52 lines
5.4 KiB
Plaintext
52 lines
5.4 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-23.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: roverprob5142
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Parser: 12028 ground actions and 2601 state variables
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Invariants: 0 1 2 3 4 5 6 7 0.03 secs
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Goal: conjunctive
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Simplified: 7201 ground actions and 830 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 0.01 secs (max SCC size 20)
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Plan type: E-step
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Allocated 32 MB permanent (total 159 MB)
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Horizon 0: 830 variables
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0 UNSAT (0 decisions 0 conflicts)
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Horizon 5: 51865 variables
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Allocated 32 MB (total 351 MB)
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Horizon 10: 102900 variables
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Horizon 15: 153935 variables
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SAT (531 decisions 0 conflicts)
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PLAN FOUND: 15 steps
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STEP 0.0: calibrate(rover5,camera9,objective8,waypoint14) navigate(rover0,waypoint28,waypoint21) navigate(rover1,waypoint36,waypoint0) navigate(rover2,waypoint29,waypoint6) navigate(rover3,waypoint18,waypoint5) navigate(rover4,waypoint29,waypoint12) navigate(rover6,waypoint4,waypoint27) navigate(rover7,waypoint17,waypoint16)
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STEP 0.1: navigate(rover5,waypoint14,waypoint3)
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STEP 1.0: calibrate(rover1,camera6,objective9,waypoint0) calibrate(rover2,camera1,objective3,waypoint6) calibrate(rover2,camera2,objective3,waypoint6) calibrate(rover2,camera5,objective0,waypoint6) calibrate(rover2,camera8,objective4,waypoint6) navigate(rover4,waypoint12,waypoint9) navigate(rover6,waypoint27,waypoint15) navigate(rover7,waypoint16,waypoint26) sample_soil(rover0,rover0store,waypoint21) sample_soil(rover3,rover3store,waypoint5) take_image(rover5,waypoint3,objective5,camera9,colour)
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STEP 1.1: navigate(rover0,waypoint21,waypoint22) navigate(rover1,waypoint0,waypoint27) navigate(rover2,waypoint6,waypoint5) navigate(rover5,waypoint3,waypoint34)
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STEP 2.0: communicate_soil_data(rover0,general,waypoint21,waypoint22,waypoint35) communicate_soil_data(rover3,general,waypoint5,waypoint5,waypoint35) drop(rover0,rover0store) sample_rock(rover6,rover6store,waypoint15) sample_soil(rover1,rover1store,waypoint27) sample_soil(rover4,rover4store,waypoint9) sample_soil(rover5,rover5store,waypoint34) sample_soil(rover7,rover7store,waypoint26) take_image(rover2,waypoint5,objective0,camera1,low_res) take_image(rover2,waypoint5,objective2,camera8,high_res) take_image(rover2,waypoint5,objective6,camera2,low_res) take_image(rover2,waypoint5,objective8,camera5,high_res)
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STEP 2.1: navigate(rover1,waypoint27,waypoint22) navigate(rover2,waypoint5,waypoint6) navigate(rover4,waypoint9,waypoint12) navigate(rover5,waypoint34,waypoint3) navigate(rover6,waypoint15,waypoint27) navigate(rover7,waypoint26,waypoint16)
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STEP 3.0: communicate_image_data(rover2,general,objective0,low_res,waypoint6,waypoint35) communicate_image_data(rover2,general,objective2,high_res,waypoint6,waypoint35) communicate_image_data(rover2,general,objective6,low_res,waypoint6,waypoint35) communicate_image_data(rover2,general,objective8,high_res,waypoint6,waypoint35) communicate_rock_data(rover6,general,waypoint15,waypoint27,waypoint35) communicate_soil_data(rover1,general,waypoint27,waypoint22,waypoint35) communicate_soil_data(rover7,general,waypoint26,waypoint16,waypoint35) drop(rover1,rover1store) drop(rover5,rover5store) drop(rover6,rover6store) drop(rover7,rover7store) navigate(rover4,waypoint12,waypoint27) navigate(rover5,waypoint3,waypoint31) sample_soil(rover0,rover0store,waypoint22) take_image(rover1,waypoint22,objective0,camera6,colour)
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STEP 3.1: navigate(rover1,waypoint22,waypoint27) navigate(rover7,waypoint16,waypoint26)
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STEP 4.0: communicate_image_data(rover1,general,objective0,colour,waypoint27,waypoint35) communicate_image_data(rover5,general,objective5,colour,waypoint31,waypoint35) communicate_soil_data(rover0,general,waypoint22,waypoint22,waypoint35) communicate_soil_data(rover4,general,waypoint9,waypoint27,waypoint35) communicate_soil_data(rover5,general,waypoint34,waypoint31,waypoint35) navigate(rover7,waypoint26,waypoint9) sample_rock(rover6,rover6store,waypoint27)
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STEP 4.1: navigate(rover1,waypoint27,waypoint2) navigate(rover5,waypoint31,waypoint3)
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STEP 5.0: communicate_rock_data(rover6,general,waypoint27,waypoint27,waypoint35) drop(rover6,rover6store) navigate(rover5,waypoint3,waypoint14) sample_rock(rover1,rover1store,waypoint2) sample_rock(rover7,rover7store,waypoint9)
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STEP 5.1: navigate(rover6,waypoint27,waypoint4) navigate(rover7,waypoint9,waypoint26)
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STEP 6: communicate_rock_data(rover1,general,waypoint2,waypoint2,waypoint35) navigate(rover5,waypoint14,waypoint1) navigate(rover6,waypoint4,waypoint8) navigate(rover7,waypoint26,waypoint16)
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STEP 7: communicate_rock_data(rover7,general,waypoint9,waypoint16,waypoint35) navigate(rover5,waypoint1,waypoint20) navigate(rover6,waypoint8,waypoint18)
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STEP 8.0: sample_rock(rover5,rover5store,waypoint20) sample_rock(rover6,rover6store,waypoint18)
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STEP 8.1: navigate(rover5,waypoint20,waypoint1) navigate(rover6,waypoint18,waypoint6)
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STEP 9: communicate_rock_data(rover6,general,waypoint18,waypoint6,waypoint35) navigate(rover5,waypoint1,waypoint14)
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STEP 10: navigate(rover5,waypoint14,waypoint37)
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STEP 11: communicate_rock_data(rover5,general,waypoint20,waypoint37,waypoint35)
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90 actions in the plan.
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total time 2.77 preprocess 2.52
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total size 623.000 MB
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max. learned clause length 377
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t val conflicts decisions
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0 0 0 0
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5 -1 181 435
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10 -1 121 1017
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15 1 0 531
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