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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| = 7, |V| = 14) [
     robot locations: {1#4 2#10 3#2 4#8 5#13 6#3 7#11 }
     vertex occupancy: {0#0 0#1 3#2 6#3 1#4 0#5 0#6 0#7 4#8 0#9 2#10 7#11 0#12 5#13 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 7, |V| = 14) [
    robot goals: {
        1#{5}
        2#{9}
        3#{6}
        4#{1}
        5#{4}
        6#{10}
        7#{0}
    }
    vertex compatibilities: {
        0@{7}
        1@{4}
        2@{}
        3@{}
        4@{5}
        5@{1}
        6@{3}
        7@{}
        8@{}
        9@{2}
        10@{6}
        11@{}
        12@{}
        13@{}
    }
]
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
Computed optimal makespan:10
Makespan optimal solution:
Mulirobot solution: (|moves| = 33, paralellism = 3.300) [
    Step 0: 1#4->5 2#10->7 
    Step 1: 1#5->1 2#7->6 4#8->4 5#13->10 
    Step 2: 2#6->5 4#4->0 7#11->8 
    Step 3: 2#5->9 3#2->6 5#10->7 7#8->4 
    Step 4: 1#1->5 2#9->8 3#6->2 
    Step 5: 1#5->9 4#0->1 5#7->6 
    Step 6: 2#8->11 5#6->5 6#3->7 7#4->0 
    Step 7: 2#11->8 3#2->3 5#5->4 6#7->10 
    Step 8: 1#9->5 3#3->7 4#1->2 
    Step 9: 2#8->9 3#7->6 4#2->1 
]
Multirobot solution analysis: (
    total makespan           = 10
    total distance           = 16
    total trajectory         = 33
    average parallelism      = 3.300
    average distance         = 2.286
    average trajectory       = 4.714
    parallelism distribution  = [ 0 1 5 4 ]
    distance distribution     = [ 2 1 1 1 1 ]
    trajectory distribution   = [ 0 1 1 0 4 0 0 1 ]
)
Phase statistics (current phase = 'root_phase') [
        Phase (name = 'root_phase') [
            Total SAT solver calls         = 10
            Satisfiable SAT solver calls   = 1
            Unsatisfiable SAT solver calls = 9
            Indeterminate SAT solver calls = 0
            Move executions                = 66
            Produced CNF variables         = 6370
            Produced CNF clauses           = 83843
            Search steps                   = 0
            Wall clock TIME (seconds)      = 1.472
            CPU/machine TIME (seconds)     = 0.650
        ]
]
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