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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
4,0
2,1
5,1
3,2
6,2
5,4
8,4
6,5
9,5
7,6
9,8
11,8
7,3
10,7
13,10
13,12
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=14 |E|=17) [
    Vertex: (id = 0) {1 4 }
    Vertex: (id = 1) {0 2 5 }
    Vertex: (id = 2) {1 3 6 }
    Vertex: (id = 3) {2 7 }
    Vertex: (id = 4) {0 5 8 }
    Vertex: (id = 5) {1 4 6 9 }
    Vertex: (id = 6) {2 5 7 }
    Vertex: (id = 7) {6 3 10 }
    Vertex: (id = 8) {4 9 11 }
    Vertex: (id = 9) {5 8 }
    Vertex: (id = 10) {7 13 }
    Vertex: (id = 11) {8 }
    Vertex: (id = 12) {13 }
    Vertex: (id = 13) {10 12 }
    Edge  0: 1 <-> 0
    Edge  1: 4 <-> 0
    Edge  2: 2 <-> 1
    Edge  3: 5 <-> 1
    Edge  4: 3 <-> 2
    Edge  5: 6 <-> 2
    Edge  6: 5 <-> 4
    Edge  7: 8 <-> 4
    Edge  8: 6 <-> 5
    Edge  9: 9 <-> 5
    Edge  10: 7 <-> 6
    Edge  11: 9 <-> 8
    Edge  12: 11 <-> 8
    Edge  13: 7 <-> 3
    Edge  14: 10 <-> 7
    Edge  15: 13 <-> 10
    Edge  16: 13 <-> 12
]
Robot arrangement: (|R| = 5, |V| = 14) [
     robot locations: {1#2 2#8 3#13 4#3 5#11 }
     vertex occupancy: {0#0 0#1 1#2 4#3 0#4 0#5 0#6 0#7 2#8 0#9 0#10 5#11 0#12 3#13 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 5, |V| = 14) [
    robot goals: {
        1#{2}
        2#{5}
        3#{10}
        4#{7}
        5#{6}
    }
    vertex compatibilities: {
        0@{}
        1@{}
        2@{1}
        3@{}
        4@{}
        5@{2}
        6@{5}
        7@{4}
        8@{}
        9@{}
        10@{3}
        11@{}
        12@{}
        13@{}
    }
]
Solving layer: 2
Solving layer: 3
Solving layer: 4
Solving layer: 5
Solving layer: 6
Solving layer: 7
Computed optimal makespan:6
Makespan optimal solution:
Mulirobot solution: (|moves| = 20, paralellism = 3.333) [
    Step 0: 1#2->1 2#8->4 
    Step 1: 2#4->5 4#3->2 5#11->8 
    Step 2: 1#1->0 2#5->9 3#13->12 5#8->4 
    Step 3: 2#9->8 3#12->13 5#4->5 
    Step 4: 1#0->1 2#8->4 3#13->10 4#2->3 5#5->6 
    Step 5: 1#1->2 2#4->5 4#3->7 
]
Multirobot solution analysis: (
    total makespan           = 6
    total distance           = 4
    total trajectory         = 20
    average parallelism      = 3.333
    average distance         = 0.800
    average trajectory       = 4.000
    parallelism distribution  = [ 0 1 3 1 1 ]
    distance distribution     = [ 1 2 1 ]
    trajectory distribution   = [ 0 0 2 2 0 1 ]
)
Phase statistics (current phase = 'root_phase') [
        Phase (name = 'root_phase') [
            Total SAT solver calls         = 6
            Satisfiable SAT solver calls   = 1
            Unsatisfiable SAT solver calls = 5
            Indeterminate SAT solver calls = 0
            Move executions                = 40
            Produced CNF variables         = 1890
            Produced CNF clauses           = 21527
            Search steps                   = 0
            Wall clock TIME (seconds)      = 0.278
            CPU/machine TIME (seconds)     = 0.100
        ]
]
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