================================================================ reLOC 0.08-osaka : Multirobot Solution solver (C) Copyright 2011-2013 Pavel Surynek ---------------------------------------------------------------- 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| = 9, |V| = 15) [ robot locations: {1#2 2#10 3#0 4#1 5#13 6#3 7#9 8#4 9#12 } vertex occupancy: {3#0 4#1 1#2 6#3 8#4 0#5 0#6 0#7 0#8 7#9 2#10 0#11 9#12 5#13 0#14 } ] Robot arrangement: (|R| = -1, |V| = 0) [ robot locations: {} vertex occupancy: {} ] Robot goal: (|R| = 9, |V| = 15) [ robot goals: { 1#{12} 2#{4} 3#{14} 4#{1} 5#{3} 6#{8} 7#{7} 8#{0} 9#{11} } vertex compatibilities: { 0@{8} 1@{4} 2@{} 3@{5} 4@{2} 5@{} 6@{} 7@{7} 8@{6} 9@{} 10@{} 11@{9} 12@{1} 13@{} 14@{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 Computed optimal makespan:9 Makespan optimal solution: Mulirobot solution: (|moves| = 45, paralellism = 5.000) [ Step 0: 4#1->5 6#3->7 8#4->8 2#10->14 9#12->11 Step 1: 3#0->1 1#2->3 4#5->4 6#7->6 7#9->10 9#11->12 Step 2: 3#1->2 1#3->7 4#4->0 6#6->5 9#12->11 5#13->9 Step 3: 4#0->1 3#2->3 8#8->4 5#9->6 2#14->13 Step 4: 8#4->0 5#6->2 7#10->14 9#11->8 2#13->9 Step 5: 6#5->4 1#7->10 9#8->11 2#9->6 7#14->13 Step 6: 3#3->7 6#4->8 2#6->5 1#10->14 7#13->9 Step 7: 5#2->3 2#5->4 3#7->10 7#9->6 1#14->13 Step 8: 7#6->7 3#10->14 1#13->12 ] Multirobot solution analysis: ( total makespan = 9 total distance = 26 total trajectory = 45 average parallelism = 5.000 average distance = 2.889 average trajectory = 5.000 parallelism distribution = [ 0 0 1 0 6 2 ] distance distribution = [ 1 1 1 0 3 1 1 ] trajectory distribution = [ 0 0 1 2 2 4 ] ) Phase statistics (current phase = 'root_phase') [ Phase (name = 'root_phase') [ Total SAT solver calls = 9 Satisfiable SAT solver calls = 1 Unsatisfiable SAT solver calls = 8 Indeterminate SAT solver calls = 0 Move executions = 90 Produced CNF variables = 10377 Produced CNF clauses = 60383 Search steps = 0 Wall clock TIME (seconds) = 11.658 CPU/machine TIME (seconds) = 9.250 ] ] ----------------------------------------------------------------