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reLOC 0.08-osaka : Multirobot Solution solver
(C) Copyright 2011-2013 Pavel Surynek
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Reading graph...
Reading initial arrangement...
Reading goal arrangement...
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
Solving layer: 13
Solving layer: 14
Solving layer: 15
Computed optimal makespan:14
Makespan optimal solution:
Mulirobot solution: (|moves| = 120, paralellism = 8.571) [
    Step 0: 1#12->11 2#8->14 5#2->7 6#9->15 9#1->6 12#26->27 
    Step 1: 2#14->8 5#7->13 6#15->16 7#17->12 9#6->5 12#27->28 13#24->23 14#4->9 15#0->1 
    Step 2: 2#8->7 5#13->14 7#12->6 9#5->0 10#20->17 11#21->27 14#9->15 15#1->2 16#25->24 
    Step 3: 5#14->8 7#6->5 8#22->21 9#0->1 10#17->12 11#27->26 14#15->9 15#2->3 16#24->20 
    Step 4: 2#7->2 3#19->22 7#5->0 9#1->6 10#12->13 12#28->27 13#23->24 14#9->15 15#3->4 16#20->17 
    Step 5: 2#2->1 3#22->28 6#16->19 9#6->5 10#13->7 11#26->25 13#24->20 15#4->3 16#17->12 
    Step 6: 4#10->9 6#19->22 9#5->6 10#7->2 11#25->24 12#27->26 13#20->17 16#12->13 
    Step 7: 3#28->27 4#9->10 5#8->7 9#6->5 11#24->20 12#26->25 13#17->12 14#15->16 15#3->4 16#13->14 
    Step 8: 3#27->26 5#7->13 6#22->28 10#2->3 11#20->17 12#25->24 13#12->6 14#16->19 15#4->9 
    Step 9: 3#26->25 4#10->16 6#28->27 10#3->8 11#17->12 12#24->20 13#6->7 14#19->22 16#14->15 
    Step 10: 3#25->24 4#16->10 6#27->26 10#8->14 11#12->6 12#20->17 13#7->2 14#22->28 
    Step 11: 3#24->20 4#10->16 6#26->25 8#21->22 10#14->18 11#6->7 13#2->3 14#28->27 15#9->8 
    Step 12: 4#16->19 5#13->14 6#25->24 8#22->28 9#5->6 11#7->2 12#17->12 14#27->26 16#15->9 
    Step 13: 4#19->22 5#14->15 6#24->23 7#0->5 9#6->7 14#26->27 
]
Multirobot solution analysis: (
    total makespan           = 14
    total distance           = 68
    total trajectory         = 120
    average parallelism      = 8.571
    average distance         = 4.250
    average trajectory       = 7.500
    parallelism distribution  = [ 0 0 0 0 0 2 0 2 8 2 ]
    distance distribution     = [ 2 1 3 2 2 0 3 2 ]
    trajectory distribution   = [ 1 0 1 0 2 0 2 3 3 3 1 ]
)
Phase statistics (current phase = 'SAT') [
        Phase (name = 'root_phase') [
            Total SAT solver calls         = 0
            Satisfiable SAT solver calls   = 0
            Unsatisfiable SAT solver calls = 0
            Indeterminate SAT solver calls = 0
            Move executions                = 0
            Produced CNF variables         = 0
            Produced CNF clauses           = 0
            Search steps                   = 0
            Wall clock TIME (seconds)      = 3.951
            CPU/machine TIME (seconds)     = 3.950
        ]
        Sub-phases {
            Phase (name = 'SAT') [
                Total SAT solver calls         = 14
                Satisfiable SAT solver calls   = 1
                Unsatisfiable SAT solver calls = 13
                Indeterminate SAT solver calls = 0
                Move executions                = 120
                Produced CNF variables         = 356248
                Produced CNF clauses           = 261012
                Search steps                   = 0
                Wall clock TIME (seconds)      = 96.635
                CPU/machine TIME (seconds)     = 96.800
            ]
        }
]
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