59 lines
7.6 KiB
Plaintext
59 lines
7.6 KiB
Plaintext
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-31.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: roverprob2006
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Parser: 17627 ground actions and 4599 state variables
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Invariants: 0 1 2 3 4 5 6 7 8 0.05 secs
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Goal: conjunctive
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Simplified: 9059 ground actions and 1255 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 0.03 secs (max SCC size 24)
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Plan type: E-step
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Allocated 32 MB permanent (total 176 MB)
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Horizon 0: 1255 variables
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0 UNSAT (0 decisions 0 conflicts)
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Horizon 5: 66765 variables
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Allocated 32 MB (total 369 MB)
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Horizon 10: 132275 variables
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Horizon 15: 197785 variables
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SAT (556 decisions 0 conflicts)
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PLAN FOUND: 15 steps
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STEP 0.0: calibrate(rover0,camera10,objective3,waypoint15) calibrate(rover2,camera4,objective1,waypoint2) calibrate(rover2,camera8,objective0,waypoint2) calibrate(rover6,camera9,objective5,waypoint34) navigate(rover1,waypoint24,waypoint53) navigate(rover10,waypoint4,waypoint0) navigate(rover3,waypoint33,waypoint14) navigate(rover4,waypoint40,waypoint41) navigate(rover5,waypoint45,waypoint24) navigate(rover7,waypoint27,waypoint35) navigate(rover9,waypoint4,waypoint21) sample_rock(rover11,rover11store,waypoint41) sample_soil(rover8,rover8store,waypoint9)
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STEP 0.1: navigate(rover0,waypoint15,waypoint9) navigate(rover11,waypoint41,waypoint7) navigate(rover2,waypoint2,waypoint42) navigate(rover6,waypoint34,waypoint21) navigate(rover8,waypoint9,waypoint41)
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STEP 1.0: calibrate(rover3,camera6,objective0,waypoint14) drop(rover11,rover11store) drop(rover8,rover8store) navigate(rover1,waypoint53,waypoint48) navigate(rover10,waypoint0,waypoint10) navigate(rover11,waypoint7,waypoint26) navigate(rover4,waypoint41,waypoint30) navigate(rover5,waypoint24,waypoint19) navigate(rover8,waypoint41,waypoint54) navigate(rover9,waypoint21,waypoint7) sample_rock(rover2,rover2store,waypoint42) sample_rock(rover7,rover7store,waypoint35) take_image(rover0,waypoint9,objective7,camera10,low_res) take_image(rover6,waypoint21,objective2,camera9,high_res)
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STEP 1.1: navigate(rover0,waypoint9,waypoint15) navigate(rover2,waypoint42,waypoint2) navigate(rover3,waypoint14,waypoint21) navigate(rover6,waypoint21,waypoint54) navigate(rover7,waypoint35,waypoint27)
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STEP 2.0: communicate_image_data(rover6,general,objective2,high_res,waypoint54,waypoint48) communicate_rock_data(rover2,general,waypoint42,waypoint2,waypoint48) communicate_soil_data(rover8,general,waypoint9,waypoint54,waypoint48) navigate(rover0,waypoint15,waypoint2) navigate(rover10,waypoint10,waypoint18) navigate(rover7,waypoint27,waypoint52) sample_rock(rover11,rover11store,waypoint26) sample_rock(rover5,rover5store,waypoint19) sample_rock(rover6,rover6store,waypoint54) sample_soil(rover1,rover1store,waypoint48) sample_soil(rover4,rover4store,waypoint30) sample_soil(rover9,rover9store,waypoint7) take_image(rover2,waypoint2,objective1,camera4,colour) take_image(rover2,waypoint2,objective3,camera8,low_res) take_image(rover3,waypoint21,objective2,camera6,colour)
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STEP 2.1: navigate(rover1,waypoint48,waypoint53) navigate(rover11,waypoint26,waypoint7) navigate(rover2,waypoint2,waypoint3) navigate(rover3,waypoint21,waypoint2) navigate(rover4,waypoint30,waypoint41) navigate(rover5,waypoint19,waypoint24) navigate(rover8,waypoint54,waypoint41) navigate(rover9,waypoint7,waypoint21)
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STEP 3.0: communicate_image_data(rover0,general,objective7,low_res,waypoint2,waypoint48) communicate_image_data(rover2,general,objective1,colour,waypoint3,waypoint48) communicate_image_data(rover2,general,objective3,low_res,waypoint3,waypoint48) communicate_image_data(rover3,general,objective2,colour,waypoint2,waypoint48) communicate_rock_data(rover6,general,waypoint54,waypoint54,waypoint48) communicate_soil_data(rover1,general,waypoint48,waypoint53,waypoint48) drop(rover1,rover1store) drop(rover4,rover4store) drop(rover9,rover9store) navigate(rover11,waypoint7,waypoint52) navigate(rover4,waypoint41,waypoint54) navigate(rover5,waypoint24,waypoint54) navigate(rover7,waypoint52,waypoint53) navigate(rover8,waypoint41,waypoint9) navigate(rover9,waypoint21,waypoint4) sample_rock(rover10,rover10store,waypoint18)
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STEP 3.1: navigate(rover1,waypoint53,waypoint24) navigate(rover10,waypoint18,waypoint10)
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STEP 4.0: communicate_rock_data(rover5,general,waypoint19,waypoint54,waypoint48) communicate_rock_data(rover7,general,waypoint35,waypoint53,waypoint48) communicate_soil_data(rover4,general,waypoint30,waypoint54,waypoint48) navigate(rover1,waypoint24,waypoint0) navigate(rover10,waypoint10,waypoint0) navigate(rover11,waypoint52,waypoint53) navigate(rover8,waypoint9,waypoint36) navigate(rover9,waypoint4,waypoint5)
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STEP 4.1: navigate(rover4,waypoint54,waypoint41)
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STEP 5: communicate_rock_data(rover11,general,waypoint26,waypoint53,waypoint48) communicate_rock_data(rover11,general,waypoint41,waypoint53,waypoint48) navigate(rover1,waypoint0,waypoint39) navigate(rover10,waypoint0,waypoint53) navigate(rover4,waypoint41,waypoint40) navigate(rover8,waypoint36,waypoint22) navigate(rover9,waypoint5,waypoint26)
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STEP 6.0: communicate_rock_data(rover10,general,waypoint18,waypoint53,waypoint48) navigate(rover4,waypoint40,waypoint1) sample_soil(rover1,rover1store,waypoint39) sample_soil(rover8,rover8store,waypoint22) sample_soil(rover9,rover9store,waypoint26)
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STEP 6.1: navigate(rover1,waypoint39,waypoint0) navigate(rover8,waypoint22,waypoint36) navigate(rover9,waypoint26,waypoint5)
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STEP 7.0: drop(rover1,rover1store) drop(rover8,rover8store) navigate(rover1,waypoint0,waypoint43) navigate(rover8,waypoint36,waypoint9) navigate(rover9,waypoint5,waypoint4) sample_soil(rover4,rover4store,waypoint1)
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STEP 7.1: navigate(rover4,waypoint1,waypoint23)
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STEP 8: drop(rover4,rover4store) navigate(rover1,waypoint43,waypoint20) navigate(rover4,waypoint23,waypoint33) navigate(rover8,waypoint9,waypoint47) navigate(rover9,waypoint4,waypoint21)
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STEP 9.0: communicate_soil_data(rover1,general,waypoint39,waypoint20,waypoint48) navigate(rover8,waypoint47,waypoint6) navigate(rover9,waypoint21,waypoint54) sample_soil(rover4,rover4store,waypoint33)
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STEP 9.1: navigate(rover1,waypoint20,waypoint43) navigate(rover4,waypoint33,waypoint23)
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STEP 10.0: communicate_soil_data(rover9,general,waypoint26,waypoint54,waypoint48) communicate_soil_data(rover9,general,waypoint7,waypoint54,waypoint48) drop(rover4,rover4store) navigate(rover1,waypoint43,waypoint0) navigate(rover4,waypoint23,waypoint1) sample_soil(rover8,rover8store,waypoint6)
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STEP 10.1: navigate(rover8,waypoint6,waypoint47)
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STEP 11: navigate(rover1,waypoint0,waypoint24) navigate(rover4,waypoint1,waypoint3) navigate(rover8,waypoint47,waypoint9)
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STEP 12.0: communicate_soil_data(rover4,general,waypoint1,waypoint3,waypoint48) communicate_soil_data(rover4,general,waypoint33,waypoint3,waypoint48) navigate(rover1,waypoint24,waypoint53) navigate(rover8,waypoint9,waypoint15)
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STEP 12.1: navigate(rover4,waypoint3,waypoint51)
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STEP 13.0: navigate(rover8,waypoint15,waypoint2) sample_soil(rover1,rover1store,waypoint53) sample_soil(rover4,rover4store,waypoint51)
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STEP 13.1: navigate(rover4,waypoint51,waypoint3)
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STEP 14: communicate_soil_data(rover1,general,waypoint53,waypoint53,waypoint48) communicate_soil_data(rover4,general,waypoint51,waypoint3,waypoint48) communicate_soil_data(rover8,general,waypoint22,waypoint2,waypoint48) communicate_soil_data(rover8,general,waypoint6,waypoint2,waypoint48)
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143 actions in the plan.
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total time 15.96 preprocess 15.55
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total size 663.000 MB
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max. learned clause length 314
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t val conflicts decisions
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0 0 0 0
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5 -1 180 285
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10 -1 121 369
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15 1 0 556
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