51 lines
5.7 KiB
Plaintext
51 lines
5.7 KiB
Plaintext
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Madagascar 0.99999 25/02/2015 09:46:27 amd64 1-core (no VSIDS)
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Options: file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2006/domains/rovers-propositional/domain.pddl file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2006/domains/rovers-propositional/instances/instance-27.pddlignoring --stats
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ignoring --verbose
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-m 8192
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Domain: rover
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Problem: roverprob7652
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Parser: 8347 ground actions and 2654 state variables
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Invariants: 0 1 2 3 4 5 6 7 0.02 secs
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Goal: conjunctive
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Simplified: 4972 ground actions and 780 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 0.00 secs (max SCC size 24)
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Plan type: E-step
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Allocated 32 MB permanent (total 148 MB)
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Horizon 0: 780 variables
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0 UNSAT (0 decisions 0 conflicts)
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Horizon 5: 38800 variables
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Allocated 32 MB (total 338 MB)
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Horizon 10: 76820 variables
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Horizon 15: 114840 variables
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SAT (610 decisions 0 conflicts)
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PLAN FOUND: 15 steps
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STEP 0.0: calibrate(rover3,camera7,objective3,waypoint17) calibrate(rover7,camera8,objective1,waypoint6) navigate(rover0,waypoint22,waypoint33) navigate(rover1,waypoint19,waypoint20) navigate(rover4,waypoint23,waypoint0) navigate(rover5,waypoint20,waypoint24) navigate(rover6,waypoint9,waypoint25) navigate(rover9,waypoint20,waypoint1) sample_rock(rover8,rover8store,waypoint29) sample_soil(rover2,rover2store,waypoint32)
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STEP 0.1: navigate(rover2,waypoint32,waypoint6) navigate(rover3,waypoint17,waypoint2) navigate(rover7,waypoint6,waypoint14) navigate(rover8,waypoint29,waypoint3)
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STEP 1.0: calibrate(rover4,camera12,objective0,waypoint0) calibrate(rover9,camera2,objective2,waypoint1) drop(rover2,rover2store) drop(rover8,rover8store) navigate(rover0,waypoint33,waypoint3) navigate(rover1,waypoint20,waypoint32) navigate(rover2,waypoint6,waypoint0) navigate(rover5,waypoint24,waypoint4) navigate(rover8,waypoint3,waypoint10) sample_soil(rover6,rover6store,waypoint25) sample_soil(rover7,rover7store,waypoint14) take_image(rover3,waypoint2,objective0,camera7,high_res)
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STEP 1.1: navigate(rover3,waypoint2,waypoint24) navigate(rover4,waypoint0,waypoint21) navigate(rover6,waypoint25,waypoint13) navigate(rover7,waypoint14,waypoint6) navigate(rover9,waypoint1,waypoint13)
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STEP 2.0: communicate_soil_data(rover2,general,waypoint32,waypoint0,waypoint6) drop(rover7,rover7store) navigate(rover3,waypoint24,waypoint8) navigate(rover6,waypoint13,waypoint29) sample_rock(rover1,rover1store,waypoint32) sample_rock(rover5,rover5store,waypoint4) sample_rock(rover8,rover8store,waypoint10) sample_soil(rover0,rover0store,waypoint3) sample_soil(rover2,rover2store,waypoint0) sample_soil(rover4,rover4store,waypoint21) take_image(rover7,waypoint6,objective5,camera8,colour) take_image(rover9,waypoint13,objective7,camera2,colour)
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STEP 2.1: navigate(rover0,waypoint3,waypoint33) navigate(rover4,waypoint21,waypoint0) navigate(rover5,waypoint4,waypoint24) navigate(rover7,waypoint6,waypoint4) navigate(rover8,waypoint10,waypoint3) navigate(rover9,waypoint13,waypoint29)
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STEP 3.0: communicate_image_data(rover7,general,objective5,colour,waypoint4,waypoint6) communicate_image_data(rover9,general,objective7,colour,waypoint29,waypoint6) communicate_rock_data(rover1,general,waypoint32,waypoint32,waypoint6) communicate_soil_data(rover2,general,waypoint0,waypoint0,waypoint6) communicate_soil_data(rover4,general,waypoint21,waypoint0,waypoint6) communicate_soil_data(rover6,general,waypoint25,waypoint29,waypoint6) communicate_soil_data(rover7,general,waypoint14,waypoint4,waypoint6) drop(rover1,rover1store) drop(rover5,rover5store) drop(rover8,rover8store) navigate(rover0,waypoint33,waypoint22) navigate(rover5,waypoint24,waypoint11) navigate(rover8,waypoint3,waypoint28) sample_soil(rover3,rover3store,waypoint8) take_image(rover4,waypoint0,objective5,camera12,high_res)
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STEP 3.1: navigate(rover1,waypoint32,waypoint20) navigate(rover3,waypoint8,waypoint24) navigate(rover7,waypoint4,waypoint10)
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STEP 4.0: communicate_image_data(rover4,general,objective5,high_res,waypoint0,waypoint6) navigate(rover0,waypoint22,waypoint13) navigate(rover1,waypoint20,waypoint19) navigate(rover3,waypoint24,waypoint4) sample_rock(rover5,rover5store,waypoint11) sample_rock(rover8,rover8store,waypoint28) sample_soil(rover7,rover7store,waypoint10)
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STEP 4.1: navigate(rover5,waypoint11,waypoint24) navigate(rover7,waypoint10,waypoint4) navigate(rover8,waypoint28,waypoint3)
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STEP 5: communicate_image_data(rover3,general,objective0,high_res,waypoint4,waypoint6) communicate_soil_data(rover3,general,waypoint8,waypoint4,waypoint6) communicate_soil_data(rover7,general,waypoint10,waypoint4,waypoint6) drop(rover8,rover8store) navigate(rover0,waypoint13,waypoint32) navigate(rover1,waypoint19,waypoint33) navigate(rover5,waypoint24,waypoint4) navigate(rover8,waypoint3,waypoint29)
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STEP 6.0: communicate_rock_data(rover5,general,waypoint11,waypoint4,waypoint6) communicate_rock_data(rover5,general,waypoint4,waypoint4,waypoint6) communicate_rock_data(rover8,general,waypoint10,waypoint29,waypoint6) communicate_rock_data(rover8,general,waypoint28,waypoint29,waypoint6) communicate_rock_data(rover8,general,waypoint29,waypoint29,waypoint6) communicate_soil_data(rover0,general,waypoint3,waypoint32,waypoint6) navigate(rover1,waypoint33,waypoint9)
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STEP 6.1: navigate(rover8,waypoint29,waypoint26)
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STEP 7.0: sample_rock(rover1,rover1store,waypoint9) sample_rock(rover8,rover8store,waypoint26)
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STEP 7.1: navigate(rover1,waypoint9,waypoint33) navigate(rover8,waypoint26,waypoint29)
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STEP 8: communicate_rock_data(rover8,general,waypoint26,waypoint29,waypoint6) navigate(rover1,waypoint33,waypoint19)
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STEP 9: navigate(rover1,waypoint19,waypoint14)
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STEP 10: communicate_rock_data(rover1,general,waypoint9,waypoint14,waypoint6)
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101 actions in the plan.
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total time 2.22 preprocess 2.06
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total size 597.000 MB
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max. learned clause length 181
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t val conflicts decisions
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0 0 0 0
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5 -1 180 585
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10 -1 120 454
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15 1 0 610
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