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reLOC 0.08-osaka : Multirobot Solution solver
(C) Copyright 2011-2013 Pavel Surynek
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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| = 4, |V| = 15) [
     robot locations: {1#3 2#9 3#4 4#12 }
     vertex occupancy: {0#0 0#1 0#2 1#3 3#4 0#5 0#6 0#7 0#8 2#9 0#10 0#11 4#12 0#13 0#14 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 4, |V| = 15) [
    robot goals: {
        1#{6,11}
        2#{1,12}
        3#{2,13}
        4#{1,6}
    }
    vertex compatibilities: {
        0@{}
        1@{2,4}
        2@{3}
        3@{}
        4@{}
        5@{}
        6@{1,4}
        7@{}
        8@{}
        9@{}
        10@{}
        11@{1}
        12@{2}
        13@{3}
        14@{}
    }
]
Solving layer: 2
Solving layer: 3
Solving layer: 4
Solving layer: 5
Solving layer: 6
Computed optimal makespan:5
Makespan optimal solution:
Mulirobot solution: (|moves| = 16, paralellism = 3.200) [
    Step 0: 1#3->2 4#12->11 
    Step 1: 1#2->6 3#4->0 2#9->10 4#11->8 
    Step 2: 3#0->1 1#6->9 4#8->4 2#10->14 
    Step 3: 3#1->2 4#4->5 2#14->13 
    Step 4: 4#5->1 1#9->6 2#13->12 
]
Multirobot solution analysis: (
    total makespan           = 5
    total distance           = 7
    total trajectory         = 16
    average parallelism      = 3.200
    average distance         = 1.750
    average trajectory       = 4.000
    parallelism distribution  = [ 0 1 2 2 ]
    distance distribution     = [ 0 2 1 ]
    trajectory distribution   = [ 0 0 1 2 1 ]
)
Phase statistics (current phase = 'root_phase') [
        Phase (name = 'root_phase') [
            Total SAT solver calls         = 5
            Satisfiable SAT solver calls   = 1
            Unsatisfiable SAT solver calls = 4
            Indeterminate SAT solver calls = 0
            Move executions                = 32
            Produced CNF variables         = 4425
            Produced CNF clauses           = 21450
            Search steps                   = 0
            Wall clock TIME (seconds)      = 0.264
            CPU/machine TIME (seconds)     = 0.190
        ]
]
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