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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
7,6
9,6
11,8
10,9
13,9
7,3
10,7
14,10
12,11
13,12
14,13
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=15 |E|=20) [
    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 }
    Vertex: (id = 6) {2 5 7 9 }
    Vertex: (id = 7) {6 3 10 }
    Vertex: (id = 8) {4 11 }
    Vertex: (id = 9) {6 10 13 }
    Vertex: (id = 10) {9 7 14 }
    Vertex: (id = 11) {8 12 }
    Vertex: (id = 12) {11 13 }
    Vertex: (id = 13) {9 12 14 }
    Vertex: (id = 14) {10 13 }
    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: 7 <-> 6
    Edge  10: 9 <-> 6
    Edge  11: 11 <-> 8
    Edge  12: 10 <-> 9
    Edge  13: 13 <-> 9
    Edge  14: 7 <-> 3
    Edge  15: 10 <-> 7
    Edge  16: 14 <-> 10
    Edge  17: 12 <-> 11
    Edge  18: 13 <-> 12
    Edge  19: 14 <-> 13
]
Robot arrangement: (|R| = 8, |V| = 15) [
     robot locations: {1#10 2#0 3#1 4#13 5#3 6#9 7#4 8#12 }
     vertex occupancy: {2#0 3#1 0#2 5#3 7#4 0#5 0#6 0#7 0#8 6#9 1#10 0#11 8#12 4#13 0#14 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 8, |V| = 15) [
    robot goals: {
        1#{0,11}
        2#{2}
        3#{1,6}
        4#{13}
        5#{1,8}
        6#{6}
        7#{0,9}
        8#{3,4}
    }
    vertex compatibilities: {
        0@{1,7}
        1@{3,5}
        2@{2}
        3@{8}
        4@{8}
        5@{}
        6@{3,6}
        7@{}
        8@{5}
        9@{7}
        10@{}
        11@{1}
        12@{}
        13@{4}
        14@{}
    }
]
Solving layer: 2
Solving layer: 3
Solving layer: 4
Solving layer: 5
Solving layer: 6
Solving layer: 7
Solving layer: 8
Solving layer: 9
Computed optimal makespan:8
Makespan optimal solution:
Mulirobot solution: (|moves| = 44, paralellism = 5.500) [
    Step 0: 3#1->5 5#3->2 1#10->7 4#13->14 
    Step 1: 2#0->1 5#2->6 1#7->10 6#9->13 8#12->11 
    Step 2: 2#1->2 7#4->0 5#6->9 1#10->7 8#11->8 6#13->12 
    Step 3: 7#0->1 2#2->3 3#5->6 1#7->10 8#8->4 5#9->13 6#12->11 
    Step 4: 7#1->2 8#4->0 3#6->5 1#10->9 6#11->8 5#13->12 
    Step 5: 7#2->6 2#3->7 3#5->1 6#8->4 1#9->13 5#12->11 
    Step 6: 6#4->5 7#6->9 2#7->3 5#11->8 1#13->12 
    Step 7: 8#0->4 2#3->2 6#5->6 1#12->11 4#14->13 
]
Multirobot solution analysis: (
    total makespan           = 8
    total distance           = 15
    total trajectory         = 44
    average parallelism      = 5.500
    average distance         = 1.875
    average trajectory       = 5.500
    parallelism distribution  = [ 0 0 0 1 3 3 1 ]
    distance distribution     = [ 2 1 1 1 1 1 ]
    trajectory distribution   = [ 0 1 0 1 2 1 2 1 ]
)
Phase statistics (current phase = 'root_phase') [
        Phase (name = 'root_phase') [
            Total SAT solver calls         = 8
            Satisfiable SAT solver calls   = 1
            Unsatisfiable SAT solver calls = 7
            Indeterminate SAT solver calls = 0
            Move executions                = 88
            Produced CNF variables         = 8444
            Produced CNF clauses           = 48599
            Search steps                   = 0
            Wall clock TIME (seconds)      = 14.114
            CPU/machine TIME (seconds)     = 11.690
        ]
]
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