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reLOC 0.08-osaka : Multirobot SAT Solver
(C) Copyright 2011-2013 Pavel Surynek
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window size:64
Reading graph from input ...
1,0
2,1
5,1
3,2
6,2
4,3
7,3
6,5
10,5
7,6
11,6
8,7
12,7
10,9
14,9
11,10
15,10
12,11
16,11
13,12
15,14
16,15
18,15
8,4
13,8
17,13
Reading initial arrangement from input...
Reading goal arrangement from input...
Undirected graph: (|V|=20 |E|=26) [
    Vertex: (id = 0) {1 }
    Vertex: (id = 1) {0 2 5 }
    Vertex: (id = 2) {1 3 6 }
    Vertex: (id = 3) {2 4 7 }
    Vertex: (id = 4) {3 8 }
    Vertex: (id = 5) {1 6 10 }
    Vertex: (id = 6) {2 5 7 11 }
    Vertex: (id = 7) {3 6 8 12 }
    Vertex: (id = 8) {7 4 13 }
    Vertex: (id = 9) {10 14 }
    Vertex: (id = 10) {5 9 11 15 }
    Vertex: (id = 11) {6 10 12 16 }
    Vertex: (id = 12) {7 11 13 }
    Vertex: (id = 13) {12 8 17 }
    Vertex: (id = 14) {9 15 }
    Vertex: (id = 15) {10 14 16 18 }
    Vertex: (id = 16) {11 15 }
    Vertex: (id = 17) {13 }
    Vertex: (id = 18) {15 }
    Vertex: (id = 19)
    Edge  0: 1 <-> 0
    Edge  1: 2 <-> 1
    Edge  2: 5 <-> 1
    Edge  3: 3 <-> 2
    Edge  4: 6 <-> 2
    Edge  5: 4 <-> 3
    Edge  6: 7 <-> 3
    Edge  7: 6 <-> 5
    Edge  8: 10 <-> 5
    Edge  9: 7 <-> 6
    Edge  10: 11 <-> 6
    Edge  11: 8 <-> 7
    Edge  12: 12 <-> 7
    Edge  13: 10 <-> 9
    Edge  14: 14 <-> 9
    Edge  15: 11 <-> 10
    Edge  16: 15 <-> 10
    Edge  17: 12 <-> 11
    Edge  18: 16 <-> 11
    Edge  19: 13 <-> 12
    Edge  20: 15 <-> 14
    Edge  21: 16 <-> 15
    Edge  22: 18 <-> 15
    Edge  23: 8 <-> 4
    Edge  24: 13 <-> 8
    Edge  25: 17 <-> 13
]
Robot arrangement: (|R| = 4, |V| = 20) [
     robot locations: {1#14 2#13 3#6 4#10 }
     vertex occupancy: {0#0 0#1 0#2 0#3 0#4 0#5 3#6 0#7 0#8 0#9 4#10 0#11 0#12 2#13 1#14 0#15 0#16 0#17 0#18 0#19 }
]
Robot arrangement: (|R| = 4, |V| = 20) [
     robot locations: {1#10 2#0 3#6 4#15 }
     vertex occupancy: {2#0 0#1 0#2 0#3 0#4 0#5 3#6 0#7 0#8 0#9 1#10 0#11 0#12 0#13 0#14 4#15 0#16 0#17 0#18 0#19 }
]
Original solution:
Mulirobot solution: (|moves| = 0, paralellism = -nan) [
]
reSolved solution:
Mulirobot solution: (|moves| = 11, paralellism = 1.833) [
    Step 0: 3#6->2 4#10->15 1#14->9 2#13->12 
    Step 1: 3#2->6 1#9->10 2#12->7 
    Step 2: 2#7->3 
    Step 3: 2#3->2 
    Step 4: 2#2->1 
    Step 5: 2#1->0 
]
Multirobot solution analysis: (
    total makespan           = 6
    total distance           = 8
    total trajectory         = 11
    average parallelism      = 1.833
    average distance         = 2.000
    average trajectory       = 2.750
    parallelism distribution  = [ 4 0 1 1 ]
    distance distribution     = [ 1 0 1 0 0 0 1 ]
    trajectory distribution   = [ 1 2 0 0 0 1 ]
)
Phase statistics (current phase = 'root_phase') [
        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                = 11
            Produced CNF variables         = 0
            Produced CNF clauses           = 0
            Search steps                   = 0
            Wall clock TIME (seconds)      = 0.002
            CPU/machine TIME (seconds)     = 0.000
        ]
        Sub-phases {
            Phase (name = 'WHCA*_solving') [
                Total SAT solver calls         = 0
                Satisfiable SAT solver calls   = 0
                Unsatisfiable SAT solver calls = 0
                Indeterminate SAT solver calls = 0
                Move executions                = 11
                Produced CNF variables         = 0
                Produced CNF clauses           = 0
                Search steps                   = 1170
                Wall clock TIME (seconds)      = 0.005
                CPU/machine TIME (seconds)     = 0.000
            ]
        }
]
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