================================================================
reLOC 0.09-vegas : Multirobot Solution solver
(C) Copyright 2011-2013 Pavel Surynek
----------------------------------------------------------------
Reading graph...
1,0
11,0
2,1
12,1
13,2
4,3
15,3
5,4
16,4
6,5
17,5
7,6
18,6
8,7
19,7
9,8
20,8
10,9
21,9
12,11
23,11
13,12
24,12
14,13
25,13
15,14
26,14
16,15
27,15
17,16
28,16
18,17
19,18
29,18
20,19
30,19
21,20
31,20
22,21
32,21
24,23
33,23
25,24
34,24
26,25
35,25
27,26
36,26
28,27
37,28
30,29
39,29
31,30
40,30
32,31
41,31
42,32
34,33
44,33
35,34
45,34
36,35
46,35
47,36
38,37
49,37
39,38
50,38
40,39
51,39
41,40
52,40
42,41
53,41
43,42
54,42
45,44
56,44
46,45
57,45
47,46
58,46
48,47
49,48
50,49
59,49
51,50
60,50
52,51
61,51
53,52
62,52
54,53
55,54
63,54
57,56
65,56
58,57
66,57
67,58
60,59
70,59
61,60
71,60
62,61
72,61
73,62
64,63
75,63
66,65
77,65
67,66
78,66
68,67
79,67
69,68
80,68
70,69
81,69
71,70
82,70
72,71
83,71
73,72
84,72
74,73
85,73
75,74
76,75
86,75
78,77
88,77
79,78
89,78
80,79
90,79
81,80
91,80
82,81
92,81
83,82
93,82
84,83
94,83
85,84
95,84
96,85
87,86
98,86
89,88
90,89
100,89
91,90
101,90
92,91
102,91
93,92
103,92
94,93
104,93
95,94
105,94
96,95
106,95
97,96
107,96
98,97
108,97
99,98
109,98
101,100
111,100
102,101
112,101
103,102
113,102
104,103
114,103
105,104
115,104
106,105
116,105
107,106
117,106
108,107
118,107
109,108
119,108
110,109
120,109
112,111
123,111
113,112
124,112
114,113
125,113
115,114
126,114
116,115
127,115
117,116
128,116
118,117
119,118
120,119
129,119
121,120
130,120
22,10
55,43
64,55
76,64
87,76
99,87
110,99
121,110
131,121
123,122
124,123
125,124
126,125
127,126
128,127
130,129
131,130
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=132 |E|=225) [
    Vertex: (id = 0) {1 11 }
    Vertex: (id = 1) {0 2 12 }
    Vertex: (id = 2) {1 13 }
    Vertex: (id = 3) {4 15 }
    Vertex: (id = 4) {3 5 16 }
    Vertex: (id = 5) {4 6 17 }
    Vertex: (id = 6) {5 7 18 }
    Vertex: (id = 7) {6 8 19 }
    Vertex: (id = 8) {7 9 20 }
    Vertex: (id = 9) {8 10 21 }
    Vertex: (id = 10) {9 22 }
    Vertex: (id = 11) {0 12 23 }
    Vertex: (id = 12) {1 11 13 24 }
    Vertex: (id = 13) {2 12 14 25 }
    Vertex: (id = 14) {13 15 26 }
    Vertex: (id = 15) {3 14 16 27 }
    Vertex: (id = 16) {4 15 17 28 }
    Vertex: (id = 17) {5 16 18 }
    Vertex: (id = 18) {6 17 19 29 }
    Vertex: (id = 19) {7 18 20 30 }
    Vertex: (id = 20) {8 19 21 31 }
    Vertex: (id = 21) {9 20 22 32 }
    Vertex: (id = 22) {21 10 }
    Vertex: (id = 23) {11 24 33 }
    Vertex: (id = 24) {12 23 25 34 }
    Vertex: (id = 25) {13 24 26 35 }
    Vertex: (id = 26) {14 25 27 36 }
    Vertex: (id = 27) {15 26 28 }
    Vertex: (id = 28) {16 27 37 }
    Vertex: (id = 29) {18 30 39 }
    Vertex: (id = 30) {19 29 31 40 }
    Vertex: (id = 31) {20 30 32 41 }
    Vertex: (id = 32) {21 31 42 }
    Vertex: (id = 33) {23 34 44 }
    Vertex: (id = 34) {24 33 35 45 }
    Vertex: (id = 35) {25 34 36 46 }
    Vertex: (id = 36) {26 35 47 }
    Vertex: (id = 37) {28 38 49 }
    Vertex: (id = 38) {37 39 50 }
    Vertex: (id = 39) {29 38 40 51 }
    Vertex: (id = 40) {30 39 41 52 }
    Vertex: (id = 41) {31 40 42 53 }
    Vertex: (id = 42) {32 41 43 54 }
    Vertex: (id = 43) {42 55 }
    Vertex: (id = 44) {33 45 56 }
    Vertex: (id = 45) {34 44 46 57 }
    Vertex: (id = 46) {35 45 47 58 }
    Vertex: (id = 47) {36 46 48 }
    Vertex: (id = 48) {47 49 }
    Vertex: (id = 49) {37 48 50 59 }
    Vertex: (id = 50) {38 49 51 60 }
    Vertex: (id = 51) {39 50 52 61 }
    Vertex: (id = 52) {40 51 53 62 }
    Vertex: (id = 53) {41 52 54 }
    Vertex: (id = 54) {42 53 55 63 }
    Vertex: (id = 55) {54 43 64 }
    Vertex: (id = 56) {44 57 65 }
    Vertex: (id = 57) {45 56 58 66 }
    Vertex: (id = 58) {46 57 67 }
    Vertex: (id = 59) {49 60 70 }
    Vertex: (id = 60) {50 59 61 71 }
    Vertex: (id = 61) {51 60 62 72 }
    Vertex: (id = 62) {52 61 73 }
    Vertex: (id = 63) {54 64 75 }
    Vertex: (id = 64) {63 55 76 }
    Vertex: (id = 65) {56 66 77 }
    Vertex: (id = 66) {57 65 67 78 }
    Vertex: (id = 67) {58 66 68 79 }
    Vertex: (id = 68) {67 69 80 }
    Vertex: (id = 69) {68 70 81 }
    Vertex: (id = 70) {59 69 71 82 }
    Vertex: (id = 71) {60 70 72 83 }
    Vertex: (id = 72) {61 71 73 84 }
    Vertex: (id = 73) {62 72 74 85 }
    Vertex: (id = 74) {73 75 }
    Vertex: (id = 75) {63 74 76 86 }
    Vertex: (id = 76) {75 64 87 }
    Vertex: (id = 77) {65 78 88 }
    Vertex: (id = 78) {66 77 79 89 }
    Vertex: (id = 79) {67 78 80 90 }
    Vertex: (id = 80) {68 79 81 91 }
    Vertex: (id = 81) {69 80 82 92 }
    Vertex: (id = 82) {70 81 83 93 }
    Vertex: (id = 83) {71 82 84 94 }
    Vertex: (id = 84) {72 83 85 95 }
    Vertex: (id = 85) {73 84 96 }
    Vertex: (id = 86) {75 87 98 }
    Vertex: (id = 87) {86 76 99 }
    Vertex: (id = 88) {77 89 }
    Vertex: (id = 89) {78 88 90 100 }
    Vertex: (id = 90) {79 89 91 101 }
    Vertex: (id = 91) {80 90 92 102 }
    Vertex: (id = 92) {81 91 93 103 }
    Vertex: (id = 93) {82 92 94 104 }
    Vertex: (id = 94) {83 93 95 105 }
    Vertex: (id = 95) {84 94 96 106 }
    Vertex: (id = 96) {85 95 97 107 }
    Vertex: (id = 97) {96 98 108 }
    Vertex: (id = 98) {86 97 99 109 }
    Vertex: (id = 99) {98 87 110 }
    Vertex: (id = 100) {89 101 111 }
    Vertex: (id = 101) {90 100 102 112 }
    Vertex: (id = 102) {91 101 103 113 }
    Vertex: (id = 103) {92 102 104 114 }
    Vertex: (id = 104) {93 103 105 115 }
    Vertex: (id = 105) {94 104 106 116 }
    Vertex: (id = 106) {95 105 107 117 }
    Vertex: (id = 107) {96 106 108 118 }
    Vertex: (id = 108) {97 107 109 119 }
    Vertex: (id = 109) {98 108 110 120 }
    Vertex: (id = 110) {109 99 121 }
    Vertex: (id = 111) {100 112 123 }
    Vertex: (id = 112) {101 111 113 124 }
    Vertex: (id = 113) {102 112 114 125 }
    Vertex: (id = 114) {103 113 115 126 }
    Vertex: (id = 115) {104 114 116 127 }
    Vertex: (id = 116) {105 115 117 128 }
    Vertex: (id = 117) {106 116 118 }
    Vertex: (id = 118) {107 117 119 }
    Vertex: (id = 119) {108 118 120 129 }
    Vertex: (id = 120) {109 119 121 130 }
    Vertex: (id = 121) {120 110 131 }
    Vertex: (id = 122) {123 }
    Vertex: (id = 123) {111 122 124 }
    Vertex: (id = 124) {112 123 125 }
    Vertex: (id = 125) {113 124 126 }
    Vertex: (id = 126) {114 125 127 }
    Vertex: (id = 127) {115 126 128 }
    Vertex: (id = 128) {116 127 }
    Vertex: (id = 129) {119 130 }
    Vertex: (id = 130) {120 129 131 }
    Vertex: (id = 131) {121 130 }
    Edge  0: 1 <-> 0
    Edge  1: 11 <-> 0
    Edge  2: 2 <-> 1
    Edge  3: 12 <-> 1
    Edge  4: 13 <-> 2
    Edge  5: 4 <-> 3
    Edge  6: 15 <-> 3
    Edge  7: 5 <-> 4
    Edge  8: 16 <-> 4
    Edge  9: 6 <-> 5
    Edge  10: 17 <-> 5
    Edge  11: 7 <-> 6
    Edge  12: 18 <-> 6
    Edge  13: 8 <-> 7
    Edge  14: 19 <-> 7
    Edge  15: 9 <-> 8
    Edge  16: 20 <-> 8
    Edge  17: 10 <-> 9
    Edge  18: 21 <-> 9
    Edge  19: 12 <-> 11
    Edge  20: 23 <-> 11
    Edge  21: 13 <-> 12
    Edge  22: 24 <-> 12
    Edge  23: 14 <-> 13
    Edge  24: 25 <-> 13
    Edge  25: 15 <-> 14
    Edge  26: 26 <-> 14
    Edge  27: 16 <-> 15
    Edge  28: 27 <-> 15
    Edge  29: 17 <-> 16
    Edge  30: 28 <-> 16
    Edge  31: 18 <-> 17
    Edge  32: 19 <-> 18
    Edge  33: 29 <-> 18
    Edge  34: 20 <-> 19
    Edge  35: 30 <-> 19
    Edge  36: 21 <-> 20
    Edge  37: 31 <-> 20
    Edge  38: 22 <-> 21
    Edge  39: 32 <-> 21
    Edge  40: 24 <-> 23
    Edge  41: 33 <-> 23
    Edge  42: 25 <-> 24
    Edge  43: 34 <-> 24
    Edge  44: 26 <-> 25
    Edge  45: 35 <-> 25
    Edge  46: 27 <-> 26
    Edge  47: 36 <-> 26
    Edge  48: 28 <-> 27
    Edge  49: 37 <-> 28
    Edge  50: 30 <-> 29
    Edge  51: 39 <-> 29
    Edge  52: 31 <-> 30
    Edge  53: 40 <-> 30
    Edge  54: 32 <-> 31
    Edge  55: 41 <-> 31
    Edge  56: 42 <-> 32
    Edge  57: 34 <-> 33
    Edge  58: 44 <-> 33
    Edge  59: 35 <-> 34
    Edge  60: 45 <-> 34
    Edge  61: 36 <-> 35
    Edge  62: 46 <-> 35
    Edge  63: 47 <-> 36
    Edge  64: 38 <-> 37
    Edge  65: 49 <-> 37
    Edge  66: 39 <-> 38
    Edge  67: 50 <-> 38
    Edge  68: 40 <-> 39
    Edge  69: 51 <-> 39
    Edge  70: 41 <-> 40
    Edge  71: 52 <-> 40
    Edge  72: 42 <-> 41
    Edge  73: 53 <-> 41
    Edge  74: 43 <-> 42
    Edge  75: 54 <-> 42
    Edge  76: 45 <-> 44
    Edge  77: 56 <-> 44
    Edge  78: 46 <-> 45
    Edge  79: 57 <-> 45
    Edge  80: 47 <-> 46
    Edge  81: 58 <-> 46
    Edge  82: 48 <-> 47
    Edge  83: 49 <-> 48
    Edge  84: 50 <-> 49
    Edge  85: 59 <-> 49
    Edge  86: 51 <-> 50
    Edge  87: 60 <-> 50
    Edge  88: 52 <-> 51
    Edge  89: 61 <-> 51
    Edge  90: 53 <-> 52
    Edge  91: 62 <-> 52
    Edge  92: 54 <-> 53
    Edge  93: 55 <-> 54
    Edge  94: 63 <-> 54
    Edge  95: 57 <-> 56
    Edge  96: 65 <-> 56
    Edge  97: 58 <-> 57
    Edge  98: 66 <-> 57
    Edge  99: 67 <-> 58
    Edge  100: 60 <-> 59
    Edge  101: 70 <-> 59
    Edge  102: 61 <-> 60
    Edge  103: 71 <-> 60
    Edge  104: 62 <-> 61
    Edge  105: 72 <-> 61
    Edge  106: 73 <-> 62
    Edge  107: 64 <-> 63
    Edge  108: 75 <-> 63
    Edge  109: 66 <-> 65
    Edge  110: 77 <-> 65
    Edge  111: 67 <-> 66
    Edge  112: 78 <-> 66
    Edge  113: 68 <-> 67
    Edge  114: 79 <-> 67
    Edge  115: 69 <-> 68
    Edge  116: 80 <-> 68
    Edge  117: 70 <-> 69
    Edge  118: 81 <-> 69
    Edge  119: 71 <-> 70
    Edge  120: 82 <-> 70
    Edge  121: 72 <-> 71
    Edge  122: 83 <-> 71
    Edge  123: 73 <-> 72
    Edge  124: 84 <-> 72
    Edge  125: 74 <-> 73
    Edge  126: 85 <-> 73
    Edge  127: 75 <-> 74
    Edge  128: 76 <-> 75
    Edge  129: 86 <-> 75
    Edge  130: 78 <-> 77
    Edge  131: 88 <-> 77
    Edge  132: 79 <-> 78
    Edge  133: 89 <-> 78
    Edge  134: 80 <-> 79
    Edge  135: 90 <-> 79
    Edge  136: 81 <-> 80
    Edge  137: 91 <-> 80
    Edge  138: 82 <-> 81
    Edge  139: 92 <-> 81
    Edge  140: 83 <-> 82
    Edge  141: 93 <-> 82
    Edge  142: 84 <-> 83
    Edge  143: 94 <-> 83
    Edge  144: 85 <-> 84
    Edge  145: 95 <-> 84
    Edge  146: 96 <-> 85
    Edge  147: 87 <-> 86
    Edge  148: 98 <-> 86
    Edge  149: 89 <-> 88
    Edge  150: 90 <-> 89
    Edge  151: 100 <-> 89
    Edge  152: 91 <-> 90
    Edge  153: 101 <-> 90
    Edge  154: 92 <-> 91
    Edge  155: 102 <-> 91
    Edge  156: 93 <-> 92
    Edge  157: 103 <-> 92
    Edge  158: 94 <-> 93
    Edge  159: 104 <-> 93
    Edge  160: 95 <-> 94
    Edge  161: 105 <-> 94
    Edge  162: 96 <-> 95
    Edge  163: 106 <-> 95
    Edge  164: 97 <-> 96
    Edge  165: 107 <-> 96
    Edge  166: 98 <-> 97
    Edge  167: 108 <-> 97
    Edge  168: 99 <-> 98
    Edge  169: 109 <-> 98
    Edge  170: 101 <-> 100
    Edge  171: 111 <-> 100
    Edge  172: 102 <-> 101
    Edge  173: 112 <-> 101
    Edge  174: 103 <-> 102
    Edge  175: 113 <-> 102
    Edge  176: 104 <-> 103
    Edge  177: 114 <-> 103
    Edge  178: 105 <-> 104
    Edge  179: 115 <-> 104
    Edge  180: 106 <-> 105
    Edge  181: 116 <-> 105
    Edge  182: 107 <-> 106
    Edge  183: 117 <-> 106
    Edge  184: 108 <-> 107
    Edge  185: 118 <-> 107
    Edge  186: 109 <-> 108
    Edge  187: 119 <-> 108
    Edge  188: 110 <-> 109
    Edge  189: 120 <-> 109
    Edge  190: 112 <-> 111
    Edge  191: 123 <-> 111
    Edge  192: 113 <-> 112
    Edge  193: 124 <-> 112
    Edge  194: 114 <-> 113
    Edge  195: 125 <-> 113
    Edge  196: 115 <-> 114
    Edge  197: 126 <-> 114
    Edge  198: 116 <-> 115
    Edge  199: 127 <-> 115
    Edge  200: 117 <-> 116
    Edge  201: 128 <-> 116
    Edge  202: 118 <-> 117
    Edge  203: 119 <-> 118
    Edge  204: 120 <-> 119
    Edge  205: 129 <-> 119
    Edge  206: 121 <-> 120
    Edge  207: 130 <-> 120
    Edge  208: 22 <-> 10
    Edge  209: 55 <-> 43
    Edge  210: 64 <-> 55
    Edge  211: 76 <-> 64
    Edge  212: 87 <-> 76
    Edge  213: 99 <-> 87
    Edge  214: 110 <-> 99
    Edge  215: 121 <-> 110
    Edge  216: 131 <-> 121
    Edge  217: 123 <-> 122
    Edge  218: 124 <-> 123
    Edge  219: 125 <-> 124
    Edge  220: 126 <-> 125
    Edge  221: 127 <-> 126
    Edge  222: 128 <-> 127
    Edge  223: 130 <-> 129
    Edge  224: 131 <-> 130
]
Robot arrangement: (|R| = 47, |V| = 132) [
     robot locations: {1#118 2#111 3#94 4#103 5#82 6#84 7#61 8#5 9#59 10#107 11#48 12#96 13#74 14#92 15#88 16#95 17#12 18#129 19#47 20#128 21#98 22#83 23#126 24#123 25#64 26#31 27#109 28#43 29#37 30#26 31#18 32#62 33#76 34#50 35#69 36#6 37#23 38#51 39#99 40#46 41#28 42#80 43#36 44#77 45#78 46#81 47#14 }
     vertex occupancy: {0#0 0#1 0#2 0#3 0#4 8#5 36#6 0#7 0#8 0#9 0#10 0#11 17#12 0#13 47#14 0#15 0#16 0#17 31#18 0#19 0#20 0#21 0#22 37#23 0#24 0#25 30#26 0#27 41#28 0#29 0#30 26#31 0#32 0#33 0#34 0#35 43#36 29#37 0#38 0#39 0#40 0#41 0#42 28#43 0#44 0#45 40#46 19#47 11#48 0#49 34#50 38#51 0#52 0#53 0#54 0#55 0#56 0#57 0#58 9#59 0#60 7#61 32#62 0#63 25#64 0#65 0#66 0#67 0#68 35#69 0#70 0#71 0#72 0#73 13#74 0#75 33#76 44#77 45#78 0#79 42#80 46#81 5#82 22#83 6#84 0#85 0#86 0#87 15#88 0#89 0#90 0#91 14#92 0#93 3#94 16#95 12#96 0#97 21#98 39#99 0#100 0#101 0#102 4#103 0#104 0#105 0#106 10#107 0#108 27#109 0#110 2#111 0#112 0#113 0#114 0#115 0#116 0#117 1#118 0#119 0#120 0#121 0#122 24#123 0#124 0#125 23#126 0#127 20#128 18#129 0#130 0#131 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 47, |V| = 132) [
    robot goals: {
        1#{1}
        2#{75}
        3#{23}
        4#{111}
        5#{85}
        6#{109}
        7#{22}
        8#{65}
        9#{93}
        10#{83}
        11#{2}
        12#{62}
        13#{0}
        14#{46}
        15#{68}
        16#{58}
        17#{114}
        18#{78}
        19#{77}
        20#{32}
        21#{64}
        22#{129}
        23#{87}
        24#{121}
        25#{86}
        26#{99}
        27#{47}
        28#{118}
        29#{34}
        30#{130}
        31#{103}
        32#{30}
        33#{53}
        34#{14}
        35#{101}
        36#{48}
        37#{40}
        38#{74}
        39#{18}
        40#{26}
        41#{122}
        42#{59}
        43#{96}
        44#{126}
        45#{51}
        46#{127}
        47#{107}
    }
    vertex compatibilities: {
        0@{13}
        1@{1}
        2@{11}
        3@{}
        4@{}
        5@{}
        6@{}
        7@{}
        8@{}
        9@{}
        10@{}
        11@{}
        12@{}
        13@{}
        14@{34}
        15@{}
        16@{}
        17@{}
        18@{39}
        19@{}
        20@{}
        21@{}
        22@{7}
        23@{3}
        24@{}
        25@{}
        26@{40}
        27@{}
        28@{}
        29@{}
        30@{32}
        31@{}
        32@{20}
        33@{}
        34@{29}
        35@{}
        36@{}
        37@{}
        38@{}
        39@{}
        40@{37}
        41@{}
        42@{}
        43@{}
        44@{}
        45@{}
        46@{14}
        47@{27}
        48@{36}
        49@{}
        50@{}
        51@{45}
        52@{}
        53@{33}
        54@{}
        55@{}
        56@{}
        57@{}
        58@{16}
        59@{42}
        60@{}
        61@{}
        62@{12}
        63@{}
        64@{21}
        65@{8}
        66@{}
        67@{}
        68@{15}
        69@{}
        70@{}
        71@{}
        72@{}
        73@{}
        74@{38}
        75@{2}
        76@{}
        77@{19}
        78@{18}
        79@{}
        80@{}
        81@{}
        82@{}
        83@{10}
        84@{}
        85@{5}
        86@{25}
        87@{23}
        88@{}
        89@{}
        90@{}
        91@{}
        92@{}
        93@{9}
        94@{}
        95@{}
        96@{43}
        97@{}
        98@{}
        99@{26}
        100@{}
        101@{35}
        102@{}
        103@{31}
        104@{}
        105@{}
        106@{}
        107@{47}
        108@{}
        109@{6}
        110@{}
        111@{4}
        112@{}
        113@{}
        114@{17}
        115@{}
        116@{}
        117@{}
        118@{28}
        119@{}
        120@{}
        121@{24}
        122@{41}
        123@{}
        124@{}
        125@{}
        126@{44}
        127@{46}
        128@{}
        129@{22}
        130@{30}
        131@{}
    }
]
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:-1
Makespan optimal solution:
Mulirobot solution: (|moves| = 0, paralellism = -nan) [
]
Multirobot solution analysis: (
    total makespan           = 0
    total distance           = 0
    total trajectory         = 0
    average parallelism      = -nan
    average distance         = 0.000
    average trajectory       = 0.000
    parallelism distribution  = [ ]
    distance distribution     = [ 46 ]
    trajectory distribution   = [ ]
)
Phase statistics (current phase = 'root_phase') [
        Phase (name = 'root_phase') [
            Total SAT solver calls         = 16
            Satisfiable SAT solver calls   = 0
            Unsatisfiable SAT solver calls = 15
            Indeterminate SAT solver calls = 1
            Move executions                = 0
            Produced CNF variables         = 333528
            Produced CNF clauses           = 3431097
            Search steps                   = 0
            Wall clock TIME (seconds)      = 262.493
            CPU/machine TIME (seconds)     = 262.310
        ]
]
----------------------------------------------------------------