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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
10,6
9,8
12,8
10,9
13,9
11,10
14,10
7,3
11,7
15,11
13,12
14,13
15,14
Reading initial arrangement...
Reading goal arrangement...
Undirected graph: (|V|=16 |E|=24) [
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 10 }
Vertex: (id = 7) {6 3 11 }
Vertex: (id = 8) {4 9 12 }
Vertex: (id = 9) {5 8 10 13 }
Vertex: (id = 10) {6 9 11 14 }
Vertex: (id = 11) {10 7 15 }
Vertex: (id = 12) {8 13 }
Vertex: (id = 13) {9 12 14 }
Vertex: (id = 14) {10 13 15 }
Vertex: (id = 15) {11 14 }
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: 10 <-> 6
Edge 12: 9 <-> 8
Edge 13: 12 <-> 8
Edge 14: 10 <-> 9
Edge 15: 13 <-> 9
Edge 16: 11 <-> 10
Edge 17: 14 <-> 10
Edge 18: 7 <-> 3
Edge 19: 11 <-> 7
Edge 20: 15 <-> 11
Edge 21: 13 <-> 12
Edge 22: 14 <-> 13
Edge 23: 15 <-> 14
]
Robot arrangement: (|R| = 3, |V| = 16) [
robot locations: {1#4 2#15 3#12 }
vertex occupancy: {0#0 0#1 0#2 0#3 1#4 0#5 0#6 0#7 0#8 0#9 0#10 0#11 3#12 0#13 0#14 2#15 }
]
Robot arrangement: (|R| = -1, |V| = 0) [
robot locations: {}
vertex occupancy: {}
]
Robot goal: (|R| = 3, |V| = 16) [
robot goals: {
1#{0}
2#{2}
3#{11}
}
vertex compatibilities: {
0@{1}
1@{}
2@{2}
3@{}
4@{}
5@{}
6@{}
7@{}
8@{}
9@{}
10@{}
11@{3}
12@{}
13@{}
14@{}
15@{}
}
]
Open/close/exp size (steps): 1/0/1 (2)
Open/close/exp size (steps): 9/3/9 (5)
Open/close/exp size (steps): 1/0/1 (9)
Open/close/exp size (steps): 12/5/12 (14)
0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1
0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0
0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
Groups 1 and 2 collide.
Solution of group 1
Mulirobot solution: (|moves| = 4, paralellism = 1.000) [
Step 0: 1#15->11
Step 1: 1#11->10
Step 2: 1#10->6
Step 3: 1#6->2
]
Solution of group 2
Mulirobot solution: (|moves| = 4, paralellism = 1.000) [
Step 0: 1#12->8
Step 1: 1#8->9
Step 2: 1#9->10
Step 3: 1#10->11
]
Occupation table complementary for group 1
0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0
1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0
1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0
1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0
1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
** Open/close/exp size (steps): 3/1/3 (2)
** Open/close/exp size (steps): 9/4/9 (5)
Alternative solution of group 1
Mulirobot solution: (|moves| = 4, paralellism = 1.000) [
Step 0: 1#15->11
Step 1: 1#11->7
Step 2: 1#7->6
Step 3: 1#6->2
]
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1
0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0
0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
Collision between groups 1 and 2 resolved.
Computed optimal makespan:4
Makespan optimal solution:
Mulirobot solution: (|moves| = 9, paralellism = 2.250) [
Step 0: 1#4->0 2#15->11 3#12->8
Step 1: 2#11->7 3#8->9
Step 2: 2#7->6 3#9->10
Step 3: 2#6->2 3#10->11
]
Multirobot solution analysis: (
total makespan = 4
total distance = 5
total trajectory = 9
average parallelism = 2.250
average distance = 1.667
average trajectory = 3.000
parallelism distribution = [ 0 3 1 ]
distance distribution = [ 1 0 0 1 ]
trajectory distribution = [ 1 0 0 2 ]
)
Phase statistics (current phase = 'root_phase') [
Phase (name = 'root_phase') [
Total SAT solver calls = 0
Satisfiable SAT solver calls = 0
Unsatisfiable SAT solver calls = 0
Indeterminate SAT solver calls = 0
Move executions = 9
Produced CNF variables = 0
Produced CNF clauses = 0
Search steps = 0
Wall clock TIME (seconds) = 0.001
CPU/machine TIME (seconds) = 0.000
]
Sub-phases {
Phase (name = 'independent_solving') [
Total SAT solver calls = 0
Satisfiable SAT solver calls = 0
Unsatisfiable SAT solver calls = 0
Indeterminate SAT solver calls = 0
Move executions = 82
Produced CNF variables = 0
Produced CNF clauses = 0
Search steps = 0
Wall clock TIME (seconds) = 0.001
CPU/machine TIME (seconds) = 0.000
]
}
]
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