================================================================
reLOC 0.09-vegas : Multirobot Solution solver
(C) Copyright 2011-2013 Pavel Surynek
----------------------------------------------------------------
Reading graph...
1,0
12,0
2,1
3,2
13,2
4,3
14,3
5,4
15,4
6,5
16,5
7,6
17,6
8,7
18,7
9,8
19,8
10,9
20,9
11,10
21,10
23,12
14,13
25,13
15,14
26,14
16,15
27,15
17,16
28,16
18,17
29,17
19,18
30,18
20,19
31,19
21,20
32,20
22,21
33,21
24,23
35,23
25,24
36,24
26,25
37,25
27,26
38,26
28,27
29,28
39,28
30,29
31,30
40,30
32,31
41,31
33,32
34,33
42,33
36,35
44,35
37,36
45,36
38,37
46,37
47,38
49,39
41,40
51,40
52,41
43,42
54,42
45,44
56,44
46,45
57,45
47,46
58,46
48,47
59,47
49,48
60,48
50,49
61,49
51,50
62,50
52,51
63,51
53,52
64,52
54,53
65,53
55,54
66,54
57,56
68,56
58,57
69,57
59,58
70,58
60,59
71,59
61,60
72,60
62,61
73,61
63,62
74,62
64,63
75,63
65,64
76,64
66,65
77,65
67,66
69,68
79,68
70,69
80,69
71,70
72,71
81,71
73,72
82,72
74,73
83,73
75,74
76,75
84,75
77,76
85,76
80,79
88,79
82,81
90,81
83,82
91,82
92,83
85,84
93,84
94,85
87,86
96,86
97,88
90,89
99,89
91,90
100,90
92,91
101,92
94,93
103,93
95,94
104,94
96,95
105,95
106,96
98,97
108,97
99,98
109,98
100,99
110,99
111,100
102,101
113,101
103,102
114,102
104,103
115,103
105,104
116,104
106,105
117,105
107,106
118,106
109,108
120,108
110,109
121,109
111,110
122,110
112,111
123,111
113,112
114,113
124,113
115,114
125,114
116,115
126,115
117,116
127,116
118,117
128,117
119,118
129,118
22,11
34,22
43,34
55,43
67,55
78,67
87,78
119,107
130,119
121,120
122,121
123,122
125,124
126,125
127,126
128,127
129,128
130,129
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=131 |E|=215) [
    Vertex: (id = 0) {1 12 }
    Vertex: (id = 1) {0 2 }
    Vertex: (id = 2) {1 3 13 }
    Vertex: (id = 3) {2 4 14 }
    Vertex: (id = 4) {3 5 15 }
    Vertex: (id = 5) {4 6 16 }
    Vertex: (id = 6) {5 7 17 }
    Vertex: (id = 7) {6 8 18 }
    Vertex: (id = 8) {7 9 19 }
    Vertex: (id = 9) {8 10 20 }
    Vertex: (id = 10) {9 11 21 }
    Vertex: (id = 11) {10 22 }
    Vertex: (id = 12) {0 23 }
    Vertex: (id = 13) {2 14 25 }
    Vertex: (id = 14) {3 13 15 26 }
    Vertex: (id = 15) {4 14 16 27 }
    Vertex: (id = 16) {5 15 17 28 }
    Vertex: (id = 17) {6 16 18 29 }
    Vertex: (id = 18) {7 17 19 30 }
    Vertex: (id = 19) {8 18 20 31 }
    Vertex: (id = 20) {9 19 21 32 }
    Vertex: (id = 21) {10 20 22 33 }
    Vertex: (id = 22) {21 11 34 }
    Vertex: (id = 23) {12 24 35 }
    Vertex: (id = 24) {23 25 36 }
    Vertex: (id = 25) {13 24 26 37 }
    Vertex: (id = 26) {14 25 27 38 }
    Vertex: (id = 27) {15 26 28 }
    Vertex: (id = 28) {16 27 29 39 }
    Vertex: (id = 29) {17 28 30 }
    Vertex: (id = 30) {18 29 31 40 }
    Vertex: (id = 31) {19 30 32 41 }
    Vertex: (id = 32) {20 31 33 }
    Vertex: (id = 33) {21 32 34 42 }
    Vertex: (id = 34) {33 22 43 }
    Vertex: (id = 35) {23 36 44 }
    Vertex: (id = 36) {24 35 37 45 }
    Vertex: (id = 37) {25 36 38 46 }
    Vertex: (id = 38) {26 37 47 }
    Vertex: (id = 39) {28 49 }
    Vertex: (id = 40) {30 41 51 }
    Vertex: (id = 41) {31 40 52 }
    Vertex: (id = 42) {33 43 54 }
    Vertex: (id = 43) {42 34 55 }
    Vertex: (id = 44) {35 45 56 }
    Vertex: (id = 45) {36 44 46 57 }
    Vertex: (id = 46) {37 45 47 58 }
    Vertex: (id = 47) {38 46 48 59 }
    Vertex: (id = 48) {47 49 60 }
    Vertex: (id = 49) {39 48 50 61 }
    Vertex: (id = 50) {49 51 62 }
    Vertex: (id = 51) {40 50 52 63 }
    Vertex: (id = 52) {41 51 53 64 }
    Vertex: (id = 53) {52 54 65 }
    Vertex: (id = 54) {42 53 55 66 }
    Vertex: (id = 55) {54 43 67 }
    Vertex: (id = 56) {44 57 68 }
    Vertex: (id = 57) {45 56 58 69 }
    Vertex: (id = 58) {46 57 59 70 }
    Vertex: (id = 59) {47 58 60 71 }
    Vertex: (id = 60) {48 59 61 72 }
    Vertex: (id = 61) {49 60 62 73 }
    Vertex: (id = 62) {50 61 63 74 }
    Vertex: (id = 63) {51 62 64 75 }
    Vertex: (id = 64) {52 63 65 76 }
    Vertex: (id = 65) {53 64 66 77 }
    Vertex: (id = 66) {54 65 67 }
    Vertex: (id = 67) {66 55 78 }
    Vertex: (id = 68) {56 69 79 }
    Vertex: (id = 69) {57 68 70 80 }
    Vertex: (id = 70) {58 69 71 }
    Vertex: (id = 71) {59 70 72 81 }
    Vertex: (id = 72) {60 71 73 82 }
    Vertex: (id = 73) {61 72 74 83 }
    Vertex: (id = 74) {62 73 75 }
    Vertex: (id = 75) {63 74 76 84 }
    Vertex: (id = 76) {64 75 77 85 }
    Vertex: (id = 77) {65 76 }
    Vertex: (id = 78) {67 87 }
    Vertex: (id = 79) {68 80 88 }
    Vertex: (id = 80) {69 79 }
    Vertex: (id = 81) {71 82 90 }
    Vertex: (id = 82) {72 81 83 91 }
    Vertex: (id = 83) {73 82 92 }
    Vertex: (id = 84) {75 85 93 }
    Vertex: (id = 85) {76 84 94 }
    Vertex: (id = 86) {87 96 }
    Vertex: (id = 87) {86 78 }
    Vertex: (id = 88) {79 97 }
    Vertex: (id = 89) {90 99 }
    Vertex: (id = 90) {81 89 91 100 }
    Vertex: (id = 91) {82 90 92 }
    Vertex: (id = 92) {83 91 101 }
    Vertex: (id = 93) {84 94 103 }
    Vertex: (id = 94) {85 93 95 104 }
    Vertex: (id = 95) {94 96 105 }
    Vertex: (id = 96) {86 95 106 }
    Vertex: (id = 97) {88 98 108 }
    Vertex: (id = 98) {97 99 109 }
    Vertex: (id = 99) {89 98 100 110 }
    Vertex: (id = 100) {90 99 111 }
    Vertex: (id = 101) {92 102 113 }
    Vertex: (id = 102) {101 103 114 }
    Vertex: (id = 103) {93 102 104 115 }
    Vertex: (id = 104) {94 103 105 116 }
    Vertex: (id = 105) {95 104 106 117 }
    Vertex: (id = 106) {96 105 107 118 }
    Vertex: (id = 107) {106 119 }
    Vertex: (id = 108) {97 109 120 }
    Vertex: (id = 109) {98 108 110 121 }
    Vertex: (id = 110) {99 109 111 122 }
    Vertex: (id = 111) {100 110 112 123 }
    Vertex: (id = 112) {111 113 }
    Vertex: (id = 113) {101 112 114 124 }
    Vertex: (id = 114) {102 113 115 125 }
    Vertex: (id = 115) {103 114 116 126 }
    Vertex: (id = 116) {104 115 117 127 }
    Vertex: (id = 117) {105 116 118 128 }
    Vertex: (id = 118) {106 117 119 129 }
    Vertex: (id = 119) {118 107 130 }
    Vertex: (id = 120) {108 121 }
    Vertex: (id = 121) {109 120 122 }
    Vertex: (id = 122) {110 121 123 }
    Vertex: (id = 123) {111 122 }
    Vertex: (id = 124) {113 125 }
    Vertex: (id = 125) {114 124 126 }
    Vertex: (id = 126) {115 125 127 }
    Vertex: (id = 127) {116 126 128 }
    Vertex: (id = 128) {117 127 129 }
    Vertex: (id = 129) {118 128 130 }
    Vertex: (id = 130) {119 129 }
    Edge  0: 1 <-> 0
    Edge  1: 12 <-> 0
    Edge  2: 2 <-> 1
    Edge  3: 3 <-> 2
    Edge  4: 13 <-> 2
    Edge  5: 4 <-> 3
    Edge  6: 14 <-> 3
    Edge  7: 5 <-> 4
    Edge  8: 15 <-> 4
    Edge  9: 6 <-> 5
    Edge  10: 16 <-> 5
    Edge  11: 7 <-> 6
    Edge  12: 17 <-> 6
    Edge  13: 8 <-> 7
    Edge  14: 18 <-> 7
    Edge  15: 9 <-> 8
    Edge  16: 19 <-> 8
    Edge  17: 10 <-> 9
    Edge  18: 20 <-> 9
    Edge  19: 11 <-> 10
    Edge  20: 21 <-> 10
    Edge  21: 23 <-> 12
    Edge  22: 14 <-> 13
    Edge  23: 25 <-> 13
    Edge  24: 15 <-> 14
    Edge  25: 26 <-> 14
    Edge  26: 16 <-> 15
    Edge  27: 27 <-> 15
    Edge  28: 17 <-> 16
    Edge  29: 28 <-> 16
    Edge  30: 18 <-> 17
    Edge  31: 29 <-> 17
    Edge  32: 19 <-> 18
    Edge  33: 30 <-> 18
    Edge  34: 20 <-> 19
    Edge  35: 31 <-> 19
    Edge  36: 21 <-> 20
    Edge  37: 32 <-> 20
    Edge  38: 22 <-> 21
    Edge  39: 33 <-> 21
    Edge  40: 24 <-> 23
    Edge  41: 35 <-> 23
    Edge  42: 25 <-> 24
    Edge  43: 36 <-> 24
    Edge  44: 26 <-> 25
    Edge  45: 37 <-> 25
    Edge  46: 27 <-> 26
    Edge  47: 38 <-> 26
    Edge  48: 28 <-> 27
    Edge  49: 29 <-> 28
    Edge  50: 39 <-> 28
    Edge  51: 30 <-> 29
    Edge  52: 31 <-> 30
    Edge  53: 40 <-> 30
    Edge  54: 32 <-> 31
    Edge  55: 41 <-> 31
    Edge  56: 33 <-> 32
    Edge  57: 34 <-> 33
    Edge  58: 42 <-> 33
    Edge  59: 36 <-> 35
    Edge  60: 44 <-> 35
    Edge  61: 37 <-> 36
    Edge  62: 45 <-> 36
    Edge  63: 38 <-> 37
    Edge  64: 46 <-> 37
    Edge  65: 47 <-> 38
    Edge  66: 49 <-> 39
    Edge  67: 41 <-> 40
    Edge  68: 51 <-> 40
    Edge  69: 52 <-> 41
    Edge  70: 43 <-> 42
    Edge  71: 54 <-> 42
    Edge  72: 45 <-> 44
    Edge  73: 56 <-> 44
    Edge  74: 46 <-> 45
    Edge  75: 57 <-> 45
    Edge  76: 47 <-> 46
    Edge  77: 58 <-> 46
    Edge  78: 48 <-> 47
    Edge  79: 59 <-> 47
    Edge  80: 49 <-> 48
    Edge  81: 60 <-> 48
    Edge  82: 50 <-> 49
    Edge  83: 61 <-> 49
    Edge  84: 51 <-> 50
    Edge  85: 62 <-> 50
    Edge  86: 52 <-> 51
    Edge  87: 63 <-> 51
    Edge  88: 53 <-> 52
    Edge  89: 64 <-> 52
    Edge  90: 54 <-> 53
    Edge  91: 65 <-> 53
    Edge  92: 55 <-> 54
    Edge  93: 66 <-> 54
    Edge  94: 57 <-> 56
    Edge  95: 68 <-> 56
    Edge  96: 58 <-> 57
    Edge  97: 69 <-> 57
    Edge  98: 59 <-> 58
    Edge  99: 70 <-> 58
    Edge  100: 60 <-> 59
    Edge  101: 71 <-> 59
    Edge  102: 61 <-> 60
    Edge  103: 72 <-> 60
    Edge  104: 62 <-> 61
    Edge  105: 73 <-> 61
    Edge  106: 63 <-> 62
    Edge  107: 74 <-> 62
    Edge  108: 64 <-> 63
    Edge  109: 75 <-> 63
    Edge  110: 65 <-> 64
    Edge  111: 76 <-> 64
    Edge  112: 66 <-> 65
    Edge  113: 77 <-> 65
    Edge  114: 67 <-> 66
    Edge  115: 69 <-> 68
    Edge  116: 79 <-> 68
    Edge  117: 70 <-> 69
    Edge  118: 80 <-> 69
    Edge  119: 71 <-> 70
    Edge  120: 72 <-> 71
    Edge  121: 81 <-> 71
    Edge  122: 73 <-> 72
    Edge  123: 82 <-> 72
    Edge  124: 74 <-> 73
    Edge  125: 83 <-> 73
    Edge  126: 75 <-> 74
    Edge  127: 76 <-> 75
    Edge  128: 84 <-> 75
    Edge  129: 77 <-> 76
    Edge  130: 85 <-> 76
    Edge  131: 80 <-> 79
    Edge  132: 88 <-> 79
    Edge  133: 82 <-> 81
    Edge  134: 90 <-> 81
    Edge  135: 83 <-> 82
    Edge  136: 91 <-> 82
    Edge  137: 92 <-> 83
    Edge  138: 85 <-> 84
    Edge  139: 93 <-> 84
    Edge  140: 94 <-> 85
    Edge  141: 87 <-> 86
    Edge  142: 96 <-> 86
    Edge  143: 97 <-> 88
    Edge  144: 90 <-> 89
    Edge  145: 99 <-> 89
    Edge  146: 91 <-> 90
    Edge  147: 100 <-> 90
    Edge  148: 92 <-> 91
    Edge  149: 101 <-> 92
    Edge  150: 94 <-> 93
    Edge  151: 103 <-> 93
    Edge  152: 95 <-> 94
    Edge  153: 104 <-> 94
    Edge  154: 96 <-> 95
    Edge  155: 105 <-> 95
    Edge  156: 106 <-> 96
    Edge  157: 98 <-> 97
    Edge  158: 108 <-> 97
    Edge  159: 99 <-> 98
    Edge  160: 109 <-> 98
    Edge  161: 100 <-> 99
    Edge  162: 110 <-> 99
    Edge  163: 111 <-> 100
    Edge  164: 102 <-> 101
    Edge  165: 113 <-> 101
    Edge  166: 103 <-> 102
    Edge  167: 114 <-> 102
    Edge  168: 104 <-> 103
    Edge  169: 115 <-> 103
    Edge  170: 105 <-> 104
    Edge  171: 116 <-> 104
    Edge  172: 106 <-> 105
    Edge  173: 117 <-> 105
    Edge  174: 107 <-> 106
    Edge  175: 118 <-> 106
    Edge  176: 109 <-> 108
    Edge  177: 120 <-> 108
    Edge  178: 110 <-> 109
    Edge  179: 121 <-> 109
    Edge  180: 111 <-> 110
    Edge  181: 122 <-> 110
    Edge  182: 112 <-> 111
    Edge  183: 123 <-> 111
    Edge  184: 113 <-> 112
    Edge  185: 114 <-> 113
    Edge  186: 124 <-> 113
    Edge  187: 115 <-> 114
    Edge  188: 125 <-> 114
    Edge  189: 116 <-> 115
    Edge  190: 126 <-> 115
    Edge  191: 117 <-> 116
    Edge  192: 127 <-> 116
    Edge  193: 118 <-> 117
    Edge  194: 128 <-> 117
    Edge  195: 119 <-> 118
    Edge  196: 129 <-> 118
    Edge  197: 22 <-> 11
    Edge  198: 34 <-> 22
    Edge  199: 43 <-> 34
    Edge  200: 55 <-> 43
    Edge  201: 67 <-> 55
    Edge  202: 78 <-> 67
    Edge  203: 87 <-> 78
    Edge  204: 119 <-> 107
    Edge  205: 130 <-> 119
    Edge  206: 121 <-> 120
    Edge  207: 122 <-> 121
    Edge  208: 123 <-> 122
    Edge  209: 125 <-> 124
    Edge  210: 126 <-> 125
    Edge  211: 127 <-> 126
    Edge  212: 128 <-> 127
    Edge  213: 129 <-> 128
    Edge  214: 130 <-> 129
]
Robot arrangement: (|R| = 72, |V| = 131) [
     robot locations: {1#103 2#27 3#67 4#113 5#23 6#42 7#11 8#80 9#30 10#47 11#107 12#106 13#44 14#102 15#53 16#96 17#17 18#5 19#16 20#110 21#41 22#111 23#9 24#55 25#94 26#68 27#56 28#51 29#35 30#112 31#22 32#18 33#124 34#78 35#65 36#2 37#28 38#66 39#48 40#84 41#24 42#36 43#69 44#130 45#50 46#29 47#62 48#93 49#83 50#54 51#97 52#81 53#121 54#10 55#49 56#14 57#88 58#123 59#58 60#82 61#90 62#21 63#85 64#116 65#70 66#77 67#129 68#7 69#26 70#115 71#37 72#31 }
     vertex occupancy: {0#0 0#1 36#2 0#3 0#4 18#5 0#6 68#7 0#8 23#9 54#10 7#11 0#12 0#13 56#14 0#15 19#16 17#17 32#18 0#19 0#20 62#21 31#22 5#23 41#24 0#25 69#26 2#27 37#28 46#29 9#30 72#31 0#32 0#33 0#34 29#35 42#36 71#37 0#38 0#39 0#40 21#41 6#42 0#43 13#44 0#45 0#46 10#47 39#48 55#49 45#50 28#51 0#52 15#53 50#54 24#55 27#56 0#57 59#58 0#59 0#60 0#61 47#62 0#63 0#64 35#65 38#66 3#67 26#68 43#69 65#70 0#71 0#72 0#73 0#74 0#75 0#76 66#77 34#78 0#79 8#80 52#81 60#82 49#83 40#84 63#85 0#86 0#87 57#88 0#89 61#90 0#91 0#92 48#93 25#94 0#95 16#96 51#97 0#98 0#99 0#100 0#101 14#102 1#103 0#104 0#105 12#106 11#107 0#108 0#109 20#110 22#111 30#112 4#113 0#114 70#115 64#116 0#117 0#118 0#119 0#120 53#121 0#122 58#123 33#124 0#125 0#126 0#127 0#128 67#129 44#130 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
     robot locations: {}
     vertex occupancy: {}
]
Robot goal: (|R| = 72, |V| = 131) [
    robot goals: {
        1#{59}
        2#{42}
        3#{116}
        4#{52}
        5#{63}
        6#{89}
        7#{103}
        8#{106}
        9#{19}
        10#{101}
        11#{29}
        12#{35}
        13#{64}
        14#{20}
        15#{75}
        16#{11}
        17#{5}
        18#{72}
        19#{95}
        20#{9}
        21#{130}
        22#{60}
        23#{44}
        24#{96}
        25#{70}
        26#{73}
        27#{14}
        28#{91}
        29#{83}
        30#{120}
        31#{49}
        32#{22}
        33#{82}
        34#{56}
        35#{98}
        36#{3}
        37#{2}
        38#{10}
        39#{104}
        40#{25}
        41#{114}
        42#{41}
        43#{8}
        44#{93}
        45#{12}
        46#{118}
        47#{31}
        48#{65}
        49#{107}
        50#{85}
        51#{113}
        52#{37}
        53#{21}
        54#{119}
        55#{87}
        56#{99}
        57#{16}
        58#{58}
        59#{108}
        60#{53}
        61#{110}
        62#{123}
        63#{126}
        64#{97}
        65#{77}
        66#{50}
        67#{23}
        68#{90}
        69#{112}
        70#{34}
        71#{80}
        72#{0}
    }
    vertex compatibilities: {
        0@{72}
        1@{}
        2@{37}
        3@{36}
        4@{}
        5@{17}
        6@{}
        7@{}
        8@{43}
        9@{20}
        10@{38}
        11@{16}
        12@{45}
        13@{}
        14@{27}
        15@{}
        16@{57}
        17@{}
        18@{}
        19@{9}
        20@{14}
        21@{53}
        22@{32}
        23@{67}
        24@{}
        25@{40}
        26@{}
        27@{}
        28@{}
        29@{11}
        30@{}
        31@{47}
        32@{}
        33@{}
        34@{70}
        35@{12}
        36@{}
        37@{52}
        38@{}
        39@{}
        40@{}
        41@{42}
        42@{2}
        43@{}
        44@{23}
        45@{}
        46@{}
        47@{}
        48@{}
        49@{31}
        50@{66}
        51@{}
        52@{4}
        53@{60}
        54@{}
        55@{}
        56@{34}
        57@{}
        58@{58}
        59@{1}
        60@{22}
        61@{}
        62@{}
        63@{5}
        64@{13}
        65@{48}
        66@{}
        67@{}
        68@{}
        69@{}
        70@{25}
        71@{}
        72@{18}
        73@{26}
        74@{}
        75@{15}
        76@{}
        77@{65}
        78@{}
        79@{}
        80@{71}
        81@{}
        82@{33}
        83@{29}
        84@{}
        85@{50}
        86@{}
        87@{55}
        88@{}
        89@{6}
        90@{68}
        91@{28}
        92@{}
        93@{44}
        94@{}
        95@{19}
        96@{24}
        97@{64}
        98@{35}
        99@{56}
        100@{}
        101@{10}
        102@{}
        103@{7}
        104@{39}
        105@{}
        106@{8}
        107@{49}
        108@{59}
        109@{}
        110@{61}
        111@{}
        112@{69}
        113@{51}
        114@{41}
        115@{}
        116@{3}
        117@{}
        118@{46}
        119@{54}
        120@{30}
        121@{}
        122@{}
        123@{62}
        124@{}
        125@{}
        126@{63}
        127@{}
        128@{}
        129@{}
        130@{21}
    }
]
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
Solving layer: 19
Solving layer: 20
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     = [ 71 ]
    trajectory distribution   = [ ]
)
Phase statistics (current phase = 'root_phase') [
        Phase (name = 'root_phase') [
            Total SAT solver calls         = 19
            Satisfiable SAT solver calls   = 0
            Unsatisfiable SAT solver calls = 18
            Indeterminate SAT solver calls = 1
            Move executions                = 0
            Produced CNF variables         = 327085
            Produced CNF clauses           = 5499517
            Search steps                   = 0
            Wall clock TIME (seconds)      = 272.120
            CPU/machine TIME (seconds)     = 271.940
        ]
]
----------------------------------------------------------------