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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
Computed optimal makespan:13
Makespan optimal solution:
Mulirobot solution: (|moves| = 158, paralellism = 12.154) [
    Step 0: 5#4->3 10#5->12 14#8->7 18#9->10 7#15->16 6#18->21 9#20->25 12#23->19 15#27->34 2#32->31 16#37->38 
    Step 1: 5#3->2 18#10->4 10#12->11 17#13->18 7#16->9 12#19->15 6#21->28 1#22->23 9#25->26 15#34->33 13#36->29 16#38->39 
    Step 2: 5#2->8 18#4->3 4#6->13 10#11->10 12#15->16 17#18->21 1#23->24 9#26->27 6#28->35 13#29->22 2#31->38 15#33->32 16#39->40 
    Step 3: 18#3->2 5#8->15 10#10->4 4#13->18 17#21->28 13#22->23 1#24->25 15#32->31 2#38->39 16#40->33 
    Step 4: 11#0->6 18#2->8 10#4->3 7#9->10 5#15->19 4#18->21 13#23->22 1#25->32 9#27->34 17#28->29 15#31->38 16#33->26 6#35->36 2#39->40 
    Step 5: 8#1->0 10#3->2 11#6->13 7#10->4 3#14->15 12#16->9 5#19->23 4#21->28 16#26->27 1#32->33 6#36->35 15#38->37 2#40->39 
    Step 6: 8#0->6 10#2->1 14#7->14 12#9->10 11#13->18 3#15->16 5#23->24 16#27->26 17#29->30 6#35->36 
    Step 7: 10#1->0 8#6->7 18#8->2 12#10->11 14#14->15 3#16->9 11#18->21 13#22->23 5#24->25 16#26->27 4#28->29 17#30->31 1#33->40 6#36->35 2#39->32 
    Step 8: 10#0->6 18#2->1 7#4->3 8#7->8 3#9->10 12#11->17 14#15->14 11#21->22 13#23->19 5#25->26 4#29->30 17#31->24 6#35->28 15#37->36 1#40->33 
    Step 9: 7#3->2 10#6->13 8#8->9 3#10->11 14#14->7 13#19->15 11#22->23 17#24->25 6#28->35 4#30->37 2#32->31 1#33->40 15#36->29 
    Step 10: 7#2->3 14#7->6 8#9->8 3#11->12 10#13->18 13#15->14 11#23->24 17#25->32 5#26->33 15#29->22 2#31->30 6#35->36 4#37->38 1#40->39 
    Step 11: 8#8->15 13#14->13 12#17->11 10#18->21 11#24->25 2#30->29 5#33->40 6#36->37 4#38->31 
    Step 12: 18#1->7 14#6->0 12#11->10 13#13->18 11#25->20 16#27->26 4#31->24 17#32->33 6#37->30 
]
Multirobot solution analysis: (
    total makespan           = 13
    total distance           = 94
    total trajectory         = 158
    average parallelism      = 12.154
    average distance         = 5.222
    average trajectory       = 8.778
    parallelism distribution  = [ 0 0 0 0 0 0 0 0 2 2 1 1 3 2 2 ]
    distance distribution     = [ 0 0 4 3 4 2 0 1 1 1 1 ]
    trajectory distribution   = [ 0 0 0 1 0 1 3 1 6 3 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)      = 17.689
            CPU/machine TIME (seconds)     = 17.690
        ]
        Sub-phases {
            Phase (name = 'SAT') [
                Total SAT solver calls         = 13
                Satisfiable SAT solver calls   = 1
                Unsatisfiable SAT solver calls = 12
                Indeterminate SAT solver calls = 0
                Move executions                = 316
                Produced CNF variables         = 60671
                Produced CNF clauses           = 652177
                Search steps                   = 0
                Wall clock TIME (seconds)      = 96.066
                CPU/machine TIME (seconds)     = 96.230
            ]
        }
]
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