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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| = 9, |V| = 13) [
     robot locations: {1#12 2#7 3#6 4#10 5#9 6#11 7#8 8#0 9#3 }
     vertex occupancy: {8#0 0#1 0#2 9#3 0#4 0#5 3#6 2#7 7#8 5#9 4#10 6#11 1#12 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 9, |V| = 13) [
    robot goals: {
        1#{3,5}
        2#{1,2,4,8}
        3#{1,9,12}
        4#{5}
        5#{1,3}
        6#{3,4}
        7#{4,6,8}
        8#{5}
        9#{0,2}
    }
    vertex compatibilities: {
        0@{9}
        1@{2,3,5}
        2@{2,9}
        3@{1,5,6}
        4@{2,6,7}
        5@{1,4,8}
        6@{7}
        7@{}
        8@{2,7}
        9@{3}
        10@{}
        11@{}
        12@{3}
    }
]
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
Solving layer: 15
Computed optimal makespan:14
Makespan optimal solution:
Mulirobot solution: (|moves| = 45, paralellism = 3.214) [
    Step 0: 5#9->5 9#3->4 
    Step 1: 1#12->9 2#7->3 5#5->2 9#4->1 
    Step 2: 1#9->5 3#6->7 7#8->4 
    Step 3: 3#7->8 4#10->6 
    Step 4: 3#8->9 4#6->7 
    Step 5: 3#9->12 4#7->8 6#11->10 
    Step 6: 1#5->9 2#3->7 6#10->6 
    Step 7: 1#9->5 2#7->11 7#4->3 
    Step 8: 1#5->4 2#11->10 4#8->9 7#3->7 
    Step 9: 1#4->3 4#9->8 5#2->5 7#7->11 
    Step 10: 4#8->9 5#5->4 6#6->7 9#1->2 
    Step 11: 2#10->6 5#4->1 6#7->8 9#2->5 
    Step 12: 2#6->7 6#8->4 7#11->10 9#5->2 
    Step 13: 2#7->8 4#9->5 7#10->6 
]
Multirobot solution analysis: (
    total makespan           = 14
    total distance           = 22
    total trajectory         = 45
    average parallelism      = 3.214
    average distance         = 2.444
    average trajectory       = 5.000
    parallelism distribution  = [ 0 3 5 6 ]
    distance distribution     = [ 1 1 1 2 2 1 ]
    trajectory distribution   = [ 0 0 0 1 3 2 2 ]
)
Phase statistics (current phase = 'root_phase') [
        Phase (name = 'root_phase') [
            Total SAT solver calls         = 14
            Satisfiable SAT solver calls   = 1
            Unsatisfiable SAT solver calls = 13
            Indeterminate SAT solver calls = 0
            Move executions                = 45
            Produced CNF variables         = 122122
            Produced CNF clauses           = 3717
            Search steps                   = 0
            Wall clock TIME (seconds)      = 8.869
            CPU/machine TIME (seconds)     = 8.790
        ]
]
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