73 lines
14 KiB
Plaintext
73 lines
14 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-33.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: 26381 ground actions and 5507 state variables
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Invariants: 0 1 2 3 4 5 6 7 8 0.09 secs
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Goal: conjunctive
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Simplified: 14447 ground actions and 1580 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 0.07 secs (max SCC size 27)
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Plan type: E-step
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Allocated 32 MB permanent (total 212 MB)
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Horizon 0: 1580 variables
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0 UNSAT (0 decisions 0 conflicts)
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Horizon 5: 106125 variables
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Allocated 32 MB (total 411 MB)
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5 UNSAT (123 decisions 59 conflicts)
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Horizon 10: 210670 variables
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Horizon 15: 315215 variables
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Horizon 20: 419760 variables
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SAT (936 decisions 5 conflicts)
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PLAN FOUND: 20 steps
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STEP 0.0: calibrate(rover1,camera1,objective6,waypoint31) calibrate(rover3,camera5,objective2,waypoint63) calibrate(rover6,camera10,objective6,waypoint37) calibrate(rover7,camera6,objective3,waypoint35) navigate(rover0,waypoint19,waypoint38) navigate(rover10,waypoint52,waypoint30) navigate(rover11,waypoint55,waypoint50) navigate(rover2,waypoint26,waypoint21) navigate(rover5,waypoint53,waypoint19) navigate(rover9,waypoint30,waypoint42) sample_rock(rover4,rover4store,waypoint40) sample_rock(rover8,rover8store,waypoint21)
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STEP 0.1: navigate(rover1,waypoint31,waypoint6) navigate(rover3,waypoint63,waypoint6) navigate(rover4,waypoint40,waypoint1) navigate(rover7,waypoint35,waypoint43) navigate(rover8,waypoint21,waypoint44)
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STEP 1.0: calibrate(rover3,camera3,objective7,waypoint6) drop(rover4,rover4store) drop(rover8,rover8store) navigate(rover10,waypoint30,waypoint45) navigate(rover2,waypoint21,waypoint54) navigate(rover4,waypoint1,waypoint12) navigate(rover7,waypoint43,waypoint11) navigate(rover8,waypoint44,waypoint1) navigate(rover9,waypoint42,waypoint30) sample_rock(rover0,rover0store,waypoint38) sample_soil(rover1,rover1store,waypoint6) sample_soil(rover11,rover11store,waypoint50) sample_soil(rover5,rover5store,waypoint19) take_image(rover1,waypoint6,objective6,camera1,high_res) take_image(rover3,waypoint6,objective3,camera5,colour) take_image(rover6,waypoint37,objective4,camera10,colour)
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STEP 1.1: navigate(rover0,waypoint38,waypoint19) navigate(rover1,waypoint6,waypoint60) navigate(rover11,waypoint50,waypoint55) navigate(rover3,waypoint6,waypoint30) navigate(rover5,waypoint19,waypoint53) navigate(rover6,waypoint37,waypoint18)
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STEP 2.0: calibrate(rover6,camera10,objective6,waypoint18) calibrate(rover8,camera11,objective7,waypoint1) drop(rover0,rover0store) drop(rover1,rover1store) drop(rover11,rover11store) drop(rover5,rover5store) navigate(rover0,waypoint19,waypoint7) navigate(rover1,waypoint60,waypoint62) navigate(rover11,waypoint55,waypoint48) navigate(rover4,waypoint12,waypoint46) navigate(rover5,waypoint53,waypoint18) navigate(rover9,waypoint30,waypoint52) sample_rock(rover2,rover2store,waypoint54) sample_rock(rover7,rover7store,waypoint11) sample_soil(rover10,rover10store,waypoint45) sample_soil(rover8,rover8store,waypoint1) take_image(rover3,waypoint30,objective4,camera3,colour) take_image(rover7,waypoint11,objective3,camera6,low_res)
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STEP 2.1: navigate(rover10,waypoint45,waypoint30) navigate(rover2,waypoint54,waypoint21) navigate(rover3,waypoint30,waypoint20) navigate(rover6,waypoint18,waypoint15) navigate(rover7,waypoint11,waypoint43) navigate(rover8,waypoint1,waypoint44)
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STEP 3.0: communicate_image_data(rover3,general,objective3,colour,waypoint20,waypoint63) communicate_image_data(rover3,general,objective4,colour,waypoint20,waypoint63) communicate_rock_data(rover2,general,waypoint54,waypoint21,waypoint63) communicate_soil_data(rover11,general,waypoint50,waypoint48,waypoint63) drop(rover10,rover10store) drop(rover2,rover2store) drop(rover7,rover7store) drop(rover8,rover8store) navigate(rover0,waypoint7,waypoint5) navigate(rover10,waypoint30,waypoint52) navigate(rover5,waypoint18,waypoint16) navigate(rover8,waypoint44,waypoint21) navigate(rover9,waypoint52,waypoint30) sample_rock(rover3,rover3store,waypoint20) sample_rock(rover4,rover4store,waypoint46) sample_soil(rover1,rover1store,waypoint62) take_image(rover6,waypoint15,objective1,camera10,colour)
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STEP 3.1: navigate(rover1,waypoint62,waypoint60) navigate(rover11,waypoint48,waypoint55) navigate(rover2,waypoint21,waypoint56) navigate(rover3,waypoint20,waypoint30) navigate(rover4,waypoint46,waypoint12) navigate(rover6,waypoint15,waypoint27)
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STEP 4.0: calibrate(rover6,camera10,objective6,waypoint27) communicate_image_data(rover6,general,objective1,colour,waypoint27,waypoint63) communicate_rock_data(rover8,general,waypoint21,waypoint21,waypoint63) communicate_soil_data(rover8,general,waypoint1,waypoint21,waypoint63) drop(rover1,rover1store) drop(rover3,rover3store) drop(rover4,rover4store) navigate(rover1,waypoint60,waypoint3) navigate(rover10,waypoint52,waypoint23) navigate(rover11,waypoint55,waypoint2) navigate(rover2,waypoint56,waypoint10) navigate(rover3,waypoint30,waypoint22) navigate(rover4,waypoint12,waypoint1) navigate(rover9,waypoint30,waypoint54) sample_rock(rover0,rover0store,waypoint5) sample_rock(rover7,rover7store,waypoint43) sample_soil(rover5,rover5store,waypoint16) take_image(rover8,waypoint21,objective3,camera11,high_res)
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STEP 4.1: navigate(rover0,waypoint5,waypoint7) navigate(rover5,waypoint16,waypoint18) navigate(rover6,waypoint27,waypoint15) navigate(rover7,waypoint43,waypoint35) navigate(rover8,waypoint21,waypoint2)
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STEP 5.0: communicate_image_data(rover1,general,objective6,high_res,waypoint3,waypoint63) communicate_image_data(rover8,general,objective3,high_res,waypoint2,waypoint63) communicate_soil_data(rover1,general,waypoint6,waypoint3,waypoint63) communicate_soil_data(rover1,general,waypoint62,waypoint3,waypoint63) drop(rover0,rover0store) drop(rover5,rover5store) drop(rover7,rover7store) navigate(rover0,waypoint7,waypoint25) navigate(rover10,waypoint23,waypoint10) navigate(rover11,waypoint2,waypoint56) navigate(rover4,waypoint1,waypoint54) navigate(rover5,waypoint18,waypoint53) navigate(rover7,waypoint35,waypoint0) navigate(rover9,waypoint54,waypoint21) sample_rock(rover2,rover2store,waypoint10) sample_rock(rover3,rover3store,waypoint22) sample_soil(rover8,rover8store,waypoint2) take_image(rover6,waypoint15,objective6,camera10,colour)
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STEP 5.1: navigate(rover1,waypoint3,waypoint60) navigate(rover2,waypoint10,waypoint56) navigate(rover3,waypoint22,waypoint30) navigate(rover6,waypoint15,waypoint27) navigate(rover8,waypoint2,waypoint21)
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STEP 6.0: communicate_image_data(rover6,general,objective6,colour,waypoint27,waypoint63) communicate_image_data(rover7,general,objective3,low_res,waypoint0,waypoint63) communicate_rock_data(rover7,general,waypoint11,waypoint0,waypoint63) communicate_rock_data(rover7,general,waypoint43,waypoint0,waypoint63) communicate_soil_data(rover8,general,waypoint2,waypoint21,waypoint63) drop(rover2,rover2store) drop(rover3,rover3store) drop(rover8,rover8store) navigate(rover0,waypoint25,waypoint9) navigate(rover1,waypoint60,waypoint4) navigate(rover11,waypoint56,waypoint42) navigate(rover2,waypoint56,waypoint21) navigate(rover3,waypoint30,waypoint6) navigate(rover4,waypoint54,waypoint56) navigate(rover5,waypoint53,waypoint15) sample_soil(rover10,rover10store,waypoint10)
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STEP 6.1: navigate(rover10,waypoint10,waypoint23) navigate(rover7,waypoint0,waypoint23) navigate(rover8,waypoint21,waypoint2)
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STEP 7.0: communicate_rock_data(rover2,general,waypoint10,waypoint21,waypoint63) communicate_rock_data(rover3,general,waypoint20,waypoint6,waypoint63) communicate_rock_data(rover3,general,waypoint22,waypoint6,waypoint63) drop(rover10,rover10store) navigate(rover10,waypoint23,waypoint29) navigate(rover5,waypoint15,waypoint6) navigate(rover7,waypoint23,waypoint4) navigate(rover8,waypoint2,waypoint27) sample_rock(rover0,rover0store,waypoint9) sample_rock(rover4,rover4store,waypoint56) sample_soil(rover1,rover1store,waypoint4) sample_soil(rover11,rover11store,waypoint42)
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STEP 7.1: navigate(rover0,waypoint9,waypoint25) navigate(rover1,waypoint4,waypoint60) navigate(rover11,waypoint42,waypoint56) navigate(rover2,waypoint21,waypoint26) navigate(rover3,waypoint6,waypoint63) navigate(rover4,waypoint56,waypoint54)
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STEP 8.0: communicate_soil_data(rover10,general,waypoint10,waypoint29,waypoint63) communicate_soil_data(rover10,general,waypoint45,waypoint29,waypoint63) communicate_soil_data(rover5,general,waypoint16,waypoint6,waypoint63) communicate_soil_data(rover5,general,waypoint19,waypoint6,waypoint63) drop(rover1,rover1store) drop(rover11,rover11store) drop(rover4,rover4store) navigate(rover0,waypoint25,waypoint7) navigate(rover1,waypoint60,waypoint3) navigate(rover11,waypoint56,waypoint3) navigate(rover2,waypoint26,waypoint13) navigate(rover3,waypoint63,waypoint3) navigate(rover4,waypoint54,waypoint48) navigate(rover8,waypoint27,waypoint26) sample_rock(rover7,rover7store,waypoint4)
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STEP 8.1: navigate(rover10,waypoint29,waypoint23) navigate(rover5,waypoint6,waypoint15) navigate(rover7,waypoint4,waypoint23)
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STEP 9.0: communicate_rock_data(rover4,general,waypoint40,waypoint48,waypoint63) communicate_rock_data(rover4,general,waypoint46,waypoint48,waypoint63) communicate_rock_data(rover4,general,waypoint56,waypoint48,waypoint63) communicate_soil_data(rover1,general,waypoint4,waypoint3,waypoint63) communicate_soil_data(rover11,general,waypoint42,waypoint3,waypoint63) drop(rover7,rover7store) navigate(rover0,waypoint7,waypoint5) navigate(rover10,waypoint23,waypoint61) navigate(rover2,waypoint13,waypoint24) navigate(rover3,waypoint3,waypoint60) navigate(rover5,waypoint15,waypoint53) navigate(rover7,waypoint23,waypoint0) sample_soil(rover8,rover8store,waypoint26)
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STEP 9.1: navigate(rover1,waypoint3,waypoint60) navigate(rover11,waypoint3,waypoint56) navigate(rover4,waypoint48,waypoint54) navigate(rover8,waypoint26,waypoint27)
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STEP 10.0: communicate_rock_data(rover7,general,waypoint4,waypoint0,waypoint63) communicate_soil_data(rover8,general,waypoint26,waypoint27,waypoint63) drop(rover8,rover8store) navigate(rover0,waypoint5,waypoint6) navigate(rover1,waypoint60,waypoint6) navigate(rover11,waypoint56,waypoint2) navigate(rover4,waypoint54,waypoint33) navigate(rover5,waypoint53,waypoint19) sample_rock(rover2,rover2store,waypoint24) sample_rock(rover3,rover3store,waypoint60) sample_soil(rover10,rover10store,waypoint61)
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STEP 10.1: navigate(rover10,waypoint61,waypoint23) navigate(rover2,waypoint24,waypoint13) navigate(rover3,waypoint60,waypoint3) navigate(rover7,waypoint0,waypoint35) navigate(rover8,waypoint27,waypoint39)
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STEP 11.0: communicate_rock_data(rover0,general,waypoint38,waypoint6,waypoint63) communicate_rock_data(rover0,general,waypoint5,waypoint6,waypoint63) communicate_rock_data(rover0,general,waypoint9,waypoint6,waypoint63) communicate_rock_data(rover3,general,waypoint60,waypoint3,waypoint63) drop(rover2,rover2store) navigate(rover1,waypoint6,waypoint31) navigate(rover10,waypoint23,waypoint0) navigate(rover11,waypoint2,waypoint55) navigate(rover2,waypoint13,waypoint57) navigate(rover5,waypoint19,waypoint38) navigate(rover7,waypoint35,waypoint38) sample_rock(rover4,rover4store,waypoint33) sample_soil(rover8,rover8store,waypoint39)
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STEP 11.1: navigate(rover4,waypoint33,waypoint54) navigate(rover8,waypoint39,waypoint27)
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STEP 12.0: communicate_soil_data(rover10,general,waypoint61,waypoint0,waypoint63) communicate_soil_data(rover8,general,waypoint39,waypoint27,waypoint63) navigate(rover1,waypoint31,waypoint20) navigate(rover11,waypoint55,waypoint8) navigate(rover4,waypoint54,waypoint20) navigate(rover7,waypoint38,waypoint13) sample_rock(rover2,rover2store,waypoint57) sample_soil(rover5,rover5store,waypoint38)
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STEP 12.1: navigate(rover10,waypoint0,waypoint23) navigate(rover2,waypoint57,waypoint13) navigate(rover5,waypoint38,waypoint19) navigate(rover8,waypoint27,waypoint2)
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STEP 13.0: communicate_rock_data(rover4,general,waypoint33,waypoint20,waypoint63) navigate(rover1,waypoint20,waypoint54) navigate(rover10,waypoint23,waypoint52) navigate(rover2,waypoint13,waypoint26) navigate(rover5,waypoint19,waypoint29) navigate(rover8,waypoint2,waypoint21) sample_rock(rover7,rover7store,waypoint13) sample_soil(rover11,rover11store,waypoint8)
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STEP 13.1: navigate(rover11,waypoint8,waypoint55) navigate(rover7,waypoint13,waypoint38)
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STEP 14.0: communicate_soil_data(rover5,general,waypoint38,waypoint29,waypoint63) drop(rover11,rover11store) navigate(rover10,waypoint52,waypoint13) navigate(rover11,waypoint55,waypoint2) navigate(rover2,waypoint26,waypoint27) navigate(rover7,waypoint38,waypoint35) navigate(rover8,waypoint21,waypoint32) sample_soil(rover1,rover1store,waypoint54)
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STEP 14.1: navigate(rover1,waypoint54,waypoint20)
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STEP 15.0: communicate_rock_data(rover2,general,waypoint24,waypoint27,waypoint63) communicate_rock_data(rover2,general,waypoint57,waypoint27,waypoint63) communicate_soil_data(rover1,general,waypoint54,waypoint20,waypoint63) communicate_soil_data(rover11,general,waypoint8,waypoint2,waypoint63) navigate(rover10,waypoint13,waypoint26) navigate(rover7,waypoint35,waypoint48) navigate(rover8,waypoint32,waypoint62)
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STEP 15.1: navigate(rover11,waypoint2,waypoint55)
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STEP 16: communicate_rock_data(rover7,general,waypoint13,waypoint48,waypoint63) navigate(rover10,waypoint26,waypoint51) navigate(rover11,waypoint55,waypoint48) navigate(rover8,waypoint62,waypoint51)
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STEP 17: navigate(rover11,waypoint48,waypoint51)
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STEP 18.0: sample_soil(rover11,rover11store,waypoint51)
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STEP 18.1: navigate(rover11,waypoint51,waypoint48)
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STEP 19: communicate_soil_data(rover11,general,waypoint51,waypoint48,waypoint63)
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282 actions in the plan.
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total time 32.57 preprocess 31.71
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total size 0.826 GB
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max. learned clause length 536
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t val conflicts decisions
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0 0 0 0
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5 0 59 123
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10 -1 180 710
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15 -1 120 605
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20 1 5 936
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