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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
Solving layer: 16
Computed optimal makespan:15
Makespan optimal solution:
Mulirobot solution: (|moves| = 130, paralellism = 8.667) [
    Step 0: 2#12->13 3#8->7 4#19->16 10#1->6 15#4->3 16#0->5 
    Step 1: 2#13->14 4#16->15 6#2->1 7#9->8 8#17->12 9#22->28 14#24->23 
    Step 2: 2#14->18 3#7->13 4#15->9 5#10->16 6#1->0 8#12->11 9#28->22 11#20->17 15#3->2 17#25->24 
    Step 3: 3#13->14 7#8->3 10#6->1 11#17->12 13#26->25 15#2->7 17#24->20 
    Step 4: 1#27->28 3#14->8 4#9->10 5#16->15 7#3->4 9#22->19 10#1->2 11#12->13 13#25->26 14#23->24 15#7->6 17#20->17 
    Step 5: 3#8->9 5#15->14 8#11->12 9#19->16 10#2->3 11#13->7 12#21->22 13#26->27 14#24->25 17#17->20 
    Step 6: 3#9->8 5#14->13 8#12->17 9#16->15 11#7->2 12#22->19 13#27->21 14#25->26 16#5->11 17#20->24 
    Step 7: 1#28->22 3#8->7 4#10->9 5#13->12 6#0->1 8#17->20 9#15->14 12#19->16 14#26->27 15#6->5 17#24->25 
    Step 8: 4#9->15 5#12->6 8#20->24 9#14->13 10#3->8 12#16->10 14#27->28 15#5->0 
    Step 9: 4#15->14 5#6->5 7#4->9 8#24->23 9#13->12 11#2->3 12#10->16 13#21->27 
    Step 10: 4#14->13 5#5->6 6#1->2 7#9->15 11#3->4 12#16->10 13#27->26 17#25->24 
    Step 11: 5#6->1 7#15->16 10#8->14 11#4->3 12#10->9 13#26->25 14#28->27 16#11->5 17#24->20 
    Step 12: 1#22->21 3#7->8 9#12->11 10#14->15 12#9->4 13#25->24 14#27->26 16#5->6 17#20->17 
    Step 13: 1#21->27 3#8->9 4#13->14 7#16->19 9#11->5 13#24->20 14#26->25 16#6->7 17#17->12 
    Step 14: 1#27->26 7#19->22 9#5->6 14#25->24 16#7->8 17#12->13 
]
Multirobot solution analysis: (
    total makespan           = 15
    total distance           = 55
    total trajectory         = 130
    average parallelism      = 8.667
    average distance         = 3.235
    average trajectory       = 7.647
    parallelism distribution  = [ 0 0 0 0 0 2 2 3 3 3 1 1 ]
    distance distribution     = [ 2 2 0 4 3 2 2 1 ]
    trajectory distribution   = [ 0 0 1 1 1 2 2 3 4 1 2 ]
)
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)      = 3.882
            CPU/machine TIME (seconds)     = 3.890
        ]
        Sub-phases {
            Phase (name = 'SAT') [
                Total SAT solver calls         = 15
                Satisfiable SAT solver calls   = 1
                Unsatisfiable SAT solver calls = 14
                Indeterminate SAT solver calls = 0
                Move executions                = 130
                Produced CNF variables         = 463144
                Produced CNF clauses           = 353873
                Search steps                   = 0
                Wall clock TIME (seconds)      = 2287.730
                CPU/machine TIME (seconds)     = 2287.850
            ]
        }
]
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