204
            Produced CNF clauses           = 882
            Search steps                   = 0
            Wall clock TIME (seconds)      = 2.377
            CPU/machine TIME (seconds)     = 2.340
        ]
]
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