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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
Solving layer: 17
Computed optimal makespan:16
Makespan optimal solution:
Mulirobot solution: (|moves| = 198, paralellism = 12.375) [
    Step 0: 9#1->2 11#5->12 5#6->7 19#9->16 1#10->11 8#15->19 2#22->21 13#23->24 3#32->33 17#37->30 
    Step 1: 12#0->1 9#2->3 6#4->10 1#11->17 11#12->5 18#13->6 19#16->15 8#19->23 10#20->25 2#21->28 13#24->31 17#30->29 3#33->34 14#36->37 
    Step 2: 12#1->2 9#3->4 11#5->12 18#6->0 15#8->9 6#10->11 4#14->13 7#18->21 8#23->24 10#25->20 2#28->35 17#29->22 13#31->32 14#37->38 
    Step 3: 18#0->1 12#2->8 5#7->6 15#9->3 6#11->10 19#15->19 10#20->25 7#21->28 8#24->31 13#32->39 14#38->37 
    Step 4: 18#1->7 15#3->2 5#6->0 12#8->15 6#10->9 1#17->11 19#19->23 17#22->21 7#28->29 8#31->32 3#34->33 14#37->38 
    Step 5: 5#0->6 15#2->8 18#7->1 6#9->16 1#11->10 4#13->14 12#15->19 17#21->18 19#23->30 10#25->24 16#27->26 7#29->22 3#33->34 2#35->28 
    Step 6: 18#1->2 9#4->3 5#6->0 15#8->7 1#10->9 6#16->15 17#18->13 12#19->23 10#24->31 16#26->33 2#28->21 19#30->29 8#32->25 3#34->27 14#38->37 13#39->40 
    Step 7: 18#2->8 15#7->1 1#9->16 11#12->11 17#13->6 6#15->19 2#21->18 12#23->24 8#25->20 3#27->26 19#29->36 10#31->30 16#33->32 14#37->38 
    Step 8: 9#3->2 17#6->7 18#8->9 11#11->10 1#16->15 2#18->13 6#19->23 7#22->21 12#24->25 3#26->33 10#30->37 16#32->31 13#40->39 
    Step 9: 9#2->8 18#9->3 2#13->6 1#15->19 6#23->24 12#25->26 16#31->30 19#36->35 13#39->32 
    Step 10: 15#1->2 18#3->4 9#8->15 11#10->9 4#14->13 1#19->23 6#24->25 12#26->27 16#30->29 19#35->28 10#37->36 
    Step 11: 5#0->1 15#2->3 18#4->10 17#7->8 11#9->16 4#13->14 9#15->19 7#21->18 1#23->30 6#25->26 12#27->34 19#28->35 16#29->22 13#32->31 14#38->39 
    Step 12: 5#1->2 2#6->0 17#8->9 18#10->11 4#14->7 7#18->13 9#19->23 16#22->21 6#26->27 1#30->29 3#33->32 14#39->40 
    Step 13: 5#2->8 4#7->1 17#9->10 18#11->17 7#13->6 11#16->15 16#21->18 9#23->24 1#29->28 3#32->39 12#34->33 
    Step 14: 4#1->2 15#3->9 7#6->7 17#10->11 11#15->19 16#18->13 9#24->25 1#28->21 12#33->32 10#36->29 3#39->38 
    Step 15: 7#7->1 5#8->15 17#11->12 11#19->23 1#21->18 6#27->34 10#29->28 13#31->24 12#32->39 19#35->36 3#38->37 
]
Multirobot solution analysis: (
    total makespan           = 16
    total distance           = 101
    total trajectory         = 198
    average parallelism      = 12.375
    average distance         = 5.316
    average trajectory       = 10.421
    parallelism distribution  = [ 0 0 0 0 0 0 0 0 1 1 5 2 1 4 1 1 ]
    distance distribution     = [ 2 0 3 2 2 2 2 2 1 1 1 ]
    trajectory distribution   = [ 0 0 0 0 0 0 2 1 4 4 3 0 3 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)      = 17.767
            CPU/machine TIME (seconds)     = 17.770
        ]
        Sub-phases {
            Phase (name = 'SAT') [
                Total SAT solver calls         = 16
                Satisfiable SAT solver calls   = 1
                Unsatisfiable SAT solver calls = 13
                Indeterminate SAT solver calls = 0
                Move executions                = 396
                Produced CNF variables         = 89504
                Produced CNF clauses           = 1185312
                Search steps                   = 0
                Wall clock TIME (seconds)      = 5375.597
                CPU/machine TIME (seconds)     = 5375.730
            ]
        }
]
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