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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
11,9
7,3
10,7
12,11
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=13 |E|=16) [
    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 }
    Vertex: (id = 9) {5 8 11 }
    Vertex: (id = 10) {7 }
    Vertex: (id = 11) {9 12 }
    Vertex: (id = 12) {11 }
    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 <-> 9
    Edge  13: 7 <-> 3
    Edge  14: 10 <-> 7
    Edge  15: 12 <-> 11
]
Robot arrangement: (|R| = 5, |V| = 13) [
     robot locations: {1#3 2#9 3#1 4#0 5#10 }
     vertex occupancy: {4#0 3#1 0#2 1#3 0#4 0#5 0#6 0#7 0#8 2#9 5#10 0#11 0#12 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 5, |V| = 13) [
    robot goals: {
        1#{12}
        2#{9}
        3#{11}
        4#{7}
        5#{8}
    }
    vertex compatibilities: {
        0@{}
        1@{}
        2@{}
        3@{}
        4@{}
        5@{}
        6@{}
        7@{4}
        8@{5}
        9@{2}
        10@{}
        11@{3}
        12@{1}
    }
]
Solving layer: 2
Solving layer: 3
Solving layer: 4
Solving layer: 5
Solving layer: 6
Solving layer: 7
Solving layer: 8
Solving layer: 9
Computed optimal makespan:8
Makespan optimal solution:
Mulirobot solution: (|moves| = 30, paralellism = 3.750) [
    Step 0: 1#3->2 2#9->8 3#1->5 5#10->7 
    Step 1: 1#2->6 2#8->4 3#5->9 4#0->1 5#7->3 
    Step 2: 1#6->5 3#9->8 4#1->0 5#3->2 
    Step 3: 1#5->9 4#0->1 5#2->6 
    Step 4: 1#9->11 2#4->0 4#1->2 5#6->5 
    Step 5: 1#11->12 2#0->1 3#8->9 4#2->3 5#5->4 
    Step 6: 2#1->5 3#9->11 
    Step 7: 2#5->9 4#3->7 5#4->8 
]
Multirobot solution analysis: (
    total makespan           = 8
    total distance           = 13
    total trajectory         = 30
    average parallelism      = 3.750
    average distance         = 2.600
    average trajectory       = 6.000
    parallelism distribution  = [ 0 1 2 3 2 ]
    distance distribution     = [ 1 0 0 1 1 0 1 ]
    trajectory distribution   = [ 0 0 0 0 1 3 1 ]
)
Phase statistics (current phase = 'root_phase') [
        Phase (name = 'root_phase') [
            Total SAT solver calls         = 8
            Satisfiable SAT solver calls   = 1
            Unsatisfiable SAT solver calls = 7
            Indeterminate SAT solver calls = 0
            Move executions                = 60
            Produced CNF variables         = 2860
            Produced CNF clauses           = 32176
            Search steps                   = 0
            Wall clock TIME (seconds)      = 0.579
            CPU/machine TIME (seconds)     = 0.200
        ]
]
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