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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#{3,10,11}
        2#{8,9}
        3#{0,1,7,8}
        4#{1,3,8,10}
        5#{0,1,10}
        6#{1,3,4,10}
        7#{0,1,7}
        8#{6}
        9#{5,8}
    }
    vertex compatibilities: {
        0@{3,5,7}
        1@{3,4,5,6,7}
        2@{}
        3@{1,4,6}
        4@{6}
        5@{9}
        6@{8}
        7@{3,7}
        8@{2,3,4,9}
        9@{2}
        10@{1,4,5,6}
        11@{1}
        12@{}
    }
]
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
Computed optimal makespan:11
Makespan optimal solution:
Mulirobot solution: (|moves| = 34, paralellism = 3.091) [
    Step 0: 3#7->6 4#11->12 7#1->2 
    Step 1: 3#6->5 6#9->11 8#0->1 9#10->7 
    Step 2: 1#4->0 3#5->9 9#7->6 
    Step 3: 2#8->4 5#3->7 8#1->5 
    Step 4: 1#0->1 3#9->8 5#7->10 7#2->3 
    Step 5: 1#1->2 2#4->0 6#11->9 7#3->7 
    Step 6: 1#2->3 3#8->4 4#12->11 8#5->1 
    Step 7: 3#4->5 6#9->8 8#1->2 
    Step 8: 3#5->1 4#11->9 6#8->4 
    Step 9: 4#9->8 9#6->5 
    Step 10: 8#2->6 
]
Multirobot solution analysis: (
    total makespan           = 11
    total distance           = 21
    total trajectory         = 34
    average parallelism      = 3.091
    average distance         = 2.333
    average trajectory       = 3.778
    parallelism distribution  = [ 1 1 5 4 ]
    distance distribution     = [ 0 4 3 1 ]
    trajectory distribution   = [ 0 2 2 3 1 0 1 ]
)
Phase statistics (current phase = 'root_phase') [
        Phase (name = 'root_phase') [
            Total SAT solver calls         = 11
            Satisfiable SAT solver calls   = 1
            Unsatisfiable SAT solver calls = 10
            Indeterminate SAT solver calls = 0
            Move executions                = 34
            Produced CNF variables         = 78793
            Produced CNF clauses           = 2475
            Search steps                   = 0
            Wall clock TIME (seconds)      = 86.187
            CPU/machine TIME (seconds)     = 86.130
        ]
]
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