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reLOC 0.08-osaka : Multirobot Solution solver
(C) Copyright 2011-2013 Pavel Surynek
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Reading graph...
6,0
2,1
8,1
9,2
4,3
11,3
5,4
7,6
13,6
8,7
14,7
9,8
15,8
10,9
16,9
11,10
17,10
18,11
14,13
20,13
15,14
21,14
16,15
22,15
17,16
23,16
18,17
24,17
21,20
22,21
27,21
23,22
24,23
28,24
26,25
30,25
32,27
29,28
35,28
30,29
36,29
31,30
37,30
33,32
40,32
34,33
41,33
35,34
42,34
36,35
43,35
37,36
44,36
38,37
45,37
40,39
47,39
41,40
48,40
42,41
49,41
43,42
44,43
50,43
45,44
46,45
51,45
12,5
19,12
26,19
31,26
38,31
46,38
52,46
48,47
49,48
52,51
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=53 |E|=77) [
Vertex: (id = 0) {6 }
Vertex: (id = 1) {2 8 }
Vertex: (id = 2) {1 9 }
Vertex: (id = 3) {4 11 }
Vertex: (id = 4) {3 5 }
Vertex: (id = 5) {4 12 }
Vertex: (id = 6) {0 7 13 }
Vertex: (id = 7) {6 8 14 }
Vertex: (id = 8) {1 7 9 15 }
Vertex: (id = 9) {2 8 10 16 }
Vertex: (id = 10) {9 11 17 }
Vertex: (id = 11) {3 10 18 }
Vertex: (id = 12) {5 19 }
Vertex: (id = 13) {6 14 20 }
Vertex: (id = 14) {7 13 15 21 }
Vertex: (id = 15) {8 14 16 22 }
Vertex: (id = 16) {9 15 17 23 }
Vertex: (id = 17) {10 16 18 24 }
Vertex: (id = 18) {11 17 }
Vertex: (id = 19) {12 26 }
Vertex: (id = 20) {13 21 }
Vertex: (id = 21) {14 20 22 27 }
Vertex: (id = 22) {15 21 23 }
Vertex: (id = 23) {16 22 24 }
Vertex: (id = 24) {17 23 28 }
Vertex: (id = 25) {26 30 }
Vertex: (id = 26) {25 19 31 }
Vertex: (id = 27) {21 32 }
Vertex: (id = 28) {24 29 35 }
Vertex: (id = 29) {28 30 36 }
Vertex: (id = 30) {25 29 31 37 }
Vertex: (id = 31) {30 26 38 }
Vertex: (id = 32) {27 33 40 }
Vertex: (id = 33) {32 34 41 }
Vertex: (id = 34) {33 35 42 }
Vertex: (id = 35) {28 34 36 43 }
Vertex: (id = 36) {29 35 37 44 }
Vertex: (id = 37) {30 36 38 45 }
Vertex: (id = 38) {37 31 46 }
Vertex: (id = 39) {40 47 }
Vertex: (id = 40) {32 39 41 48 }
Vertex: (id = 41) {33 40 42 49 }
Vertex: (id = 42) {34 41 43 }
Vertex: (id = 43) {35 42 44 50 }
Vertex: (id = 44) {36 43 45 }
Vertex: (id = 45) {37 44 46 51 }
Vertex: (id = 46) {45 38 52 }
Vertex: (id = 47) {39 48 }
Vertex: (id = 48) {40 47 49 }
Vertex: (id = 49) {41 48 }
Vertex: (id = 50) {43 }
Vertex: (id = 51) {45 52 }
Vertex: (id = 52) {46 51 }
Edge 0: 6 <-> 0
Edge 1: 2 <-> 1
Edge 2: 8 <-> 1
Edge 3: 9 <-> 2
Edge 4: 4 <-> 3
Edge 5: 11 <-> 3
Edge 6: 5 <-> 4
Edge 7: 7 <-> 6
Edge 8: 13 <-> 6
Edge 9: 8 <-> 7
Edge 10: 14 <-> 7
Edge 11: 9 <-> 8
Edge 12: 15 <-> 8
Edge 13: 10 <-> 9
Edge 14: 16 <-> 9
Edge 15: 11 <-> 10
Edge 16: 17 <-> 10
Edge 17: 18 <-> 11
Edge 18: 14 <-> 13
Edge 19: 20 <-> 13
Edge 20: 15 <-> 14
Edge 21: 21 <-> 14
Edge 22: 16 <-> 15
Edge 23: 22 <-> 15
Edge 24: 17 <-> 16
Edge 25: 23 <-> 16
Edge 26: 18 <-> 17
Edge 27: 24 <-> 17
Edge 28: 21 <-> 20
Edge 29: 22 <-> 21
Edge 30: 27 <-> 21
Edge 31: 23 <-> 22
Edge 32: 24 <-> 23
Edge 33: 28 <-> 24
Edge 34: 26 <-> 25
Edge 35: 30 <-> 25
Edge 36: 32 <-> 27
Edge 37: 29 <-> 28
Edge 38: 35 <-> 28
Edge 39: 30 <-> 29
Edge 40: 36 <-> 29
Edge 41: 31 <-> 30
Edge 42: 37 <-> 30
Edge 43: 33 <-> 32
Edge 44: 40 <-> 32
Edge 45: 34 <-> 33
Edge 46: 41 <-> 33
Edge 47: 35 <-> 34
Edge 48: 42 <-> 34
Edge 49: 36 <-> 35
Edge 50: 43 <-> 35
Edge 51: 37 <-> 36
Edge 52: 44 <-> 36
Edge 53: 38 <-> 37
Edge 54: 45 <-> 37
Edge 55: 40 <-> 39
Edge 56: 47 <-> 39
Edge 57: 41 <-> 40
Edge 58: 48 <-> 40
Edge 59: 42 <-> 41
Edge 60: 49 <-> 41
Edge 61: 43 <-> 42
Edge 62: 44 <-> 43
Edge 63: 50 <-> 43
Edge 64: 45 <-> 44
Edge 65: 46 <-> 45
Edge 66: 51 <-> 45
Edge 67: 12 <-> 5
Edge 68: 19 <-> 12
Edge 69: 26 <-> 19
Edge 70: 31 <-> 26
Edge 71: 38 <-> 31
Edge 72: 46 <-> 38
Edge 73: 52 <-> 46
Edge 74: 48 <-> 47
Edge 75: 49 <-> 48
Edge 76: 52 <-> 51
]
Robot arrangement: (|R| = 6, |V| = 53) [
robot locations: {1#23 2#51 3#8 4#44 5#52 6#28 }
vertex occupancy: {0#0 0#1 0#2 0#3 0#4 0#5 0#6 0#7 3#8 0#9 0#10 0#11 0#12 0#13 0#14 0#15 0#16 0#17 0#18 0#19 0#20 0#21 0#22 1#23 0#24 0#25 0#26 0#27 6#28 0#29 0#30 0#31 0#32 0#33 0#34 0#35 0#36 0#37 0#38 0#39 0#40 0#41 0#42 0#43 4#44 0#45 0#46 0#47 0#48 0#49 0#50 2#51 5#52 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
robot locations: {}
vertex occupancy: {}
]
Robot goal: (|R| = 6, |V| = 53) [
robot goals: {
1#{15,25,28}
2#{12}
3#{25,46}
4#{36,38}
5#{7,39,43}
6#{1,30,41}
}
vertex compatibilities: {
0@{}
1@{6}
2@{}
3@{}
4@{}
5@{}
6@{}
7@{5}
8@{}
9@{}
10@{}
11@{}
12@{2}
13@{}
14@{}
15@{1}
16@{}
17@{}
18@{}
19@{}
20@{}
21@{}
22@{}
23@{}
24@{}
25@{1,3}
26@{}
27@{}
28@{1}
29@{}
30@{6}
31@{}
32@{}
33@{}
34@{}
35@{}
36@{4}
37@{}
38@{4}
39@{5}
40@{}
41@{6}
42@{}
43@{5}
44@{}
45@{}
46@{3}
47@{}
48@{}
49@{}
50@{}
51@{}
52@{}
}
]
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| = 36, paralellism = 4.500) [
Step 0: 3#8->15 1#23->16 4#44->43 5#52->46
Step 1: 3#15->22 6#28->24 5#46->38 2#51->52
Step 2: 1#16->15 3#22->23 6#24->17 5#38->37 4#43->35 2#52->46
Step 3: 1#15->14 6#17->16 3#23->24 5#37->45 2#46->38
Step 4: 6#16->15 3#24->28 2#38->31 5#45->46
Step 5: 3#28->29 2#31->26 5#46->45
Step 6: 6#15->8 2#26->19 3#29->30 4#35->36 5#45->44
Step 7: 6#8->1 1#14->15 2#19->12 3#30->25 5#44->43
]
Multirobot solution analysis: (
total makespan = 8
total distance = 22
total trajectory = 36
average parallelism = 4.500
average distance = 3.667
average trajectory = 6.000
parallelism distribution = [ 0 0 1 3 3 1 ]
distance distribution = [ 1 1 0 1 0 0 1 1 ]
trajectory distribution = [ 0 0 1 1 0 1 1 2 ]
)
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 = 72
Produced CNF variables = 27908
Produced CNF clauses = 149162
Search steps = 0
Wall clock TIME (seconds) = 0.660
CPU/machine TIME (seconds) = 0.760
]
]
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