================================================================ 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 9,5 7,6 9,8 11,8 7,3 10,7 13,10 13,12 Reading initial arrangement... Reading goal arrangement... Undirected graph: (|V|=14 |E|=17) [ 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 11 } Vertex: (id = 9) {5 8 } Vertex: (id = 10) {7 13 } Vertex: (id = 11) {8 } Vertex: (id = 12) {13 } Vertex: (id = 13) {10 12 } 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 <-> 8 Edge 13: 7 <-> 3 Edge 14: 10 <-> 7 Edge 15: 13 <-> 10 Edge 16: 13 <-> 12 ] Robot arrangement: (|R| = 3, |V| = 14) [ robot locations: {1#13 2#3 3#11 } vertex occupancy: {0#0 0#1 0#2 2#3 0#4 0#5 0#6 0#7 0#8 0#9 0#10 3#11 0#12 1#13 } ] Robot arrangement: (|R| = -1, |V| = 0) [ robot locations: {} vertex occupancy: {} ] Robot goal: (|R| = 3, |V| = 14) [ robot goals: { 1#{8} 2#{9} 3#{2} } vertex compatibilities: { 0@{} 1@{} 2@{3} 3@{} 4@{} 5@{} 6@{} 7@{} 8@{1} 9@{2} 10@{} 11@{} 12@{} 13@{} } ] Solving layer: 2 Solving layer: 3 Solving layer: 4 Solving layer: 5 Solving layer: 6 Solving layer: 7 Solving layer: 8 Computed optimal makespan:7 Makespan optimal solution: Mulirobot solution: (|moves| = 15, paralellism = 2.143) [ Step 0: 1#13->10 2#3->2 3#11->8 Step 1: 1#10->7 2#2->1 Step 2: 1#7->6 2#1->0 Step 3: 1#6->5 2#0->1 3#8->4 Step 4: 1#5->9 3#4->0 Step 5: 1#9->8 2#1->5 Step 6: 2#5->9 ] Multirobot solution analysis: ( total makespan = 7 total distance = 10 total trajectory = 15 average parallelism = 2.143 average distance = 3.333 average trajectory = 5.000 parallelism distribution = [ 1 4 2 ] distance distribution = [ 0 0 0 1 0 1 ] trajectory distribution = [ 0 0 1 0 0 2 ] ) Phase statistics (current phase = 'root_phase') [ Phase (name = 'root_phase') [ Total SAT solver calls = 7 Satisfiable SAT solver calls = 1 Unsatisfiable SAT solver calls = 6 Indeterminate SAT solver calls = 0 Move executions = 15 Produced CNF variables = 3079 Produced CNF clauses = 1235 Search steps = 0 Wall clock TIME (seconds) = 0.041 CPU/machine TIME (seconds) = 0.010 ] ] ----------------------------------------------------------------