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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
5,0
2,1
6,1
3,2
7,2
8,3
6,5
11,5
7,6
12,6
8,7
13,7
9,8
10,9
14,9
12,11
15,11
13,12
16,12
18,14
16,15
20,15
21,16
18,17
23,17
19,18
24,18
21,20
26,20
22,21
27,21
23,22
24,23
28,23
25,24
29,24
10,4
25,19
27,26
29,28
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=30 |E|=41) [
    Vertex: (id = 0) {1 5 }
    Vertex: (id = 1) {0 2 6 }
    Vertex: (id = 2) {1 3 7 }
    Vertex: (id = 3) {2 8 }
    Vertex: (id = 4) {10 }
    Vertex: (id = 5) {0 6 11 }
    Vertex: (id = 6) {1 5 7 12 }
    Vertex: (id = 7) {2 6 8 13 }
    Vertex: (id = 8) {3 7 9 }
    Vertex: (id = 9) {8 10 14 }
    Vertex: (id = 10) {9 4 }
    Vertex: (id = 11) {5 12 15 }
    Vertex: (id = 12) {6 11 13 16 }
    Vertex: (id = 13) {7 12 }
    Vertex: (id = 14) {9 18 }
    Vertex: (id = 15) {11 16 20 }
    Vertex: (id = 16) {12 15 21 }
    Vertex: (id = 17) {18 23 }
    Vertex: (id = 18) {14 17 19 24 }
    Vertex: (id = 19) {18 25 }
    Vertex: (id = 20) {15 21 26 }
    Vertex: (id = 21) {16 20 22 27 }
    Vertex: (id = 22) {21 23 }
    Vertex: (id = 23) {17 22 24 28 }
    Vertex: (id = 24) {18 23 25 29 }
    Vertex: (id = 25) {24 19 }
    Vertex: (id = 26) {20 27 }
    Vertex: (id = 27) {21 26 }
    Vertex: (id = 28) {23 29 }
    Vertex: (id = 29) {24 28 }
    Edge  0: 1 <-> 0
    Edge  1: 5 <-> 0
    Edge  2: 2 <-> 1
    Edge  3: 6 <-> 1
    Edge  4: 3 <-> 2
    Edge  5: 7 <-> 2
    Edge  6: 8 <-> 3
    Edge  7: 6 <-> 5
    Edge  8: 11 <-> 5
    Edge  9: 7 <-> 6
    Edge  10: 12 <-> 6
    Edge  11: 8 <-> 7
    Edge  12: 13 <-> 7
    Edge  13: 9 <-> 8
    Edge  14: 10 <-> 9
    Edge  15: 14 <-> 9
    Edge  16: 12 <-> 11
    Edge  17: 15 <-> 11
    Edge  18: 13 <-> 12
    Edge  19: 16 <-> 12
    Edge  20: 18 <-> 14
    Edge  21: 16 <-> 15
    Edge  22: 20 <-> 15
    Edge  23: 21 <-> 16
    Edge  24: 18 <-> 17
    Edge  25: 23 <-> 17
    Edge  26: 19 <-> 18
    Edge  27: 24 <-> 18
    Edge  28: 21 <-> 20
    Edge  29: 26 <-> 20
    Edge  30: 22 <-> 21
    Edge  31: 27 <-> 21
    Edge  32: 23 <-> 22
    Edge  33: 24 <-> 23
    Edge  34: 28 <-> 23
    Edge  35: 25 <-> 24
    Edge  36: 29 <-> 24
    Edge  37: 10 <-> 4
    Edge  38: 25 <-> 19
    Edge  39: 27 <-> 26
    Edge  40: 29 <-> 28
]
Robot arrangement: (|R| = 11, |V| = 30) [
     robot locations: {1#21 2#22 3#5 4#25 5#24 6#27 7#20 8#17 9#4 10#29 11#3 }
     vertex occupancy: {0#0 0#1 0#2 11#3 9#4 3#5 0#6 0#7 0#8 0#9 0#10 0#11 0#12 0#13 0#14 0#15 0#16 8#17 0#18 0#19 7#20 1#21 2#22 0#23 5#24 4#25 0#26 6#27 0#28 10#29 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 11, |V| = 30) [
    robot goals: {
        1#{3,20}
        2#{11}
        3#{1,14}
        4#{19,21}
        5#{10,27}
        6#{27}
        7#{0,8}
        8#{3}
        9#{21}
        10#{0}
        11#{2,17}
    }
    vertex compatibilities: {
        0@{7,10}
        1@{3}
        2@{11}
        3@{1,8}
        4@{}
        5@{}
        6@{}
        7@{}
        8@{7}
        9@{}
        10@{5}
        11@{2}
        12@{}
        13@{}
        14@{3}
        15@{}
        16@{}
        17@{11}
        18@{}
        19@{4}
        20@{1}
        21@{4,9}
        22@{}
        23@{}
        24@{}
        25@{}
        26@{}
        27@{5,6}
        28@{}
        29@{}
    }
]
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
Computed optimal makespan:9
Makespan optimal solution:
Mulirobot solution: (|moves| = 67, paralellism = 7.444) [
    Step 0: 11#3->8 9#4->10 3#5->0 8#17->18 7#20->15 1#21->16 10#29->28 
    Step 1: 11#8->3 9#10->9 1#16->12 8#18->14 2#22->21 10#28->23 
    Step 2: 3#0->5 9#9->8 1#12->16 7#15->11 2#21->20 10#23->22 6#27->26 
    Step 3: 9#8->7 7#11->12 8#14->9 2#20->15 10#22->21 5#24->18 6#26->27 
    Step 4: 11#3->8 3#5->0 9#7->6 7#12->13 2#15->11 10#21->20 6#27->26 
    Step 5: 3#0->1 9#6->12 11#8->7 2#11->5 1#16->21 5#18->14 10#20->15 6#26->27 
    Step 6: 3#1->0 2#5->6 11#7->2 8#9->8 9#12->16 10#15->11 1#21->20 4#25->19 6#27->26 
    Step 7: 3#0->1 2#6->12 8#8->3 10#11->5 7#13->7 5#14->9 4#19->18 1#20->15 
    Step 8: 10#5->0 7#7->8 5#9->10 2#12->11 1#15->20 9#16->21 4#18->19 6#26->27 
]
Multirobot solution analysis: (
    total makespan           = 9
    total distance           = 40
    total trajectory         = 67
    average parallelism      = 7.444
    average distance         = 3.636
    average trajectory       = 6.091
    parallelism distribution  = [ 0 0 0 0 0 1 4 3 1 ]
    distance distribution     = [ 1 2 1 0 2 1 1 0 1 1 ]
    trajectory distribution   = [ 0 0 1 1 2 3 1 2 1 ]
)
Phase statistics (current phase = 'root_phase') [
        Phase (name = 'root_phase') [
            Total SAT solver calls         = 9
            Satisfiable SAT solver calls   = 1
            Unsatisfiable SAT solver calls = 8
            Indeterminate SAT solver calls = 0
            Move executions                = 134
            Produced CNF variables         = 32310
            Produced CNF clauses           = 167472
            Search steps                   = 0
            Wall clock TIME (seconds)      = 13.589
            CPU/machine TIME (seconds)     = 13.680
        ]
]
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