================================================================
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
11,9
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| = 8, |V| = 13) [
     robot locations: {1#8 2#7 3#11 4#3 5#9 6#1 7#0 8#10 }
     vertex occupancy: {7#0 6#1 0#2 4#3 0#4 0#5 0#6 2#7 1#8 5#9 8#10 3#11 0#12 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 8, |V| = 13) [
    robot goals: {
        1#{0,11}
        2#{1,12}
        3#{7}
        4#{7,8}
        5#{3}
        6#{1,8}
        7#{5,7}
        8#{1,4}
    }
    vertex compatibilities: {
        0@{1}
        1@{2,6,8}
        2@{}
        3@{5}
        4@{8}
        5@{7}
        6@{}
        7@{3,4,7}
        8@{4,6}
        9@{}
        10@{}
        11@{1}
        12@{2}
    }
]
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| = 35, paralellism = 3.182) [
    Step 0: 4#3->2 5#9->5 
    Step 1: 2#7->3 3#11->9 5#5->6 7#0->4 
    Step 2: 3#9->5 5#6->7 6#1->0 
    Step 3: 1#8->9 3#5->1 4#2->6 
    Step 4: 2#3->2 4#6->5 7#4->8 
    Step 5: 1#9->11 2#2->6 4#5->4 5#7->3 
    Step 6: 1#11->12 2#6->5 3#1->2 7#8->9 8#10->7 
    Step 7: 2#5->1 4#4->8 8#7->6 
    Step 8: 1#12->11 8#6->5 
    Step 9: 1#11->12 3#2->6 8#5->4 
    Step 10: 1#12->11 3#6->7 7#9->5 
]
Multirobot solution analysis: (
    total makespan           = 11
    total distance           = 21
    total trajectory         = 35
    average parallelism      = 3.182
    average distance         = 2.625
    average trajectory       = 4.375
    parallelism distribution  = [ 0 2 6 2 1 ]
    distance distribution     = [ 1 2 1 2 1 ]
    trajectory distribution   = [ 1 0 0 3 2 2 ]
)
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                = 35
            Produced CNF variables         = 51945
            Produced CNF clauses           = 5322
            Search steps                   = 0
            Wall clock TIME (seconds)      = 10.855
            CPU/machine TIME (seconds)     = 10.810
        ]
]
----------------------------------------------------------------