================================================================ 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| = 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#{2,7} 3#{4,8} 4#{4,5} 5#{0,4,6} 6#{9} 7#{3,4} 8#{2} } vertex compatibilities: { 0@{1,5} 1@{} 2@{2,8} 3@{7} 4@{3,4,5,7} 5@{4} 6@{5} 7@{2} 8@{3} 9@{6} 10@{} 11@{1} 12@{} 13@{} 14@{} } ] 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| = 33, paralellism = 4.714) [ Step 0: 7#4->5 8#12->11 Step 1: 1#10->14 2#0->4 4#13->12 5#3->2 7#5->6 Step 2: 1#14->10 2#4->5 3#1->0 6#9->13 7#6->7 8#11->8 Step 3: 1#10->14 2#5->6 3#0->1 4#12->11 6#13->9 7#7->3 8#8->4 Step 4: 1#14->13 2#6->7 3#1->0 8#4->5 Step 5: 1#13->12 2#7->10 4#11->8 5#2->6 8#5->1 Step 6: 1#12->11 2#10->7 4#8->4 8#1->2 ] Multirobot solution analysis: ( total makespan = 7 total distance = 19 total trajectory = 33 average parallelism = 4.714 average distance = 2.375 average trajectory = 4.125 parallelism distribution = [ 0 1 0 2 2 1 1 ] distance distribution = [ 1 1 1 0 4 ] trajectory distribution = [ 0 2 1 2 0 3 ] ) 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 = 33 Produced CNF variables = 21408 Produced CNF clauses = 2603 Search steps = 0 Wall clock TIME (seconds) = 0.473 CPU/machine TIME (seconds) = 0.430 ] ] ----------------------------------------------------------------