================================================================
reLOC 0.09-vegas : Multirobot Solution solver
(C) Copyright 2011-2013 Pavel Surynek
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Reading graph...
1,0
11,0
2,1
12,1
3,2
13,2
4,3
14,3
5,4
15,4
6,5
7,6
8,7
16,7
9,8
17,8
10,9
18,9
19,10
12,11
21,11
13,12
22,12
14,13
23,13
15,14
24,14
25,15
17,16
18,17
28,17
19,18
29,18
20,19
30,19
22,21
32,21
23,22
33,22
24,23
34,23
25,24
26,25
35,25
27,26
29,28
30,29
37,29
31,30
38,30
33,32
40,32
34,33
41,33
42,34
44,35
47,36
38,37
49,37
39,38
50,38
41,40
52,40
42,41
53,41
43,42
54,42
44,43
45,44
55,44
46,45
56,45
47,46
57,46
48,47
58,47
49,48
59,48
50,49
60,49
51,50
61,50
53,52
63,52
54,53
64,53
65,54
56,55
67,55
57,56
68,56
58,57
69,57
59,58
70,58
60,59
61,60
71,60
62,61
72,61
64,63
74,63
65,64
75,64
66,65
76,65
67,66
77,66
68,67
78,67
69,68
79,68
70,69
80,69
81,70
72,71
83,71
73,72
75,74
76,75
85,75
77,76
86,76
78,77
79,78
87,78
80,79
88,79
81,80
89,80
82,81
83,82
90,82
91,83
86,85
94,85
95,86
88,87
97,87
89,88
98,88
99,89
91,90
101,90
92,91
102,91
103,92
94,93
105,93
95,94
96,95
106,95
97,96
107,96
98,97
108,97
99,98
109,98
100,99
110,99
101,100
111,100
102,101
112,101
103,102
113,102
104,103
114,103
116,105
107,106
117,106
108,107
118,107
109,108
119,108
110,109
120,109
111,110
121,110
112,111
122,111
113,112
123,112
114,113
124,113
115,114
125,114
31,20
39,31
51,39
62,51
73,62
84,73
115,104
126,115
118,117
119,118
120,119
121,120
122,121
123,122
124,123
125,124
126,125
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=127 |E|=204) [
    Vertex: (id = 0) {1 11 }
    Vertex: (id = 1) {0 2 12 }
    Vertex: (id = 2) {1 3 13 }
    Vertex: (id = 3) {2 4 14 }
    Vertex: (id = 4) {3 5 15 }
    Vertex: (id = 5) {4 6 }
    Vertex: (id = 6) {5 7 }
    Vertex: (id = 7) {6 8 16 }
    Vertex: (id = 8) {7 9 17 }
    Vertex: (id = 9) {8 10 18 }
    Vertex: (id = 10) {9 19 }
    Vertex: (id = 11) {0 12 21 }
    Vertex: (id = 12) {1 11 13 22 }
    Vertex: (id = 13) {2 12 14 23 }
    Vertex: (id = 14) {3 13 15 24 }
    Vertex: (id = 15) {4 14 25 }
    Vertex: (id = 16) {7 17 }
    Vertex: (id = 17) {8 16 18 28 }
    Vertex: (id = 18) {9 17 19 29 }
    Vertex: (id = 19) {10 18 20 30 }
    Vertex: (id = 20) {19 31 }
    Vertex: (id = 21) {11 22 32 }
    Vertex: (id = 22) {12 21 23 33 }
    Vertex: (id = 23) {13 22 24 34 }
    Vertex: (id = 24) {14 23 25 }
    Vertex: (id = 25) {15 24 26 35 }
    Vertex: (id = 26) {25 27 }
    Vertex: (id = 27) {26 }
    Vertex: (id = 28) {17 29 }
    Vertex: (id = 29) {18 28 30 37 }
    Vertex: (id = 30) {19 29 31 38 }
    Vertex: (id = 31) {30 20 39 }
    Vertex: (id = 32) {21 33 40 }
    Vertex: (id = 33) {22 32 34 41 }
    Vertex: (id = 34) {23 33 42 }
    Vertex: (id = 35) {25 44 }
    Vertex: (id = 36) {47 }
    Vertex: (id = 37) {29 38 49 }
    Vertex: (id = 38) {30 37 39 50 }
    Vertex: (id = 39) {38 31 51 }
    Vertex: (id = 40) {32 41 52 }
    Vertex: (id = 41) {33 40 42 53 }
    Vertex: (id = 42) {34 41 43 54 }
    Vertex: (id = 43) {42 44 }
    Vertex: (id = 44) {35 43 45 55 }
    Vertex: (id = 45) {44 46 56 }
    Vertex: (id = 46) {45 47 57 }
    Vertex: (id = 47) {36 46 48 58 }
    Vertex: (id = 48) {47 49 59 }
    Vertex: (id = 49) {37 48 50 60 }
    Vertex: (id = 50) {38 49 51 61 }
    Vertex: (id = 51) {50 39 62 }
    Vertex: (id = 52) {40 53 63 }
    Vertex: (id = 53) {41 52 54 64 }
    Vertex: (id = 54) {42 53 65 }
    Vertex: (id = 55) {44 56 67 }
    Vertex: (id = 56) {45 55 57 68 }
    Vertex: (id = 57) {46 56 58 69 }
    Vertex: (id = 58) {47 57 59 70 }
    Vertex: (id = 59) {48 58 60 }
    Vertex: (id = 60) {49 59 61 71 }
    Vertex: (id = 61) {50 60 62 72 }
    Vertex: (id = 62) {61 51 73 }
    Vertex: (id = 63) {52 64 74 }
    Vertex: (id = 64) {53 63 65 75 }
    Vertex: (id = 65) {54 64 66 76 }
    Vertex: (id = 66) {65 67 77 }
    Vertex: (id = 67) {55 66 68 78 }
    Vertex: (id = 68) {56 67 69 79 }
    Vertex: (id = 69) {57 68 70 80 }
    Vertex: (id = 70) {58 69 81 }
    Vertex: (id = 71) {60 72 83 }
    Vertex: (id = 72) {61 71 73 }
    Vertex: (id = 73) {72 62 84 }
    Vertex: (id = 74) {63 75 }
    Vertex: (id = 75) {64 74 76 85 }
    Vertex: (id = 76) {65 75 77 86 }
    Vertex: (id = 77) {66 76 78 }
    Vertex: (id = 78) {67 77 79 87 }
    Vertex: (id = 79) {68 78 80 88 }
    Vertex: (id = 80) {69 79 81 89 }
    Vertex: (id = 81) {70 80 82 }
    Vertex: (id = 82) {81 83 90 }
    Vertex: (id = 83) {71 82 91 }
    Vertex: (id = 84) {73 }
    Vertex: (id = 85) {75 86 94 }
    Vertex: (id = 86) {76 85 95 }
    Vertex: (id = 87) {78 88 97 }
    Vertex: (id = 88) {79 87 89 98 }
    Vertex: (id = 89) {80 88 99 }
    Vertex: (id = 90) {82 91 101 }
    Vertex: (id = 91) {83 90 92 102 }
    Vertex: (id = 92) {91 103 }
    Vertex: (id = 93) {94 105 }
    Vertex: (id = 94) {85 93 95 }
    Vertex: (id = 95) {86 94 96 106 }
    Vertex: (id = 96) {95 97 107 }
    Vertex: (id = 97) {87 96 98 108 }
    Vertex: (id = 98) {88 97 99 109 }
    Vertex: (id = 99) {89 98 100 110 }
    Vertex: (id = 100) {99 101 111 }
    Vertex: (id = 101) {90 100 102 112 }
    Vertex: (id = 102) {91 101 103 113 }
    Vertex: (id = 103) {92 102 104 114 }
    Vertex: (id = 104) {103 115 }
    Vertex: (id = 105) {93 116 }
    Vertex: (id = 106) {95 107 117 }
    Vertex: (id = 107) {96 106 108 118 }
    Vertex: (id = 108) {97 107 109 119 }
    Vertex: (id = 109) {98 108 110 120 }
    Vertex: (id = 110) {99 109 111 121 }
    Vertex: (id = 111) {100 110 112 122 }
    Vertex: (id = 112) {101 111 113 123 }
    Vertex: (id = 113) {102 112 114 124 }
    Vertex: (id = 114) {103 113 115 125 }
    Vertex: (id = 115) {114 104 126 }
    Vertex: (id = 116) {105 }
    Vertex: (id = 117) {106 118 }
    Vertex: (id = 118) {107 117 119 }
    Vertex: (id = 119) {108 118 120 }
    Vertex: (id = 120) {109 119 121 }
    Vertex: (id = 121) {110 120 122 }
    Vertex: (id = 122) {111 121 123 }
    Vertex: (id = 123) {112 122 124 }
    Vertex: (id = 124) {113 123 125 }
    Vertex: (id = 125) {114 124 126 }
    Vertex: (id = 126) {115 125 }
    Edge  0: 1 <-> 0
    Edge  1: 11 <-> 0
    Edge  2: 2 <-> 1
    Edge  3: 12 <-> 1
    Edge  4: 3 <-> 2
    Edge  5: 13 <-> 2
    Edge  6: 4 <-> 3
    Edge  7: 14 <-> 3
    Edge  8: 5 <-> 4
    Edge  9: 15 <-> 4
    Edge  10: 6 <-> 5
    Edge  11: 7 <-> 6
    Edge  12: 8 <-> 7
    Edge  13: 16 <-> 7
    Edge  14: 9 <-> 8
    Edge  15: 17 <-> 8
    Edge  16: 10 <-> 9
    Edge  17: 18 <-> 9
    Edge  18: 19 <-> 10
    Edge  19: 12 <-> 11
    Edge  20: 21 <-> 11
    Edge  21: 13 <-> 12
    Edge  22: 22 <-> 12
    Edge  23: 14 <-> 13
    Edge  24: 23 <-> 13
    Edge  25: 15 <-> 14
    Edge  26: 24 <-> 14
    Edge  27: 25 <-> 15
    Edge  28: 17 <-> 16
    Edge  29: 18 <-> 17
    Edge  30: 28 <-> 17
    Edge  31: 19 <-> 18
    Edge  32: 29 <-> 18
    Edge  33: 20 <-> 19
    Edge  34: 30 <-> 19
    Edge  35: 22 <-> 21
    Edge  36: 32 <-> 21
    Edge  37: 23 <-> 22
    Edge  38: 33 <-> 22
    Edge  39: 24 <-> 23
    Edge  40: 34 <-> 23
    Edge  41: 25 <-> 24
    Edge  42: 26 <-> 25
    Edge  43: 35 <-> 25
    Edge  44: 27 <-> 26
    Edge  45: 29 <-> 28
    Edge  46: 30 <-> 29
    Edge  47: 37 <-> 29
    Edge  48: 31 <-> 30
    Edge  49: 38 <-> 30
    Edge  50: 33 <-> 32
    Edge  51: 40 <-> 32
    Edge  52: 34 <-> 33
    Edge  53: 41 <-> 33
    Edge  54: 42 <-> 34
    Edge  55: 44 <-> 35
    Edge  56: 47 <-> 36
    Edge  57: 38 <-> 37
    Edge  58: 49 <-> 37
    Edge  59: 39 <-> 38
    Edge  60: 50 <-> 38
    Edge  61: 41 <-> 40
    Edge  62: 52 <-> 40
    Edge  63: 42 <-> 41
    Edge  64: 53 <-> 41
    Edge  65: 43 <-> 42
    Edge  66: 54 <-> 42
    Edge  67: 44 <-> 43
    Edge  68: 45 <-> 44
    Edge  69: 55 <-> 44
    Edge  70: 46 <-> 45
    Edge  71: 56 <-> 45
    Edge  72: 47 <-> 46
    Edge  73: 57 <-> 46
    Edge  74: 48 <-> 47
    Edge  75: 58 <-> 47
    Edge  76: 49 <-> 48
    Edge  77: 59 <-> 48
    Edge  78: 50 <-> 49
    Edge  79: 60 <-> 49
    Edge  80: 51 <-> 50
    Edge  81: 61 <-> 50
    Edge  82: 53 <-> 52
    Edge  83: 63 <-> 52
    Edge  84: 54 <-> 53
    Edge  85: 64 <-> 53
    Edge  86: 65 <-> 54
    Edge  87: 56 <-> 55
    Edge  88: 67 <-> 55
    Edge  89: 57 <-> 56
    Edge  90: 68 <-> 56
    Edge  91: 58 <-> 57
    Edge  92: 69 <-> 57
    Edge  93: 59 <-> 58
    Edge  94: 70 <-> 58
    Edge  95: 60 <-> 59
    Edge  96: 61 <-> 60
    Edge  97: 71 <-> 60
    Edge  98: 62 <-> 61
    Edge  99: 72 <-> 61
    Edge  100: 64 <-> 63
    Edge  101: 74 <-> 63
    Edge  102: 65 <-> 64
    Edge  103: 75 <-> 64
    Edge  104: 66 <-> 65
    Edge  105: 76 <-> 65
    Edge  106: 67 <-> 66
    Edge  107: 77 <-> 66
    Edge  108: 68 <-> 67
    Edge  109: 78 <-> 67
    Edge  110: 69 <-> 68
    Edge  111: 79 <-> 68
    Edge  112: 70 <-> 69
    Edge  113: 80 <-> 69
    Edge  114: 81 <-> 70
    Edge  115: 72 <-> 71
    Edge  116: 83 <-> 71
    Edge  117: 73 <-> 72
    Edge  118: 75 <-> 74
    Edge  119: 76 <-> 75
    Edge  120: 85 <-> 75
    Edge  121: 77 <-> 76
    Edge  122: 86 <-> 76
    Edge  123: 78 <-> 77
    Edge  124: 79 <-> 78
    Edge  125: 87 <-> 78
    Edge  126: 80 <-> 79
    Edge  127: 88 <-> 79
    Edge  128: 81 <-> 80
    Edge  129: 89 <-> 80
    Edge  130: 82 <-> 81
    Edge  131: 83 <-> 82
    Edge  132: 90 <-> 82
    Edge  133: 91 <-> 83
    Edge  134: 86 <-> 85
    Edge  135: 94 <-> 85
    Edge  136: 95 <-> 86
    Edge  137: 88 <-> 87
    Edge  138: 97 <-> 87
    Edge  139: 89 <-> 88
    Edge  140: 98 <-> 88
    Edge  141: 99 <-> 89
    Edge  142: 91 <-> 90
    Edge  143: 101 <-> 90
    Edge  144: 92 <-> 91
    Edge  145: 102 <-> 91
    Edge  146: 103 <-> 92
    Edge  147: 94 <-> 93
    Edge  148: 105 <-> 93
    Edge  149: 95 <-> 94
    Edge  150: 96 <-> 95
    Edge  151: 106 <-> 95
    Edge  152: 97 <-> 96
    Edge  153: 107 <-> 96
    Edge  154: 98 <-> 97
    Edge  155: 108 <-> 97
    Edge  156: 99 <-> 98
    Edge  157: 109 <-> 98
    Edge  158: 100 <-> 99
    Edge  159: 110 <-> 99
    Edge  160: 101 <-> 100
    Edge  161: 111 <-> 100
    Edge  162: 102 <-> 101
    Edge  163: 112 <-> 101
    Edge  164: 103 <-> 102
    Edge  165: 113 <-> 102
    Edge  166: 104 <-> 103
    Edge  167: 114 <-> 103
    Edge  168: 116 <-> 105
    Edge  169: 107 <-> 106
    Edge  170: 117 <-> 106
    Edge  171: 108 <-> 107
    Edge  172: 118 <-> 107
    Edge  173: 109 <-> 108
    Edge  174: 119 <-> 108
    Edge  175: 110 <-> 109
    Edge  176: 120 <-> 109
    Edge  177: 111 <-> 110
    Edge  178: 121 <-> 110
    Edge  179: 112 <-> 111
    Edge  180: 122 <-> 111
    Edge  181: 113 <-> 112
    Edge  182: 123 <-> 112
    Edge  183: 114 <-> 113
    Edge  184: 124 <-> 113
    Edge  185: 115 <-> 114
    Edge  186: 125 <-> 114
    Edge  187: 31 <-> 20
    Edge  188: 39 <-> 31
    Edge  189: 51 <-> 39
    Edge  190: 62 <-> 51
    Edge  191: 73 <-> 62
    Edge  192: 84 <-> 73
    Edge  193: 115 <-> 104
    Edge  194: 126 <-> 115
    Edge  195: 118 <-> 117
    Edge  196: 119 <-> 118
    Edge  197: 120 <-> 119
    Edge  198: 121 <-> 120
    Edge  199: 122 <-> 121
    Edge  200: 123 <-> 122
    Edge  201: 124 <-> 123
    Edge  202: 125 <-> 124
    Edge  203: 126 <-> 125
]
Robot arrangement: (|R| = 43, |V| = 127) [
     robot locations: {1#123 2#111 3#17 4#5 5#54 6#89 7#88 8#87 9#67 10#43 11#82 12#99 13#110 14#25 15#24 16#45 17#60 18#29 19#50 20#105 21#122 22#51 23#79 24#86 25#90 26#6 27#59 28#39 29#117 30#63 31#15 32#94 33#26 34#11 35#8 36#49 37#9 38#97 39#22 40#103 41#57 42#41 43#83 }
     vertex occupancy: {0#0 0#1 0#2 0#3 0#4 4#5 26#6 0#7 35#8 37#9 0#10 34#11 0#12 0#13 0#14 31#15 0#16 3#17 0#18 0#19 0#20 0#21 39#22 0#23 15#24 14#25 33#26 0#27 0#28 18#29 0#30 0#31 0#32 0#33 0#34 0#35 0#36 0#37 0#38 28#39 0#40 42#41 0#42 10#43 0#44 16#45 0#46 0#47 0#48 36#49 19#50 22#51 0#52 0#53 5#54 0#55 0#56 41#57 0#58 27#59 17#60 0#61 0#62 30#63 0#64 0#65 0#66 9#67 0#68 0#69 0#70 0#71 0#72 0#73 0#74 0#75 0#76 0#77 0#78 23#79 0#80 0#81 11#82 43#83 0#84 0#85 24#86 8#87 7#88 6#89 25#90 0#91 0#92 0#93 32#94 0#95 0#96 38#97 0#98 12#99 0#100 0#101 0#102 40#103 0#104 20#105 0#106 0#107 0#108 0#109 13#110 2#111 0#112 0#113 0#114 0#115 0#116 29#117 0#118 0#119 0#120 0#121 21#122 1#123 0#124 0#125 0#126 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 43, |V| = 127) [
    robot goals: {
        1#{64}
        2#{10}
        3#{1}
        4#{57}
        5#{9}
        6#{29}
        7#{39}
        8#{27}
        9#{24}
        10#{79}
        11#{101}
        12#{44}
        13#{52}
        14#{54}
        15#{13}
        16#{31}
        17#{77}
        18#{43}
        19#{78}
        20#{94}
        21#{55}
        22#{83}
        23#{47}
        24#{72}
        25#{91}
        26#{124}
        27#{92}
        28#{106}
        29#{53}
        30#{114}
        31#{22}
        32#{95}
        33#{118}
        34#{16}
        35#{66}
        36#{65}
        37#{90}
        38#{88}
        39#{104}
        40#{121}
        41#{73}
        42#{2}
        43#{30}
    }
    vertex compatibilities: {
        0@{}
        1@{3}
        2@{42}
        3@{}
        4@{}
        5@{}
        6@{}
        7@{}
        8@{}
        9@{5}
        10@{2}
        11@{}
        12@{}
        13@{15}
        14@{}
        15@{}
        16@{34}
        17@{}
        18@{}
        19@{}
        20@{}
        21@{}
        22@{31}
        23@{}
        24@{9}
        25@{}
        26@{}
        27@{8}
        28@{}
        29@{6}
        30@{43}
        31@{16}
        32@{}
        33@{}
        34@{}
        35@{}
        36@{}
        37@{}
        38@{}
        39@{7}
        40@{}
        41@{}
        42@{}
        43@{18}
        44@{12}
        45@{}
        46@{}
        47@{23}
        48@{}
        49@{}
        50@{}
        51@{}
        52@{13}
        53@{29}
        54@{14}
        55@{21}
        56@{}
        57@{4}
        58@{}
        59@{}
        60@{}
        61@{}
        62@{}
        63@{}
        64@{1}
        65@{36}
        66@{35}
        67@{}
        68@{}
        69@{}
        70@{}
        71@{}
        72@{24}
        73@{41}
        74@{}
        75@{}
        76@{}
        77@{17}
        78@{19}
        79@{10}
        80@{}
        81@{}
        82@{}
        83@{22}
        84@{}
        85@{}
        86@{}
        87@{}
        88@{38}
        89@{}
        90@{37}
        91@{25}
        92@{27}
        93@{}
        94@{20}
        95@{32}
        96@{}
        97@{}
        98@{}
        99@{}
        100@{}
        101@{11}
        102@{}
        103@{}
        104@{39}
        105@{}
        106@{28}
        107@{}
        108@{}
        109@{}
        110@{}
        111@{}
        112@{}
        113@{}
        114@{30}
        115@{}
        116@{}
        117@{}
        118@{33}
        119@{}
        120@{}
        121@{40}
        122@{}
        123@{}
        124@{26}
        125@{}
        126@{}
    }
]
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
Solving layer: 18
Computed optimal makespan:-1
Makespan optimal solution:
Mulirobot solution: (|moves| = 0, paralellism = -nan) [
]
Multirobot solution analysis: (
    total makespan           = 0
    total distance           = 0
    total trajectory         = 0
    average parallelism      = -nan
    average distance         = 0.000
    average trajectory       = 0.000
    parallelism distribution  = [ ]
    distance distribution     = [ 42 ]
    trajectory distribution   = [ ]
)
Phase statistics (current phase = 'root_phase') [
        Phase (name = 'root_phase') [
            Total SAT solver calls         = 17
            Satisfiable SAT solver calls   = 0
            Unsatisfiable SAT solver calls = 16
            Indeterminate SAT solver calls = 1
            Move executions                = 0
            Produced CNF variables         = 234005
            Produced CNF clauses           = 2867828
            Search steps                   = 0
            Wall clock TIME (seconds)      = 262.756
            CPU/machine TIME (seconds)     = 262.570
        ]
]
----------------------------------------------------------------