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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| = 8, |V| = 14) [
     robot locations: {1#6 2#13 3#2 4#1 5#0 6#12 7#9 8#10 }
     vertex occupancy: {5#0 4#1 3#2 0#3 0#4 0#5 1#6 0#7 0#8 7#9 8#10 0#11 6#12 2#13 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 8, |V| = 14) [
    robot goals: {
        1#{11}
        2#{9}
        3#{0}
        4#{12}
        5#{8}
        6#{1}
        7#{7}
        8#{6}
    }
    vertex compatibilities: {
        0@{3}
        1@{6}
        2@{}
        3@{}
        4@{}
        5@{}
        6@{8}
        7@{7}
        8@{5}
        9@{2}
        10@{}
        11@{1}
        12@{4}
        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
Computed optimal makespan:8
Makespan optimal solution:
Mulirobot solution: (|moves| = 36, paralellism = 4.500) [
    Step 0: 1#6->5 3#2->3 6#12->11 7#9->8 
    Step 1: 1#5->4 2#13->9 4#1->2 6#11->7 7#8->12 8#10->6 
    Step 2: 1#4->8 2#9->10 4#2->5 5#0->1 7#12->11 
    Step 3: 1#8->12 3#3->2 4#5->9 5#1->4 
    Step 4: 3#2->1 4#9->13 5#4->5 6#7->8 8#6->3 
    Step 5: 2#10->6 5#5->9 6#8->4 7#11->7 
    Step 6: 1#12->11 2#6->5 3#1->0 5#9->8 
    Step 7: 2#5->9 4#13->12 6#4->1 8#3->6 
]
Multirobot solution analysis: (
    total makespan           = 8
    total distance           = 19
    total trajectory         = 36
    average parallelism      = 4.500
    average distance         = 2.375
    average trajectory       = 4.500
    parallelism distribution  = [ 0 0 0 5 2 1 ]
    distance distribution     = [ 1 2 3 0 1 ]
    trajectory distribution   = [ 0 0 1 2 5 ]
)
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                = 72
            Produced CNF variables         = 4928
            Produced CNF clauses           = 67346
            Search steps                   = 0
            Wall clock TIME (seconds)      = 1.515
            CPU/machine TIME (seconds)     = 0.550
        ]
]
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