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reLOC 0.08-osaka : Multirobot Solution solver
(C) Copyright 2011-2013 Pavel Surynek
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Reading graph...
2,1
4,1
4,3
7,3
5,4
8,4
7,6
10,6
8,7
11,7
9,8
5,2
9,5
12,9
11,10
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=13 |E|=15) [
    Vertex: (id = 0)
    Vertex: (id = 1) {2 4 }
    Vertex: (id = 2) {1 5 }
    Vertex: (id = 3) {4 7 }
    Vertex: (id = 4) {1 3 5 8 }
    Vertex: (id = 5) {4 2 9 }
    Vertex: (id = 6) {7 10 }
    Vertex: (id = 7) {3 6 8 11 }
    Vertex: (id = 8) {4 7 9 }
    Vertex: (id = 9) {8 5 12 }
    Vertex: (id = 10) {6 11 }
    Vertex: (id = 11) {7 10 }
    Vertex: (id = 12) {9 }
    Edge  0: 2 <-> 1
    Edge  1: 4 <-> 1
    Edge  2: 4 <-> 3
    Edge  3: 7 <-> 3
    Edge  4: 5 <-> 4
    Edge  5: 8 <-> 4
    Edge  6: 7 <-> 6
    Edge  7: 10 <-> 6
    Edge  8: 8 <-> 7
    Edge  9: 11 <-> 7
    Edge  10: 9 <-> 8
    Edge  11: 5 <-> 2
    Edge  12: 9 <-> 5
    Edge  13: 12 <-> 9
    Edge  14: 11 <-> 10
]
Robot arrangement: (|R| = 1, |V| = 13) [
     robot locations: {1#3 }
     vertex occupancy: {0#0 0#1 0#2 1#3 0#4 0#5 0#6 0#7 0#8 0#9 0#10 0#11 0#12 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 1, |V| = 13) [
    robot goals: {
        1#{8}
    }
    vertex compatibilities: {
        0@{}
        1@{}
        2@{}
        3@{}
        4@{}
        5@{}
        6@{}
        7@{}
        8@{1}
        9@{}
        10@{}
        11@{}
        12@{}
    }
]
Solving layer: 2
Solving layer: 3
Computed optimal makespan:2
Makespan optimal solution:
Mulirobot solution: (|moves| = 2, paralellism = 1.000) [
    Step 0: 1#3->7 
    Step 1: 1#7->8 
]
Multirobot solution analysis: (
    total makespan           = 2
    total distance           = 0
    total trajectory         = 2
    average parallelism      = 1.000
    average distance         = 0.000
    average trajectory       = 2.000
    parallelism distribution  = [ 2 ]
    distance distribution     = [ ]
    trajectory distribution   = [ 0 1 ]
)
Phase statistics (current phase = 'root_phase') [
        Phase (name = 'root_phase') [
            Total SAT solver calls         = 2
            Satisfiable SAT solver calls   = 1
            Unsatisfiable SAT solver calls = 1
            Indeterminate SAT solver calls = 0
            Move executions                = 4
            Produced CNF variables         = 388
            Produced CNF clauses           = 1565
            Search steps                   = 0
            Wall clock TIME (seconds)      = 0.040
            CPU/machine TIME (seconds)     = 0.050
        ]
]
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