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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| = 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#{0,7,8,11}
        2#{1,6}
        3#{13}
        4#{0,1,5,8}
        5#{0,7,9,10}
        6#{0,7}
        7#{1,9,12}
        8#{3,13}
    }
    vertex compatibilities: {
        0@{1,4,5,6}
        1@{2,4,7}
        2@{}
        3@{8}
        4@{}
        5@{4}
        6@{2}
        7@{1,5,6}
        8@{1,4}
        9@{5,7}
        10@{5}
        11@{1}
        12@{7}
        13@{3,8}
        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| = 37, paralellism = 5.286) [
    Step 0: 3#1->2 5#3->7 7#4->5 6#9->6 8#12->11 
    Step 1: 3#2->3 7#5->1 1#10->9 8#11->8 4#13->12 
    Step 2: 6#6->2 5#7->10 8#8->4 1#9->13 4#12->11 
    Step 3: 3#3->7 8#4->5 5#10->14 4#11->8 1#13->12 
    Step 4: 2#0->4 6#2->3 8#5->6 3#7->10 1#12->11 5#14->13 
    Step 5: 6#3->7 2#4->5 8#6->2 3#10->14 1#11->12 5#13->9 
    Step 6: 8#2->3 2#5->6 5#9->10 1#12->11 3#14->13 
]
Multirobot solution analysis: (
    total makespan           = 7
    total distance           = 20
    total trajectory         = 37
    average parallelism      = 5.286
    average distance         = 2.500
    average trajectory       = 4.625
    parallelism distribution  = [ 0 0 0 0 5 2 ]
    distance distribution     = [ 0 3 2 2 ]
    trajectory distribution   = [ 0 1 2 1 0 3 1 ]
)
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                = 74
            Produced CNF variables         = 10248
            Produced CNF clauses           = 51807
            Search steps                   = 0
            Wall clock TIME (seconds)      = 6.828
            CPU/machine TIME (seconds)     = 5.740
        ]
]
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