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reLOC 0.09-vegas : Multirobot Solution solver
(C) Copyright 2011-2013 Pavel Surynek
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Reading graph...
1,0
2,1
4,1
3,2
5,2
5,4
8,4
6,5
9,5
8,7
11,7
9,8
12,8
10,9
13,9
6,3
10,6
12,11
13,12
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=14 |E|=19) [
    Vertex: (id = 0) {1 }
    Vertex: (id = 1) {0 2 4 }
    Vertex: (id = 2) {1 3 5 }
    Vertex: (id = 3) {2 6 }
    Vertex: (id = 4) {1 5 8 }
    Vertex: (id = 5) {2 4 6 9 }
    Vertex: (id = 6) {5 3 10 }
    Vertex: (id = 7) {8 11 }
    Vertex: (id = 8) {4 7 9 12 }
    Vertex: (id = 9) {5 8 10 13 }
    Vertex: (id = 10) {9 6 }
    Vertex: (id = 11) {7 12 }
    Vertex: (id = 12) {8 11 13 }
    Vertex: (id = 13) {9 12 }
    Edge  0: 1 <-> 0
    Edge  1: 2 <-> 1
    Edge  2: 4 <-> 1
    Edge  3: 3 <-> 2
    Edge  4: 5 <-> 2
    Edge  5: 5 <-> 4
    Edge  6: 8 <-> 4
    Edge  7: 6 <-> 5
    Edge  8: 9 <-> 5
    Edge  9: 8 <-> 7
    Edge  10: 11 <-> 7
    Edge  11: 9 <-> 8
    Edge  12: 12 <-> 8
    Edge  13: 10 <-> 9
    Edge  14: 13 <-> 9
    Edge  15: 6 <-> 3
    Edge  16: 10 <-> 6
    Edge  17: 12 <-> 11
    Edge  18: 13 <-> 12
]
Robot arrangement: (|R| = 3, |V| = 14) [
     robot locations: {1#12 2#9 3#10 }
     vertex occupancy: {0#0 0#1 0#2 0#3 0#4 0#5 0#6 0#7 0#8 2#9 3#10 0#11 1#12 0#13 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 3, |V| = 14) [
    robot goals: {
        1#{8}
        2#{3}
        3#{13}
    }
    vertex compatibilities: {
        0@{}
        1@{}
        2@{}
        3@{2}
        4@{}
        5@{}
        6@{}
        7@{}
        8@{1}
        9@{}
        10@{}
        11@{}
        12@{}
        13@{3}
    }
]
Solving layer: 2
Solving layer: 3
Solving layer: 4
Computed optimal makespan:3
Makespan optimal solution:
Mulirobot solution: (|moves| = 8, paralellism = 2.667) [
    Step 0: 2#9->5 1#12->8 
    Step 1: 2#5->2 1#8->4 3#10->9 
    Step 2: 2#2->3 1#4->8 3#9->13 
]
Multirobot solution analysis: (
    total makespan           = 3
    total distance           = 4
    total trajectory         = 8
    average parallelism      = 2.667
    average distance         = 1.333
    average trajectory       = 2.667
    parallelism distribution  = [ 0 1 2 ]
    distance distribution     = [ 1 0 1 ]
    trajectory distribution   = [ 0 1 2 ]
)
Phase statistics (current phase = 'root_phase') [
        Phase (name = 'root_phase') [
            Total SAT solver calls         = 3
            Satisfiable SAT solver calls   = 1
            Unsatisfiable SAT solver calls = 2
            Indeterminate SAT solver calls = 0
            Move executions                = 16
            Produced CNF variables         = 1224
            Produced CNF clauses           = 4812
            Search steps                   = 0
            Wall clock TIME (seconds)      = 0.043
            CPU/machine TIME (seconds)     = 0.000
        ]
]
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