72 lines
13 KiB
Plaintext
72 lines
13 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-36.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: 41611 ground actions and 7423 state variables
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Invariants: 0 1 2 3 4 5 6 7 8 0.14 secs
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Goal: conjunctive
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Simplified: 17496 ground actions and 2044 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 0.06 secs (max SCC size 30)
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Plan type: E-step
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Allocated 32 MB permanent (total 238 MB)
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Horizon 0: 2044 variables
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0 UNSAT (0 decisions 0 conflicts)
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Horizon 5: 119419 variables
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Allocated 32 MB (total 439 MB)
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Horizon 10: 236794 variables
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Horizon 15: 354169 variables
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Horizon 20: 471544 variables
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Horizon 25: 588919 variables
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5 UNSAT (536 decisions 298 conflicts)
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SAT (1298 decisions 3 conflicts)
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PLAN FOUND: 25 steps
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STEP 0.0: calibrate(rover11,camera10,objective6,waypoint6) calibrate(rover11,camera11,objective1,waypoint6) calibrate(rover2,camera1,objective9,waypoint22) calibrate(rover9,camera2,objective5,waypoint1) calibrate(rover9,camera8,objective6,waypoint1) navigate(rover0,waypoint38,waypoint10) navigate(rover1,waypoint6,waypoint70) navigate(rover10,waypoint56,waypoint24) navigate(rover12,waypoint31,waypoint40) navigate(rover13,waypoint30,waypoint3) navigate(rover3,waypoint8,waypoint23) navigate(rover4,waypoint30,waypoint36) navigate(rover5,waypoint23,waypoint14) navigate(rover6,waypoint44,waypoint23) navigate(rover7,waypoint62,waypoint45) navigate(rover8,waypoint42,waypoint73)
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STEP 0.1: navigate(rover11,waypoint6,waypoint70) navigate(rover2,waypoint22,waypoint45) navigate(rover9,waypoint1,waypoint31)
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STEP 1.0: calibrate(rover0,camera5,objective6,waypoint10) calibrate(rover6,camera13,objective5,waypoint23) navigate(rover1,waypoint70,waypoint16) navigate(rover10,waypoint24,waypoint66) navigate(rover13,waypoint3,waypoint78) navigate(rover3,waypoint23,waypoint32) navigate(rover4,waypoint36,waypoint30) navigate(rover5,waypoint14,waypoint2) navigate(rover7,waypoint45,waypoint42) navigate(rover8,waypoint73,waypoint67) sample_rock(rover11,rover11store,waypoint70) sample_rock(rover12,rover12store,waypoint40) sample_rock(rover2,rover2store,waypoint45) sample_soil(rover9,rover9store,waypoint31) take_image(rover2,waypoint45,objective3,camera1,high_res) take_image(rover9,waypoint31,objective1,camera2,low_res) take_image(rover9,waypoint31,objective9,camera8,low_res)
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STEP 1.1: navigate(rover0,waypoint10,waypoint76) navigate(rover11,waypoint70,waypoint3) navigate(rover12,waypoint40,waypoint31) navigate(rover2,waypoint45,waypoint22) navigate(rover6,waypoint23,waypoint35) navigate(rover9,waypoint31,waypoint22)
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STEP 2.0: calibrate(rover5,camera9,objective2,waypoint2) calibrate(rover9,camera2,objective5,waypoint22) calibrate(rover9,camera8,objective6,waypoint22) drop(rover11,rover11store) drop(rover12,rover12store) drop(rover2,rover2store) drop(rover9,rover9store) navigate(rover12,waypoint31,waypoint11) navigate(rover2,waypoint22,waypoint31) navigate(rover4,waypoint30,waypoint47) sample_rock(rover0,rover0store,waypoint76) sample_rock(rover13,rover13store,waypoint78) sample_rock(rover3,rover3store,waypoint32) sample_soil(rover1,rover1store,waypoint16) sample_soil(rover10,rover10store,waypoint66) sample_soil(rover7,rover7store,waypoint42) sample_soil(rover8,rover8store,waypoint67) take_image(rover11,waypoint3,objective1,camera10,high_res) take_image(rover11,waypoint3,objective1,camera11,colour) take_image(rover6,waypoint35,objective1,camera13,colour)
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STEP 2.1: navigate(rover0,waypoint76,waypoint10) navigate(rover1,waypoint16,waypoint70) navigate(rover10,waypoint66,waypoint58) navigate(rover11,waypoint3,waypoint39) navigate(rover13,waypoint78,waypoint3) navigate(rover3,waypoint32,waypoint23) navigate(rover6,waypoint35,waypoint23) navigate(rover7,waypoint42,waypoint21) navigate(rover8,waypoint67,waypoint73) navigate(rover9,waypoint22,waypoint2)
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STEP 3.0: calibrate(rover11,camera11,objective1,waypoint39) calibrate(rover6,camera13,objective5,waypoint23) communicate_image_data(rover11,general,objective1,colour,waypoint39,waypoint66) communicate_image_data(rover11,general,objective1,high_res,waypoint39,waypoint66) communicate_rock_data(rover11,general,waypoint70,waypoint39,waypoint66) communicate_soil_data(rover10,general,waypoint66,waypoint58,waypoint66) communicate_soil_data(rover7,general,waypoint42,waypoint21,waypoint66) drop(rover1,rover1store) drop(rover10,rover10store) drop(rover13,rover13store) drop(rover7,rover7store) drop(rover8,rover8store) navigate(rover1,waypoint70,waypoint79) navigate(rover12,waypoint11,waypoint76) navigate(rover13,waypoint3,waypoint30) navigate(rover2,waypoint31,waypoint11) navigate(rover3,waypoint23,waypoint8) navigate(rover4,waypoint47,waypoint24) navigate(rover8,waypoint73,waypoint69) sample_rock(rover11,rover11store,waypoint39) sample_soil(rover9,rover9store,waypoint2) take_image(rover0,waypoint10,objective7,camera5,low_res) take_image(rover5,waypoint2,objective5,camera9,high_res) take_image(rover9,waypoint2,objective3,camera2,low_res) take_image(rover9,waypoint2,objective5,camera8,low_res)
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STEP 3.1: navigate(rover0,waypoint10,waypoint38) navigate(rover10,waypoint58,waypoint66) navigate(rover11,waypoint39,waypoint3) navigate(rover5,waypoint2,waypoint14) navigate(rover6,waypoint23,waypoint14) navigate(rover7,waypoint21,waypoint42) navigate(rover9,waypoint2,waypoint22)
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STEP 4.0: calibrate(rover11,camera10,objective6,waypoint3) communicate_image_data(rover0,general,objective7,low_res,waypoint38,waypoint66) communicate_rock_data(rover0,general,waypoint76,waypoint38,waypoint66) communicate_soil_data(rover1,general,waypoint16,waypoint79,waypoint66) communicate_soil_data(rover8,general,waypoint67,waypoint69,waypoint66) drop(rover9,rover9store) navigate(rover10,waypoint66,waypoint24) navigate(rover12,waypoint76,waypoint46) navigate(rover13,waypoint30,waypoint6) navigate(rover2,waypoint11,waypoint54) navigate(rover3,waypoint8,waypoint38) navigate(rover4,waypoint24,waypoint47) navigate(rover5,waypoint14,waypoint72) navigate(rover7,waypoint42,waypoint45) navigate(rover9,waypoint22,waypoint79) sample_soil(rover1,rover1store,waypoint79) take_image(rover11,waypoint3,objective6,camera11,colour) take_image(rover6,waypoint14,objective9,camera13,colour)
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STEP 4.1: navigate(rover0,waypoint38,waypoint72) navigate(rover11,waypoint3,waypoint70) navigate(rover6,waypoint14,waypoint23) navigate(rover8,waypoint69,waypoint73)
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STEP 5.0: communicate_image_data(rover9,general,objective1,low_res,waypoint79,waypoint66) communicate_image_data(rover9,general,objective3,low_res,waypoint79,waypoint66) communicate_image_data(rover9,general,objective5,low_res,waypoint79,waypoint66) communicate_image_data(rover9,general,objective9,low_res,waypoint79,waypoint66) communicate_rock_data(rover3,general,waypoint32,waypoint38,waypoint66) communicate_soil_data(rover1,general,waypoint79,waypoint79,waypoint66) communicate_soil_data(rover9,general,waypoint2,waypoint79,waypoint66) communicate_soil_data(rover9,general,waypoint31,waypoint79,waypoint66) drop(rover1,rover1store) navigate(rover0,waypoint72,waypoint79) navigate(rover10,waypoint24,waypoint49) navigate(rover11,waypoint70,waypoint6) navigate(rover13,waypoint6,waypoint55) navigate(rover4,waypoint47,waypoint30) navigate(rover5,waypoint72,waypoint79) navigate(rover6,waypoint23,waypoint32) navigate(rover7,waypoint45,waypoint33) navigate(rover8,waypoint73,waypoint42) sample_rock(rover12,rover12store,waypoint46) sample_rock(rover2,rover2store,waypoint54)
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STEP 5.1: navigate(rover1,waypoint79,waypoint70) navigate(rover12,waypoint46,waypoint76) navigate(rover2,waypoint54,waypoint11) navigate(rover3,waypoint38,waypoint8) navigate(rover9,waypoint79,waypoint22)
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STEP 6.0: communicate_image_data(rover5,general,objective5,high_res,waypoint79,waypoint66) navigate(rover0,waypoint79,waypoint72) navigate(rover1,waypoint70,waypoint6) navigate(rover10,waypoint49,waypoint1) navigate(rover12,waypoint76,waypoint11) navigate(rover2,waypoint11,waypoint31) navigate(rover3,waypoint8,waypoint7) navigate(rover4,waypoint30,waypoint36) navigate(rover6,waypoint32,waypoint26) navigate(rover7,waypoint33,waypoint32) navigate(rover8,waypoint42,waypoint28) navigate(rover9,waypoint22,waypoint31) sample_rock(rover13,rover13store,waypoint55) take_image(rover11,waypoint6,objective6,camera10,high_res)
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STEP 6.1: navigate(rover11,waypoint6,waypoint28) navigate(rover13,waypoint55,waypoint6)
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STEP 7.0: communicate_image_data(rover6,general,objective9,colour,waypoint26,waypoint66) navigate(rover0,waypoint72,waypoint38) navigate(rover1,waypoint6,waypoint28) navigate(rover11,waypoint28,waypoint47) navigate(rover12,waypoint11,waypoint31) navigate(rover13,waypoint6,waypoint30) navigate(rover2,waypoint31,waypoint40) navigate(rover3,waypoint7,waypoint0) navigate(rover4,waypoint36,waypoint79) navigate(rover8,waypoint28,waypoint35) navigate(rover9,waypoint31,waypoint1) sample_soil(rover10,rover10store,waypoint1) sample_soil(rover7,rover7store,waypoint32)
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STEP 7.1: navigate(rover10,waypoint1,waypoint49) navigate(rover7,waypoint32,waypoint33)
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STEP 8.0: calibrate(rover3,camera7,objective0,waypoint0) communicate_image_data(rover11,general,objective6,colour,waypoint47,waypoint66) communicate_image_data(rover11,general,objective6,high_res,waypoint47,waypoint66) communicate_image_data(rover2,general,objective3,high_res,waypoint40,waypoint66) communicate_rock_data(rover11,general,waypoint39,waypoint47,waypoint66) communicate_rock_data(rover2,general,waypoint45,waypoint40,waypoint66) communicate_rock_data(rover2,general,waypoint54,waypoint40,waypoint66) drop(rover10,rover10store) drop(rover7,rover7store) navigate(rover0,waypoint38,waypoint66) navigate(rover1,waypoint28,waypoint48) navigate(rover10,waypoint49,waypoint24) navigate(rover12,waypoint31,waypoint40) navigate(rover13,waypoint30,waypoint47) navigate(rover7,waypoint33,waypoint45) navigate(rover8,waypoint35,waypoint29) navigate(rover9,waypoint1,waypoint71)
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STEP 8.1: navigate(rover3,waypoint0,waypoint7)
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STEP 9.0: communicate_rock_data(rover12,general,waypoint40,waypoint40,waypoint66) communicate_rock_data(rover12,general,waypoint46,waypoint40,waypoint66) communicate_rock_data(rover13,general,waypoint55,waypoint47,waypoint66) communicate_rock_data(rover13,general,waypoint78,waypoint47,waypoint66) communicate_soil_data(rover10,general,waypoint1,waypoint24,waypoint66) navigate(rover7,waypoint45,waypoint62) navigate(rover9,waypoint71,waypoint33) sample_soil(rover1,rover1store,waypoint48) sample_soil(rover8,rover8store,waypoint29) take_image(rover3,waypoint7,objective7,camera7,colour)
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STEP 9.1: navigate(rover1,waypoint48,waypoint28) navigate(rover10,waypoint24,waypoint55) navigate(rover3,waypoint7,waypoint75) navigate(rover8,waypoint29,waypoint35)
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STEP 10.0: communicate_image_data(rover3,general,objective7,colour,waypoint75,waypoint66) drop(rover1,rover1store) drop(rover8,rover8store) navigate(rover1,waypoint28,waypoint13) navigate(rover7,waypoint62,waypoint77) navigate(rover8,waypoint35,waypoint28) sample_soil(rover10,rover10store,waypoint55) sample_soil(rover9,rover9store,waypoint33)
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STEP 10.1: navigate(rover10,waypoint55,waypoint24) navigate(rover9,waypoint33,waypoint71)
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STEP 11.0: communicate_soil_data(rover10,general,waypoint55,waypoint24,waypoint66) drop(rover10,rover10store) navigate(rover8,waypoint28,waypoint47) navigate(rover9,waypoint71,waypoint1) sample_soil(rover1,rover1store,waypoint13) sample_soil(rover7,rover7store,waypoint77)
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STEP 11.1: navigate(rover1,waypoint13,waypoint28) navigate(rover10,waypoint24,waypoint56) navigate(rover7,waypoint77,waypoint62)
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STEP 12.0: communicate_soil_data(rover8,general,waypoint29,waypoint47,waypoint66) drop(rover1,rover1store) navigate(rover1,waypoint28,waypoint61) navigate(rover10,waypoint56,waypoint36) navigate(rover7,waypoint62,waypoint30) navigate(rover9,waypoint1,waypoint15)
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STEP 12.1: navigate(rover8,waypoint47,waypoint28)
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STEP 13: navigate(rover1,waypoint61,waypoint54) navigate(rover10,waypoint36,waypoint63) navigate(rover7,waypoint30,waypoint36) navigate(rover8,waypoint28,waypoint42) navigate(rover9,waypoint15,waypoint75)
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STEP 14.0: communicate_soil_data(rover7,general,waypoint32,waypoint36,waypoint66) communicate_soil_data(rover7,general,waypoint77,waypoint36,waypoint66) communicate_soil_data(rover9,general,waypoint33,waypoint75,waypoint66) navigate(rover10,waypoint63,waypoint5) navigate(rover8,waypoint42,waypoint14) sample_soil(rover1,rover1store,waypoint54)
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STEP 14.1: navigate(rover1,waypoint54,waypoint61)
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STEP 15.0: navigate(rover1,waypoint61,waypoint28) navigate(rover8,waypoint14,waypoint74) sample_soil(rover10,rover10store,waypoint5)
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STEP 15.1: navigate(rover10,waypoint5,waypoint63)
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STEP 16.0: navigate(rover1,waypoint28,waypoint75) navigate(rover10,waypoint63,waypoint36) sample_soil(rover8,rover8store,waypoint74)
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STEP 16.1: navigate(rover8,waypoint74,waypoint36)
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STEP 17: communicate_soil_data(rover1,general,waypoint13,waypoint75,waypoint66) communicate_soil_data(rover1,general,waypoint48,waypoint75,waypoint66) communicate_soil_data(rover1,general,waypoint54,waypoint75,waypoint66) communicate_soil_data(rover10,general,waypoint5,waypoint36,waypoint66) communicate_soil_data(rover8,general,waypoint74,waypoint36,waypoint66)
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265 actions in the plan.
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total time 102.12 preprocess 100.78
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total size 1.004 GB
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max. learned clause length 538
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t val conflicts decisions
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0 0 0 0
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5 0 298 536
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10 -1 241 931
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15 -1 180 967
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20 -1 120 515
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25 1 3 1298
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