================================================================ 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| = 9, |V| = 13) [ robot locations: {1#4 2#8 3#7 4#11 5#3 6#9 7#1 8#0 9#10 } vertex occupancy: {8#0 7#1 0#2 5#3 1#4 0#5 0#6 3#7 2#8 6#9 9#10 4#11 0#12 } ] Robot arrangement: (|R| = -1, |V| = 0) [ robot locations: {} vertex occupancy: {} ] Robot goal: (|R| = 9, |V| = 13) [ robot goals: { 1#{3,10,11} 2#{8,9} 3#{0,1,7,8} 4#{1,3,8,10} 5#{0,1,10} 6#{1,3,4,10} 7#{0,1,7} 8#{6} 9#{5,8} } vertex compatibilities: { 0@{3,5,7} 1@{3,4,5,6,7} 2@{} 3@{1,4,6} 4@{6} 5@{9} 6@{8} 7@{3,7} 8@{2,3,4,9} 9@{2} 10@{1,4,5,6} 11@{1} 12@{} } ] 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| = 30, paralellism = 2.727) [ Step 0: 3#7->6 4#11->12 7#1->5 Step 1: 3#6->2 6#9->11 9#10->7 Step 2: 7#5->9 9#7->6 Step 3: 1#4->5 5#3->7 Step 4: 1#5->1 3#2->3 5#7->10 Step 5: 1#1->2 3#3->7 7#9->5 Step 6: 1#2->3 2#8->4 6#11->9 8#0->1 Step 7: 2#4->0 4#12->11 8#1->2 Step 8: 6#9->8 7#5->1 Step 9: 4#11->9 6#8->4 9#6->5 Step 10: 4#9->8 8#2->6 ] Multirobot solution analysis: ( total makespan = 11 total distance = 15 total trajectory = 30 average parallelism = 2.727 average distance = 1.667 average trajectory = 3.333 parallelism distribution = [ 0 4 6 1 ] distance distribution = [ 2 0 4 1 1 ] trajectory distribution = [ 0 2 2 5 ] ) 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 = 30 Produced CNF variables = 65038 Produced CNF clauses = 5679 Search steps = 0 Wall clock TIME (seconds) = 90.856 CPU/machine TIME (seconds) = 90.790 ] ] ----------------------------------------------------------------