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ID$(ID$0ID$8ID$@ID$HID$PAD$hID$pIDŽ$ID$xI$Ld$8LcIl$pMl$`HL\$0MS&@H|ySHUHHLM LMALM9LIFHH9(҅uLL)H~HU1D…Il$hI9l$xH8L\$0HLH HMSMALM9IFH9LL(uYM)I I}AHL$01LyL\$0HI{H6fubHE(HC9@HHt\DyHL$0H1L,H|$0H=HHLH0!@HtACHt$_QxACPASfffff.SHHPHt$@H|$0GtH*D$0H*L$8^ GXCH|$ sGHt6HD$HD$HD$ HD$(H* $ $H*^CK(HC\CX@@f(\C X@@H@XHtHCHt$@H|$0FtH*D$0H*L$8^ FXCH|$FHt6HD$HD$HD$ HD$(H*$'$H*^C HP[fffff.H(Ht$H?FtH*$H*L$^ -FXH(@SHHPHt$@H|$0EtH*D$0H*L$8^ EXCH|$EHt6HD$HD$HD$ HD$(H*$=$H*^C HP[@SHHPHt$@H|$09YEtH*D$0H*L$8^ FEXCH|$c #EHt6HD$HD$HD$ HD$(H* $ $H*^CK(HC\CX@@f(\C X@@HP[ÐH8H|$DHt6HD$HD$HD$ HD$(H*$ $H*^H8fH(Ht$H/DtH*$H*L$^ DXH(@H8H|$2CHt6HD$HD$HD$ HD$(H*$l$H*^H8ÐAWHG0AVAUATIUM|$8SMl$hM$H(Ht$ Hw@HHL$HHD$0HT$f It$pIT$`HM|$HID$@M|$PID$XHT$83 I$Ml$xI$M$HID$pIDŽ$HD$@ HT$ M$IDŽ$fWM$IDŽ$HBD$(HRH)HHT$HHT$HT$T$,T$1LDRIH1HPH@H9t1HHH9uIL$@HLHfDHH@Ht9X }H@HuI9Lt9Z HHIHt9Y }HIHuI99X \$(H@$L9Y*D$(*L$,H$HDŽ$H|$HHDŽ$HDŽ$^AD$ =H|$PHt$HT$PH|$ 藭AD$ H|$TAǽH|$PWH|$IH$HHcH@IL$pHHHɋLHHH@Ht;X ~H@HuI9Lt;Z |HHIHt;Y ~HIHuL9;X B$H\$(L9HT$ HBLH|$0H$HLD$$DŽ$LD$HB$A\$ D9A\$ A*DŽ$H$HDŽ$H$H$D$,D$*HDŽ$^D$AD$ D$E1L|@IHD$ LHhH]HH9f.H$SH]H$HHH@Ht;P ~H@HuH$H9\;Q |?fDHHvHt;V ~HvHuH$H9;P A$HH9WIM9#H$L$1L9I$LK$Ht]HHHRHt9J }HRHuL9t9H L HHvHt9N }HvHuL9t9H ~'H|$@H$HƉ$DŽ$@$JH$$HH$DŽ$H$}@$H@$Hk$ZL9HT$,H$*ŋD$(H$AT$^D$AD$AD$(fH|$pHD$P02EHtH|$XHtH$H$H9tH;HtHH9uH$HtHH([]A\A]A^A_LH|$8H$HƉ$DŽ$s@$1A\$ HHD$P02EH|$pHt+H|$XHtHL$H$I9tH;HtHI9uH$HtHHHH$H$Hlfffff.AWAVAUATUHSHHPKEH_0LsxL{hM9t^0!@HAMn(Mt.IupI}`jIEHxH6fuYL1H]0L{hLqL9IuHt%HspH{`'HHxH6fu}H H[]A\A]A^A_DPHt$Mf(Mt0It$pI|$`I$HxH6fuPL H]0L{hLL9Iua0!@Ht:PgHt$XPJ҉HHt$뗋PJHŐf.SHwH[ fffff.UHSHHHFHGHF HG HF(Hv0HG(H0 Hu`H{` HH HH[]Ð@AUHW8ATLo0UHSHHHKEHFHGHF HG HF(G8HG@HGXHWHHWPHv@HG(HtALHC@HHHQHuHKH fDHHPHuHCPHEXHCXHShChHCpLc`HǃHSxHHupHtSLHCpH fHHQHuHKx fDHHPHuHHHHǃHHHǃHǃHHHtP HH fDHHQHuHHHPHuHHHH[]A\A]HHs@L%HHspLHېAWAVIAUATUHSH8HM~MjIGHHD$?H@HHD$ H@HHD$ H@HHD$(LhMttMeMtU@I\$Hu .@HHsHYHCHHD$ HD$HuI\$L HtII]L HtIHD$(HXH Ht H\$(H`HD$ HXH} Ht H\$ H+HD$HXHZ Ht H\$HHD$HXH7 Ht H\$HI_L HtII^L HtIpH8[]A\A]A^A_ÐAWAVAUATIUSHHHHt$HLxML|$LLzML|$LLxMcL|$ LLzMeL|$(LLxMMwMMnMI]HtL0!@HuHHsL1HC HkHxH6fHHuIE I]HxH6f]LHtIIF I^HxH6f]LHtIBIG I_HxH6f LqHt)IPZHt$7 KHT$(HB HZHxH6fuVH|$(Ht H\$(HHD$ HXH@ HxH6fuDH|$ HH\$ HT0!@Ht>PHt$;q놺0!@Ht%PHt$PHt$=R놺0!@HtOPHt$>.똋PJHPJHPJHPJHPJH밐AVAUI(ATUHSHHItHC IF IFHsIFInAHtLLIFHkMHu bDIܿ(HHtHE HC HCEHuHCLcI\$HtHL@HCHmHu[L]A\A]A^HLLoHH/UHSHHH9toHwVHSHCHSHS HC(HuHtAHHCHHHQHuHK fDHHPHuHC HE(HC(HH[]ÐSHHp#HpNEHH( H0H޺H8 H޺H(AHLD$@1HT$0H\$HD$HD$@H0HD$0<H8A1LD$`HH\$ HD$(HT$P1HD$`H(HD$PHp[HHD$GHD$Hf.HKEBKEH4HH0MEGuHùNEKEKE@HH0MEWu HNEKEKE HpMEÐHpMEdHMEÐHMEDSHw$HME~ H8%H{@KH0MEu[ùNEKEKEsSHDG$HMEE~ H8H{@{H0MEu H[NEKEKEH0NEÐH0NEHpNESHHpNEpH[GHl$Ld$H-!L%!Ll$Lt$L|$H\$H8L)AIHIHt1@LLDAHH9uH\$Hl$Ld$Ll$ Lt$(L|$0H8ÐUHS0fHHS!HuHHCHSHuH[]ÐHH%u%lld%lluTrueFalsetrueTRUEfalseFALSE%sArc: (edge = %p, target = %p) %sUndirected graph: (|V|=%ld, |E|=%ld) [ %sUndirected graph: (|V|=%ld |E|=%ld) [ %sE = %s{%d,%d} (-1) w%sVertex: (id = %d)%sEdge %d:%d <-> %d [ vector::_M_fill_insert%d,%d N6sReloc7sVertexE5f EN6sReloc4sArcE5f EN6sReloc5sEdgeE5f!EN6sReloc16sUndirectedGraphE5f !E E+@-@ E +@+@!E@+@.@@!E`+@+@@3@1@0,@+@,@ @@%s(define (domain hierarchical_relocation) %s%s%s(object_location ?o ?v) %s%s%s%s(agent_location ?a ?u) (no_agent ?v) (adjacent ?u ?v) %s%s%s%s(agent_location ?a ?v) (no_agent ?u) (not (no_agent ?v)) %s%s%s:parameters (?a ?o ?u ?v) %s%s%s%s(agent_location ?a ?u) (object_location ?o ?u) (no_agent ?v) (no_object ?v) (adjacent ?u ?v) %s%s%s%s(agent_location ?a ?v) (object_location ?o ?v) (no_agent ?u) (no_object ?u) (not (no_agent ?v)) (not (no_object ?v)) %s(define (problem hierarchical_relocation_instance) %s%s(:domain hierarchical_relocation) %s%s%s(object_location o%d, v%d) %s%s%s(agent_location a%d v%d) %s%s%s(object_location o%d v%d) %sEntity arrangement: (|R| = %ld, |V| = %ld) [ %sHierarchical arrangement: [ %sHierarchical relocation instance: [ %s%s(:predicates %s%s%s(adjacent ?u ?v) %s%s%s(agent_location ?a ?v) %s%s%s(no_object ?v) %s%s%s(no_agent ?v) %s%s(:action move_agent %s%s%s:parameters (?a ?u ?v) %s%s%s:precondition (and %s%s%s) %s%s%s:effect (and %s%s(:action move_combined %s%s(:objects %s%s%sv%d %s%s%so%d %s%s%sa%d %s%s(:init %s%s%s(adjacent v%d v%d) %s%s%s(no_object v%d) %s%s%s(no_agent v%d) %s%s(:goal (and %s%s)) %s%s entity locations: {%d#%d }%s%s vertex occupancy: {%s%sObjects: %s%sAgents: %s%sEnvironment: %s%sInitial arrangement: %s%sGoal arrangement: N6sReloc18sEntityArrangementE5f'EN6sReloc24sHierarchicalArrangementE5f'EN6sReloc31sHierarchicalRelocationInstanceE5f(E'EPa@'Eb@0(Ee@W@W@W@`@p`@_@W@Z@W@Robot %d not solved %sReservation table [ %s%s(%d,%d) %s] %s%s%s(robot_location ?r ?v) %s%s%s(no_robot ?v) %s%s(:action move %s%s%s:parameters (?r ?u ?v) %sV = (%d:-1)[%d:-1:-1] %s%s(:domain multirobot) %s%s%sr%d %s%s%s(no_robot v%d) %sFine solution %sLength:%d %s%d # %d ---> %d (%d) %s%sStep %d: %d#%d->%d %s%s robot locations: {%sMultirobot instance: [ %sDistance matrix: %s %s%d: %d:%d)[%d%d:%d)[%d:%d%d:%d)[%d:%d:%dCurrent depth/limit (steps): %d/%d (%llu) ine solution Length:%d %d-%d Waiting...Reservation table size:%ld WHCA*_solvingExpanding state:%d,%d vertex_occupancytransition_actionreLOC 0.06-hanshinc %s c number of layers = %d c p cnf %d %d robot_locationtransition_action-%s(define (domain multirobot) %s%s%s%s(robot_location ?r ?u) (no_robot ?v) (adjacent ?u ?v) %s%s%s%s(robot_location ?r ?v) (no_robot ?u) (not (no_robot ?v)) %s(define (problem multirobot_instance) %s%s%s(robot_location r%d v%d) %sMulirobot solution: (|moves| = %d, paralellism = %.3f) [ %sRobot arrangement: (|R| = %ld, |V| = %ld) [ Open/close/exp size (steps): %lu/%lu/%lu (%llu) c %s : multirobot inverse SAT encoding (C) Copyright 2011-2012 Pavel Surynekc number of clauses / number of variables = %.3f c number of visible variables = %d c number of hidden variables = %d c %s : multirobot differential SAT encoding N6sReloc17sRobotArrangementE5fp.EN6sReloc19sMultirobotInstanceE5f.EN6sReloc19sMultirobotSolutionE5f.EN6sReloc17sMultirobotSolverE5f/EN6sReloc20sMultirobotSolver_IDE06f@/E /EN6sReloc23sAstarHeuristic_TrivialE06f/E06EN6sReloc25sAstarHeuristic_PlacementE06f/E06EN6sReloc24sAstarHeuristic_DistanceE06f@0E06EN6sReloc23sMultirobotSolver_AstarE06f0E /EN6sReloc25sMultirobotSolver_HCAstarE06f1E /EN6sReloc26sMultirobotSolver_WHCAstarE06f`1E /EN6sReloc25sMultirobotSolver_IDAstarE06f1E /E.Ex@@p@@@@.Ex@x@y@ y@@y@`y@y@y@y@y@p@@@@p@@P@@0@~@@@@nAz@`QA z@P1A@z@0A.E`z@P@0~@P@}@0@ /Ez@@ @`/Ez@@@z@/Ez@z@z@0Ez@z@z@p0E@@{@`{@0Ez@@@@{@01Ez@@|@{@@|@1Ez@p@0@{@@ A }@1Ez@@ @{@06E @ @ @5f@6EN6sReloc15sAstarHeuristicE?CInteger index (value = %d) ^/0-ary) [unary) [binary) [ternary) [%d-ary) [ %s%s%s->%d %s -> %d -%s -%d auxiliary-%s -%s %s 0 -%s %s -%s 0 -%d -%d %d 0 -%d %d -%d 0 lex_less-split_aux_diff_aux_-%s -%s -%s 0 -%d -%d -%d 0 eql_4_aux-eql_3_aux-eql_2_aux-neq_aux-eql_1_aux--%s %s %s 0 -%d %d %d 0 eql_aux-bijection_A-bijection_B-ordered-%sIndexable identifier (type = %sIndexable identifier (|States| = %d, log_2|States| = %d) [ N6sReloc6sIndexE5f@8EN6sReloc13sIntegerIndexE06fp8E`8EN6sReloc13sIntegerScopeE06f8EP>EN6sReloc20sIndexableIdentifierE5f9EN6sReloc25sIndexableStateIdentifierE5f@9EN6sReloc21sStateClauseGeneratorE5f9EN6sReloc24sAdvancedClauseGeneratorE06f9E9E`8E @ @ @ @ @ @ @ @ @ @pAA @ @8E0AAAзAAAAA A0ApAAAA8EPA@APAA 9EPABp9E0A9EABиABA BA BAB0AЯB AB@ABpABA`~BAkBAPVB A0MB@A(BpAPBBAAAкAA7B9EABиABA BA BABAAAA@ABpAB AAAkB@ApA A0MB0ABpAPBBAPAлAAA7BP>E @ @ @ @5f`>EN6sReloc11sIndexScopeE%sRobot arrangements [ #.txtbasic_string::substr.cnf -cpu-lim= 1>/dev/nullUNSATINDETMakespan lower:upper %d:%d Thread %d started ... Intermediate statistics:prime_shortening_MTPlacement: %d prime_shorteningprime_optimizationprime_optimization_MTcompressiondeflationpAC9C5C10C;)C=CЋC0C[CzCsCCCxCCCǾCHC;Dm;DH;D#;D:D;D>Dm>DH>D#>D=D>DADmADHAD#AD@DADThread %d shortening progress = %.2f%% (current ratio = %.2f%%) Shortening progress = %.2f%% (current ratio = %.2f%%) Thread %d finished with ratio %.2f%% Solution optimization commenced ...Solution shortening pass %d ... Solution shortening pass %d finished with ratio %.2f%% Solution optimization finished with ratio %.2f%% Solution optimization(mt) commenced ...Solution shortening(mt) pass %d ... Solution shortening(mt) commenced ...Solution shortening(mt) finished%d: step potential: %d,%d: --> %d <-- (%d,%d,%d) Solution prime shortening(mt) finishedSolution prime optimization commenced ...Solution prime shortening pass %d ... Solution prime shortening pass %d finished with ratio %.2f%% Solution prime optimization finished with ratio %.2f%% Solution prime optimization(mt) commenced ...Solution prime shortening(mt) pass %d ... compress/makespan_compression_input.invcompress/makespan_compression_input.advcompress/makespan_compression_input.difcompress/makespan_compression_input.bijcompress/makespan_compression_input.hdifcompress/makespan_compression_input.hbijcompress/makespan_compression_output.invcompress/makespan_compression_output.advcompress/makespan_compression_output.difcompress/makespan_compression_output.bijcompress/makespan_compression_output.hdifcompress/makespan_compression_output.hbijY@%s[ 0 %s%sPhase (name = '%s') [ %s%s] %s%sSub-phases { %s%s} root_phase%s%s%sTotal SAT solver calls = %ld %s%s%sSatisfiable SAT solver calls = %ld %s%s%sUnsatisfiable SAT solver calls = %ld %s%s%sIndeterminate SAT solver calls = %ld %s%s%sMove executions = %ld %s%s%sProduced CNF variables = %ld %s%s%sProduced CNF clauses = %ld %s%s%sSearch steps = %ld %s%s%sWall clock TIME (seconds) = %.3f %s%s%sCPU/machine TIME (seconds) = %.3f %sPhase statistics (current phase = '%s') [ %sMultirobot solution analysis: ( %s%stotal makespan = %d %s%stotal distance = %d %s%stotal trajectory = %d %s%saverage parallelism = %.3f %s%saverage distance = %.3f %s%saverage trajectory = %.3f %s%sparallelism distribution = %s%sdistance distribution = %s%strajectory distribution = N6sReloc27sMultirobotSolutionAnalyzerE5fJEN6sReloc16sPhaseStatisticsE5fJEJEPDDpDDJEEEDDDD??.A/usr/local/include/gecode/kernel/core.hppGecode solver test 1 ... finisheduse_cnt == 0Gecode solver test 1 ...N6Gecode12SharedHandle6ObjectE5f LEN6Gecode6ChoiceE5fPLEN6Gecode17ChoiceVirtualBaseE5fLEN6Gecode3DFA4DFAIE06fLE@LEN6Gecode6Search4StopE5fLE@LE @EEpLEPE`E @ @LE @ @pEE @LE0 @EEME @@EPENE`EpE @@@virtual Gecode::SharedHandle::Object::~Object()06fNE6fN6sReloc16sGecodeTestSpaceE;T P4܇$dt,D\t4t$Dd4t4$<Tl$DTd44TLtd|$,d|$t4l$DT$,4DT\ttTdt,D\T4dtTdLT DT t  !$!T/?l/4?/T?/?/@/dAL0$B0B0TC1ET1F1dH1J$2Md24N|2P2$Q2Q2Q 3Q$3Q<3QT3Ql3R34R3tR3R3R3$S34S4DS,44T4T4T4T4U44U5DU5dU45U5tV5W5X 6X$6$X<6DXT6tY6Y6Y6DZ6[ 7[$7[<7[T7\l7$\7D\7t\7^7$^74^8D^8t^48^L8^d8^|8t`8a8b9db,9bl9Dc9c9d9te:e4:4h:h:j;tjD;jl;l;dl;l;m,<n|@tqAt|Au BuBvCwdCtxLD4zD~ Ed~DEāE$EFdFFGC>E>dG ?$I\?J?L?tN,@4P@RTA4RAtTLBW|BDXCtYC[G$^4I_dI`TJaJbKtcKddL$eLDf4Mdh,PhDPh\PhtPhPhPhPhPiPiQ$iQ4i4QDiLQtilQiQiQiQiQiQjR$jR4j4RdjLRjdRj|RjRkR4kRdkRkRk Sk$SkLl`ltmlTmdlmm ndnnDn4ooop,pԝ\\ ]ԟdghTooLp4dppDp|EBEB E(A0A8DP 8A0A(B BBBA 4<->EBDA DP  CABA Dt-?EBED A(G (C ABBA D-AEBED A(G} (C ABBA L. .EBBB B(A0A8G` 8D0A(B BBBA  3BAZLt.B.EBBB B(A0A8G` 8D0A(B BBBA T.D  EBBB B(A0A8G 8C0A(B BBBA L/PlELEB B(A0A8Dpd 8A0A(B BBBA ,l/bEHHKHI0 D <T4(+BDA G@  AABA  AABT/QxEBBE B(A0D8G 8C0A(B BBBC T400WEBBB E(A0A8Q. 8A0A(B BBBJ ,D5hHJHHII@l H Dt5BDA G@h  AABF M  AABG L5YBDB B(D0I8O? 8A0A(B BBBA d 6_aBLE B(A0A8N 8A0A(B BBBF D8C0A(B BBB,t6HJHHII@l H D6BDA G@h  AABF M  AABG L6PaBBE F(A0D8NB 8A0A(B BBBB d<7gBIE B(A0A8NE 8A0A(B BBBG X8F0A(B BBB,7HJHHII@c I L78BFE B(A0A8G`R 8A0A(B BBBA ,$8IHHHN E ,3HiEHIIS` A ,3j6EHIX`  A 8Hl|AG rA<8lBIA D(Kp(A ABB$9HnHHIID0 D d4o`EBBE B(D0A8Dp 8A0A(B BBBJ S 8A0A(B BBBA T4hq"EBEF B(A0A8G_ 8A0A(B BBBA TD50 EBIH B(A0A8G 8A0A(B BBBD T5I9EBEI B(A0A8G  8A0A(B BBBB T5,>D>x\>t>x >p>x4>H>]$> AA Fb ?A[4?#AaT?l?AO? ?? ??@DL$@AOD@:HI hd@|@AP@AP@AP@AP@A,ADA\AtAAAAAABB4BLBAVlB B4BOADD n DAL DAAB0$BRADD BAACAP,|>EAGG@W DAA 4>kEBDG Gp  DABA D>2\EBEG D(J7 (D ABBA <,?EBED E(GP (D ABBA 4$DxAj E \ D W I O A S\D$?oEMI0D A ,? 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