================================================================
reLOC 0.09-vegas : Multirobot Solution solver
(C) Copyright 2011-2013 Pavel Surynek
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Reading graph...
1,0
2,1
11,1
3,2
12,2
4,3
5,4
6,5
13,5
7,6
14,6
8,7
15,7
9,8
16,9
12,11
20,11
21,12
14,13
24,13
15,14
25,14
26,15
17,16
28,16
18,17
29,17
20,19
31,19
21,20
22,21
32,21
23,22
33,22
24,23
34,23
25,24
35,24
26,25
36,25
27,26
37,26
28,27
38,27
29,28
39,28
30,29
40,29
42,31
33,32
44,32
34,33
45,33
35,34
46,34
36,35
47,35
37,36
48,36
38,37
49,37
39,38
50,38
40,39
51,39
41,40
52,40
43,42
54,42
44,43
55,43
45,44
56,44
46,45
57,45
47,46
48,47
58,47
49,48
59,48
50,49
60,49
51,50
61,50
52,51
62,51
53,52
63,52
55,54
56,55
65,55
57,56
66,56
67,57
59,58
69,58
60,59
70,59
61,60
71,60
62,61
63,62
72,62
64,63
73,63
66,65
75,65
67,66
76,66
68,67
69,68
77,68
70,69
78,69
71,70
79,70
80,71
73,72
82,72
74,73
76,75
85,75
86,76
78,77
88,77
79,78
80,79
89,79
81,80
90,80
82,81
91,81
92,82
85,84
95,84
86,85
96,85
87,86
97,86
88,87
98,87
99,88
90,89
101,89
91,90
102,90
92,91
93,92
103,92
94,93
104,93
96,95
106,95
97,96
107,96
98,97
99,98
108,98
100,99
109,99
101,100
102,101
110,101
111,102
104,103
113,103
105,104
114,104
107,106
116,106
117,107
109,108
119,109
111,110
121,110
112,111
113,112
122,112
114,113
123,113
115,114
124,114
18,10
30,18
41,30
53,41
64,53
74,64
83,74
94,83
105,94
115,105
125,115
117,116
118,117
120,119
121,120
123,122
124,123
125,124
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=126 |E|=200) [
    Vertex: (id = 0) {1 }
    Vertex: (id = 1) {0 2 11 }
    Vertex: (id = 2) {1 3 12 }
    Vertex: (id = 3) {2 4 }
    Vertex: (id = 4) {3 5 }
    Vertex: (id = 5) {4 6 13 }
    Vertex: (id = 6) {5 7 14 }
    Vertex: (id = 7) {6 8 15 }
    Vertex: (id = 8) {7 9 }
    Vertex: (id = 9) {8 16 }
    Vertex: (id = 10) {18 }
    Vertex: (id = 11) {1 12 20 }
    Vertex: (id = 12) {2 11 21 }
    Vertex: (id = 13) {5 14 24 }
    Vertex: (id = 14) {6 13 15 25 }
    Vertex: (id = 15) {7 14 26 }
    Vertex: (id = 16) {9 17 28 }
    Vertex: (id = 17) {16 18 29 }
    Vertex: (id = 18) {17 10 30 }
    Vertex: (id = 19) {20 31 }
    Vertex: (id = 20) {11 19 21 }
    Vertex: (id = 21) {12 20 22 32 }
    Vertex: (id = 22) {21 23 33 }
    Vertex: (id = 23) {22 24 34 }
    Vertex: (id = 24) {13 23 25 35 }
    Vertex: (id = 25) {14 24 26 36 }
    Vertex: (id = 26) {15 25 27 37 }
    Vertex: (id = 27) {26 28 38 }
    Vertex: (id = 28) {16 27 29 39 }
    Vertex: (id = 29) {17 28 30 40 }
    Vertex: (id = 30) {29 18 41 }
    Vertex: (id = 31) {19 42 }
    Vertex: (id = 32) {21 33 44 }
    Vertex: (id = 33) {22 32 34 45 }
    Vertex: (id = 34) {23 33 35 46 }
    Vertex: (id = 35) {24 34 36 47 }
    Vertex: (id = 36) {25 35 37 48 }
    Vertex: (id = 37) {26 36 38 49 }
    Vertex: (id = 38) {27 37 39 50 }
    Vertex: (id = 39) {28 38 40 51 }
    Vertex: (id = 40) {29 39 41 52 }
    Vertex: (id = 41) {40 30 53 }
    Vertex: (id = 42) {31 43 54 }
    Vertex: (id = 43) {42 44 55 }
    Vertex: (id = 44) {32 43 45 56 }
    Vertex: (id = 45) {33 44 46 57 }
    Vertex: (id = 46) {34 45 47 }
    Vertex: (id = 47) {35 46 48 58 }
    Vertex: (id = 48) {36 47 49 59 }
    Vertex: (id = 49) {37 48 50 60 }
    Vertex: (id = 50) {38 49 51 61 }
    Vertex: (id = 51) {39 50 52 62 }
    Vertex: (id = 52) {40 51 53 63 }
    Vertex: (id = 53) {52 41 64 }
    Vertex: (id = 54) {42 55 }
    Vertex: (id = 55) {43 54 56 65 }
    Vertex: (id = 56) {44 55 57 66 }
    Vertex: (id = 57) {45 56 67 }
    Vertex: (id = 58) {47 59 69 }
    Vertex: (id = 59) {48 58 60 70 }
    Vertex: (id = 60) {49 59 61 71 }
    Vertex: (id = 61) {50 60 62 }
    Vertex: (id = 62) {51 61 63 72 }
    Vertex: (id = 63) {52 62 64 73 }
    Vertex: (id = 64) {63 53 74 }
    Vertex: (id = 65) {55 66 75 }
    Vertex: (id = 66) {56 65 67 76 }
    Vertex: (id = 67) {57 66 68 }
    Vertex: (id = 68) {67 69 77 }
    Vertex: (id = 69) {58 68 70 78 }
    Vertex: (id = 70) {59 69 71 79 }
    Vertex: (id = 71) {60 70 80 }
    Vertex: (id = 72) {62 73 82 }
    Vertex: (id = 73) {63 72 74 }
    Vertex: (id = 74) {73 64 83 }
    Vertex: (id = 75) {65 76 85 }
    Vertex: (id = 76) {66 75 86 }
    Vertex: (id = 77) {68 78 88 }
    Vertex: (id = 78) {69 77 79 }
    Vertex: (id = 79) {70 78 80 89 }
    Vertex: (id = 80) {71 79 81 90 }
    Vertex: (id = 81) {80 82 91 }
    Vertex: (id = 82) {72 81 92 }
    Vertex: (id = 83) {74 94 }
    Vertex: (id = 84) {85 95 }
    Vertex: (id = 85) {75 84 86 96 }
    Vertex: (id = 86) {76 85 87 97 }
    Vertex: (id = 87) {86 88 98 }
    Vertex: (id = 88) {77 87 99 }
    Vertex: (id = 89) {79 90 101 }
    Vertex: (id = 90) {80 89 91 102 }
    Vertex: (id = 91) {81 90 92 }
    Vertex: (id = 92) {82 91 93 103 }
    Vertex: (id = 93) {92 94 104 }
    Vertex: (id = 94) {93 83 105 }
    Vertex: (id = 95) {84 96 106 }
    Vertex: (id = 96) {85 95 97 107 }
    Vertex: (id = 97) {86 96 98 }
    Vertex: (id = 98) {87 97 99 108 }
    Vertex: (id = 99) {88 98 100 109 }
    Vertex: (id = 100) {99 101 }
    Vertex: (id = 101) {89 100 102 110 }
    Vertex: (id = 102) {90 101 111 }
    Vertex: (id = 103) {92 104 113 }
    Vertex: (id = 104) {93 103 105 114 }
    Vertex: (id = 105) {104 94 115 }
    Vertex: (id = 106) {95 107 116 }
    Vertex: (id = 107) {96 106 117 }
    Vertex: (id = 108) {98 109 }
    Vertex: (id = 109) {99 108 119 }
    Vertex: (id = 110) {101 111 121 }
    Vertex: (id = 111) {102 110 112 }
    Vertex: (id = 112) {111 113 122 }
    Vertex: (id = 113) {103 112 114 123 }
    Vertex: (id = 114) {104 113 115 124 }
    Vertex: (id = 115) {114 105 125 }
    Vertex: (id = 116) {106 117 }
    Vertex: (id = 117) {107 116 118 }
    Vertex: (id = 118) {117 }
    Vertex: (id = 119) {109 120 }
    Vertex: (id = 120) {119 121 }
    Vertex: (id = 121) {110 120 }
    Vertex: (id = 122) {112 123 }
    Vertex: (id = 123) {113 122 124 }
    Vertex: (id = 124) {114 123 125 }
    Vertex: (id = 125) {115 124 }
    Edge  0: 1 <-> 0
    Edge  1: 2 <-> 1
    Edge  2: 11 <-> 1
    Edge  3: 3 <-> 2
    Edge  4: 12 <-> 2
    Edge  5: 4 <-> 3
    Edge  6: 5 <-> 4
    Edge  7: 6 <-> 5
    Edge  8: 13 <-> 5
    Edge  9: 7 <-> 6
    Edge  10: 14 <-> 6
    Edge  11: 8 <-> 7
    Edge  12: 15 <-> 7
    Edge  13: 9 <-> 8
    Edge  14: 16 <-> 9
    Edge  15: 12 <-> 11
    Edge  16: 20 <-> 11
    Edge  17: 21 <-> 12
    Edge  18: 14 <-> 13
    Edge  19: 24 <-> 13
    Edge  20: 15 <-> 14
    Edge  21: 25 <-> 14
    Edge  22: 26 <-> 15
    Edge  23: 17 <-> 16
    Edge  24: 28 <-> 16
    Edge  25: 18 <-> 17
    Edge  26: 29 <-> 17
    Edge  27: 20 <-> 19
    Edge  28: 31 <-> 19
    Edge  29: 21 <-> 20
    Edge  30: 22 <-> 21
    Edge  31: 32 <-> 21
    Edge  32: 23 <-> 22
    Edge  33: 33 <-> 22
    Edge  34: 24 <-> 23
    Edge  35: 34 <-> 23
    Edge  36: 25 <-> 24
    Edge  37: 35 <-> 24
    Edge  38: 26 <-> 25
    Edge  39: 36 <-> 25
    Edge  40: 27 <-> 26
    Edge  41: 37 <-> 26
    Edge  42: 28 <-> 27
    Edge  43: 38 <-> 27
    Edge  44: 29 <-> 28
    Edge  45: 39 <-> 28
    Edge  46: 30 <-> 29
    Edge  47: 40 <-> 29
    Edge  48: 42 <-> 31
    Edge  49: 33 <-> 32
    Edge  50: 44 <-> 32
    Edge  51: 34 <-> 33
    Edge  52: 45 <-> 33
    Edge  53: 35 <-> 34
    Edge  54: 46 <-> 34
    Edge  55: 36 <-> 35
    Edge  56: 47 <-> 35
    Edge  57: 37 <-> 36
    Edge  58: 48 <-> 36
    Edge  59: 38 <-> 37
    Edge  60: 49 <-> 37
    Edge  61: 39 <-> 38
    Edge  62: 50 <-> 38
    Edge  63: 40 <-> 39
    Edge  64: 51 <-> 39
    Edge  65: 41 <-> 40
    Edge  66: 52 <-> 40
    Edge  67: 43 <-> 42
    Edge  68: 54 <-> 42
    Edge  69: 44 <-> 43
    Edge  70: 55 <-> 43
    Edge  71: 45 <-> 44
    Edge  72: 56 <-> 44
    Edge  73: 46 <-> 45
    Edge  74: 57 <-> 45
    Edge  75: 47 <-> 46
    Edge  76: 48 <-> 47
    Edge  77: 58 <-> 47
    Edge  78: 49 <-> 48
    Edge  79: 59 <-> 48
    Edge  80: 50 <-> 49
    Edge  81: 60 <-> 49
    Edge  82: 51 <-> 50
    Edge  83: 61 <-> 50
    Edge  84: 52 <-> 51
    Edge  85: 62 <-> 51
    Edge  86: 53 <-> 52
    Edge  87: 63 <-> 52
    Edge  88: 55 <-> 54
    Edge  89: 56 <-> 55
    Edge  90: 65 <-> 55
    Edge  91: 57 <-> 56
    Edge  92: 66 <-> 56
    Edge  93: 67 <-> 57
    Edge  94: 59 <-> 58
    Edge  95: 69 <-> 58
    Edge  96: 60 <-> 59
    Edge  97: 70 <-> 59
    Edge  98: 61 <-> 60
    Edge  99: 71 <-> 60
    Edge  100: 62 <-> 61
    Edge  101: 63 <-> 62
    Edge  102: 72 <-> 62
    Edge  103: 64 <-> 63
    Edge  104: 73 <-> 63
    Edge  105: 66 <-> 65
    Edge  106: 75 <-> 65
    Edge  107: 67 <-> 66
    Edge  108: 76 <-> 66
    Edge  109: 68 <-> 67
    Edge  110: 69 <-> 68
    Edge  111: 77 <-> 68
    Edge  112: 70 <-> 69
    Edge  113: 78 <-> 69
    Edge  114: 71 <-> 70
    Edge  115: 79 <-> 70
    Edge  116: 80 <-> 71
    Edge  117: 73 <-> 72
    Edge  118: 82 <-> 72
    Edge  119: 74 <-> 73
    Edge  120: 76 <-> 75
    Edge  121: 85 <-> 75
    Edge  122: 86 <-> 76
    Edge  123: 78 <-> 77
    Edge  124: 88 <-> 77
    Edge  125: 79 <-> 78
    Edge  126: 80 <-> 79
    Edge  127: 89 <-> 79
    Edge  128: 81 <-> 80
    Edge  129: 90 <-> 80
    Edge  130: 82 <-> 81
    Edge  131: 91 <-> 81
    Edge  132: 92 <-> 82
    Edge  133: 85 <-> 84
    Edge  134: 95 <-> 84
    Edge  135: 86 <-> 85
    Edge  136: 96 <-> 85
    Edge  137: 87 <-> 86
    Edge  138: 97 <-> 86
    Edge  139: 88 <-> 87
    Edge  140: 98 <-> 87
    Edge  141: 99 <-> 88
    Edge  142: 90 <-> 89
    Edge  143: 101 <-> 89
    Edge  144: 91 <-> 90
    Edge  145: 102 <-> 90
    Edge  146: 92 <-> 91
    Edge  147: 93 <-> 92
    Edge  148: 103 <-> 92
    Edge  149: 94 <-> 93
    Edge  150: 104 <-> 93
    Edge  151: 96 <-> 95
    Edge  152: 106 <-> 95
    Edge  153: 97 <-> 96
    Edge  154: 107 <-> 96
    Edge  155: 98 <-> 97
    Edge  156: 99 <-> 98
    Edge  157: 108 <-> 98
    Edge  158: 100 <-> 99
    Edge  159: 109 <-> 99
    Edge  160: 101 <-> 100
    Edge  161: 102 <-> 101
    Edge  162: 110 <-> 101
    Edge  163: 111 <-> 102
    Edge  164: 104 <-> 103
    Edge  165: 113 <-> 103
    Edge  166: 105 <-> 104
    Edge  167: 114 <-> 104
    Edge  168: 107 <-> 106
    Edge  169: 116 <-> 106
    Edge  170: 117 <-> 107
    Edge  171: 109 <-> 108
    Edge  172: 119 <-> 109
    Edge  173: 111 <-> 110
    Edge  174: 121 <-> 110
    Edge  175: 112 <-> 111
    Edge  176: 113 <-> 112
    Edge  177: 122 <-> 112
    Edge  178: 114 <-> 113
    Edge  179: 123 <-> 113
    Edge  180: 115 <-> 114
    Edge  181: 124 <-> 114
    Edge  182: 18 <-> 10
    Edge  183: 30 <-> 18
    Edge  184: 41 <-> 30
    Edge  185: 53 <-> 41
    Edge  186: 64 <-> 53
    Edge  187: 74 <-> 64
    Edge  188: 83 <-> 74
    Edge  189: 94 <-> 83
    Edge  190: 105 <-> 94
    Edge  191: 115 <-> 105
    Edge  192: 125 <-> 115
    Edge  193: 117 <-> 116
    Edge  194: 118 <-> 117
    Edge  195: 120 <-> 119
    Edge  196: 121 <-> 120
    Edge  197: 123 <-> 122
    Edge  198: 124 <-> 123
    Edge  199: 125 <-> 124
]
Robot arrangement: (|R| = 11, |V| = 126) [
     robot locations: {1#13 2#80 3#28 4#66 5#1 6#38 7#40 8#32 9#54 10#22 11#63 }
     vertex occupancy: {0#0 5#1 0#2 0#3 0#4 0#5 0#6 0#7 0#8 0#9 0#10 0#11 0#12 1#13 0#14 0#15 0#16 0#17 0#18 0#19 0#20 0#21 10#22 0#23 0#24 0#25 0#26 0#27 3#28 0#29 0#30 0#31 8#32 0#33 0#34 0#35 0#36 0#37 6#38 0#39 7#40 0#41 0#42 0#43 0#44 0#45 0#46 0#47 0#48 0#49 0#50 0#51 0#52 0#53 9#54 0#55 0#56 0#57 0#58 0#59 0#60 0#61 0#62 11#63 0#64 0#65 4#66 0#67 0#68 0#69 0#70 0#71 0#72 0#73 0#74 0#75 0#76 0#77 0#78 0#79 2#80 0#81 0#82 0#83 0#84 0#85 0#86 0#87 0#88 0#89 0#90 0#91 0#92 0#93 0#94 0#95 0#96 0#97 0#98 0#99 0#100 0#101 0#102 0#103 0#104 0#105 0#106 0#107 0#108 0#109 0#110 0#111 0#112 0#113 0#114 0#115 0#116 0#117 0#118 0#119 0#120 0#121 0#122 0#123 0#124 0#125 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 11, |V| = 126) [
    robot goals: {
        1#{14}
        2#{18}
        3#{30}
        4#{90}
        5#{121}
        6#{23}
        7#{78}
        8#{22}
        9#{0}
        10#{58}
        11#{48}
    }
    vertex compatibilities: {
        0@{9}
        1@{}
        2@{}
        3@{}
        4@{}
        5@{}
        6@{}
        7@{}
        8@{}
        9@{}
        10@{}
        11@{}
        12@{}
        13@{}
        14@{1}
        15@{}
        16@{}
        17@{}
        18@{2}
        19@{}
        20@{}
        21@{}
        22@{8}
        23@{6}
        24@{}
        25@{}
        26@{}
        27@{}
        28@{}
        29@{}
        30@{3}
        31@{}
        32@{}
        33@{}
        34@{}
        35@{}
        36@{}
        37@{}
        38@{}
        39@{}
        40@{}
        41@{}
        42@{}
        43@{}
        44@{}
        45@{}
        46@{}
        47@{}
        48@{11}
        49@{}
        50@{}
        51@{}
        52@{}
        53@{}
        54@{}
        55@{}
        56@{}
        57@{}
        58@{10}
        59@{}
        60@{}
        61@{}
        62@{}
        63@{}
        64@{}
        65@{}
        66@{}
        67@{}
        68@{}
        69@{}
        70@{}
        71@{}
        72@{}
        73@{}
        74@{}
        75@{}
        76@{}
        77@{}
        78@{7}
        79@{}
        80@{}
        81@{}
        82@{}
        83@{}
        84@{}
        85@{}
        86@{}
        87@{}
        88@{}
        89@{}
        90@{4}
        91@{}
        92@{}
        93@{}
        94@{}
        95@{}
        96@{}
        97@{}
        98@{}
        99@{}
        100@{}
        101@{}
        102@{}
        103@{}
        104@{}
        105@{}
        106@{}
        107@{}
        108@{}
        109@{}
        110@{}
        111@{}
        112@{}
        113@{}
        114@{}
        115@{}
        116@{}
        117@{}
        118@{}
        119@{}
        120@{}
        121@{5}
        122@{}
        123@{}
        124@{}
        125@{}
    }
]
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
Solving layer: 12
Solving layer: 13
Solving layer: 14
Solving layer: 15
Solving layer: 16
Solving layer: 17
Computed optimal makespan:16
Makespan optimal solution:
Mulirobot solution: (|moves| = 159, paralellism = 9.938) [
    Step 0: 2#80->90 3#28->39 4#66->67 5#1->2 6#38->50 7#40->41 8#32->44 9#54->55 10#22->33 11#63->62 
    Step 1: 1#13->24 3#39->51 4#67->68 5#2->12 6#50->49 7#41->53 8#44->56 9#55->43 10#33->34 11#62->72 
    Step 2: 1#24->25 2#90->91 3#51->62 4#68->69 5#12->21 6#49->60 7#53->64 8#56->57 9#43->44 10#34->46 11#72->82 
    Step 3: 1#25->26 2#91->92 3#62->63 4#69->78 5#21->32 6#60->71 7#64->74 8#57->67 9#44->45 10#46->47 
    Step 4: 1#26->27 4#78->79 5#32->44 6#71->80 7#74->73 8#67->68 9#45->46 10#47->58 11#82->81 
    Step 5: 1#27->28 2#92->82 3#63->64 4#79->89 5#44->56 6#80->71 7#73->72 8#68->77 9#46->34 10#58->69 11#81->91 
    Step 6: 1#28->39 3#64->74 4#89->90 5#56->66 6#71->60 7#72->62 8#77->68 9#34->35 10#69->70 11#91->81 
    Step 7: 1#39->51 2#82->72 3#74->83 4#90->91 5#66->76 6#60->49 7#62->61 8#68->67 9#35->34 10#70->79 
    Step 8: 1#51->50 2#72->62 3#83->74 5#76->86 6#49->37 7#61->60 8#67->66 9#34->33 10#79->70 11#81->82 
    Step 9: 1#50->61 2#62->63 3#74->64 4#91->90 5#86->87 6#37->36 7#60->59 8#66->56 9#33->32 10#70->69 11#82->81 
    Step 10: 1#61->50 2#63->52 3#64->53 4#90->89 5#87->98 6#36->35 7#59->58 8#56->44 9#32->21 10#69->68 11#81->80 
    Step 11: 1#50->38 2#52->40 3#53->41 5#98->108 8#44->32 9#21->12 
    Step 12: 1#38->37 2#40->29 4#89->79 5#108->109 6#35->47 7#58->69 8#32->33 9#12->11 10#68->77 11#80->71 
    Step 13: 1#37->36 2#29->30 3#41->53 5#109->119 6#47->35 7#69->68 8#33->34 10#77->78 11#71->70 
    Step 14: 1#36->25 2#30->18 3#53->41 4#79->89 5#119->120 6#35->24 7#68->77 8#34->33 9#11->1 10#78->69 11#70->59 
    Step 15: 1#25->14 3#41->30 4#89->90 5#120->121 6#24->23 7#77->78 8#33->22 9#1->0 10#69->58 11#59->48 
]
Multirobot solution analysis: (
    total makespan           = 16
    total distance           = 64
    total trajectory         = 159
    average parallelism      = 9.938
    average distance         = 5.818
    average trajectory       = 14.455
    parallelism distribution  = [ 0 0 0 0 0 1 0 0 2 8 5 ]
    distance distribution     = [ 1 2 0 0 2 0 2 0 1 1 0 0 0 0 0 1 ]
    trajectory distribution   = [ 0 0 0 0 0 0 0 0 0 0 0 1 2 1 5 2 ]
)
Phase statistics (current phase = 'root_phase') [
        Phase (name = 'root_phase') [
            Total SAT solver calls         = 16
            Satisfiable SAT solver calls   = 1
            Unsatisfiable SAT solver calls = 15
            Indeterminate SAT solver calls = 0
            Move executions                = 318
            Produced CNF variables         = 167904
            Produced CNF clauses           = 1394131
            Search steps                   = 0
            Wall clock TIME (seconds)      = 10.707
            CPU/machine TIME (seconds)     = 5.620
        ]
]
----------------------------------------------------------------