65 lines
15 KiB
Plaintext
65 lines
15 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-38.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: 54855 ground actions and 8740 state variables
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Invariants: 0 1 2 3 4 5 6 7 8 0.26 secs
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Goal: conjunctive
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Simplified: 33732 ground actions and 2745 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 0.42 secs (max SCC size 36)
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Plan type: E-step
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Allocated 32 MB permanent (total 362 MB)
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Horizon 0: 2745 variables
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0 UNSAT (0 decisions 0 conflicts)
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Horizon 5: 254685 variables
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Allocated 32 MB (total 581 MB)
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Horizon 10: 506625 variables
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Horizon 15: 758565 variables
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Horizon 20: 1010505 variables
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SAT (1121 decisions 0 conflicts)
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PLAN FOUND: 20 steps
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STEP 0.0: calibrate(rover0,camera12,objective10,waypoint57) calibrate(rover13,camera7,objective1,waypoint10) calibrate(rover5,camera11,objective9,waypoint45) calibrate(rover6,camera0,objective5,waypoint11) calibrate(rover6,camera3,objective7,waypoint11) calibrate(rover7,camera10,objective3,waypoint30) calibrate(rover7,camera2,objective5,waypoint30) calibrate(rover7,camera4,objective10,waypoint30) navigate(rover1,waypoint60,waypoint68) navigate(rover10,waypoint89,waypoint56) navigate(rover11,waypoint86,waypoint70) navigate(rover12,waypoint50,waypoint69) navigate(rover2,waypoint60,waypoint65) navigate(rover3,waypoint46,waypoint10) navigate(rover4,waypoint39,waypoint0) sample_soil(rover8,rover8store,waypoint37) sample_soil(rover9,rover9store,waypoint54)
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STEP 0.1: navigate(rover0,waypoint57,waypoint0) navigate(rover13,waypoint10,waypoint36) navigate(rover5,waypoint45,waypoint5) navigate(rover6,waypoint11,waypoint20) navigate(rover7,waypoint30,waypoint23) navigate(rover8,waypoint37,waypoint25) navigate(rover9,waypoint54,waypoint24)
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STEP 1.0: communicate_soil_data(rover8,general,waypoint37,waypoint25,waypoint51) drop(rover8,rover8store) drop(rover9,rover9store) navigate(rover1,waypoint68,waypoint3) navigate(rover10,waypoint56,waypoint5) navigate(rover11,waypoint70,waypoint33) navigate(rover2,waypoint65,waypoint31) navigate(rover9,waypoint24,waypoint2) sample_soil(rover12,rover12store,waypoint69) sample_soil(rover13,rover13store,waypoint36) sample_soil(rover3,rover3store,waypoint10) sample_soil(rover4,rover4store,waypoint0) sample_soil(rover7,rover7store,waypoint23) take_image(rover0,waypoint0,objective0,camera12,high_res) take_image(rover5,waypoint5,objective1,camera11,colour) take_image(rover6,waypoint20,objective10,camera3,colour) take_image(rover6,waypoint20,objective9,camera0,low_res) take_image(rover7,waypoint23,objective0,camera4,low_res) take_image(rover7,waypoint23,objective4,camera10,high_res) take_image(rover7,waypoint23,objective5,camera2,high_res)
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STEP 1.1: navigate(rover0,waypoint0,waypoint58) navigate(rover12,waypoint69,waypoint50) navigate(rover13,waypoint36,waypoint10) navigate(rover3,waypoint10,waypoint89) navigate(rover4,waypoint0,waypoint58) navigate(rover5,waypoint5,waypoint76) navigate(rover6,waypoint20,waypoint10) navigate(rover7,waypoint23,waypoint74) navigate(rover8,waypoint25,waypoint37)
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STEP 2.0: calibrate(rover0,camera12,objective10,waypoint58) calibrate(rover1,camera8,objective6,waypoint3) calibrate(rover10,camera14,objective6,waypoint5) calibrate(rover6,camera0,objective5,waypoint10) calibrate(rover6,camera3,objective7,waypoint10) communicate_image_data(rover7,general,objective0,low_res,waypoint74,waypoint51) communicate_image_data(rover7,general,objective4,high_res,waypoint74,waypoint51) communicate_image_data(rover7,general,objective5,high_res,waypoint74,waypoint51) communicate_soil_data(rover7,general,waypoint23,waypoint74,waypoint51) drop(rover12,rover12store) drop(rover13,rover13store) drop(rover3,rover3store) drop(rover4,rover4store) drop(rover7,rover7store) navigate(rover3,waypoint89,waypoint25) navigate(rover4,waypoint58,waypoint64) sample_rock(rover11,rover11store,waypoint33) sample_rock(rover2,rover2store,waypoint31) sample_rock(rover6,rover6store,waypoint10) sample_rock(rover8,rover8store,waypoint37) sample_soil(rover0,rover0store,waypoint58) sample_soil(rover1,rover1store,waypoint3) sample_soil(rover5,rover5store,waypoint76) sample_soil(rover9,rover9store,waypoint2) take_image(rover13,waypoint10,objective7,camera7,colour)
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STEP 2.1: navigate(rover0,waypoint58,waypoint0) navigate(rover1,waypoint3,waypoint68) navigate(rover10,waypoint5,waypoint88) navigate(rover11,waypoint33,waypoint70) navigate(rover13,waypoint10,waypoint89) navigate(rover2,waypoint31,waypoint65) navigate(rover5,waypoint76,waypoint5) navigate(rover6,waypoint10,waypoint20) navigate(rover7,waypoint74,waypoint23) navigate(rover8,waypoint37,waypoint18) navigate(rover9,waypoint2,waypoint5)
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STEP 3.0: calibrate(rover5,camera11,objective9,waypoint5) calibrate(rover7,camera2,objective5,waypoint23) communicate_soil_data(rover1,general,waypoint3,waypoint68,waypoint51) communicate_soil_data(rover3,general,waypoint10,waypoint25,waypoint51) drop(rover0,rover0store) drop(rover1,rover1store) drop(rover11,rover11store) drop(rover2,rover2store) drop(rover6,rover6store) drop(rover8,rover8store) drop(rover9,rover9store) navigate(rover11,waypoint70,waypoint86) navigate(rover13,waypoint89,waypoint74) navigate(rover2,waypoint65,waypoint60) navigate(rover8,waypoint18,waypoint82) navigate(rover9,waypoint5,waypoint56) sample_rock(rover10,rover10store,waypoint88) sample_soil(rover12,rover12store,waypoint50) sample_soil(rover4,rover4store,waypoint64) take_image(rover0,waypoint0,objective9,camera12,high_res) take_image(rover1,waypoint68,objective8,camera8,colour) take_image(rover6,waypoint20,objective4,camera0,low_res) take_image(rover6,waypoint20,objective4,camera3,colour)
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STEP 3.1: navigate(rover0,waypoint0,waypoint57) navigate(rover1,waypoint68,waypoint60) navigate(rover10,waypoint88,waypoint5) navigate(rover12,waypoint50,waypoint38) navigate(rover3,waypoint25,waypoint89) navigate(rover4,waypoint64,waypoint58) navigate(rover5,waypoint5,waypoint4) navigate(rover6,waypoint20,waypoint11) navigate(rover7,waypoint23,waypoint35)
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STEP 4.0: calibrate(rover6,camera0,objective5,waypoint11) communicate_image_data(rover13,general,objective7,colour,waypoint74,waypoint51) communicate_soil_data(rover12,general,waypoint50,waypoint38,waypoint51) communicate_soil_data(rover12,general,waypoint69,waypoint38,waypoint51) communicate_soil_data(rover13,general,waypoint36,waypoint74,waypoint51) communicate_soil_data(rover9,general,waypoint2,waypoint56,waypoint51) communicate_soil_data(rover9,general,waypoint54,waypoint56,waypoint51) drop(rover10,rover10store) drop(rover12,rover12store) navigate(rover0,waypoint57,waypoint31) navigate(rover1,waypoint60,waypoint85) navigate(rover11,waypoint86,waypoint2) navigate(rover2,waypoint60,waypoint85) navigate(rover3,waypoint89,waypoint10) navigate(rover4,waypoint58,waypoint52) navigate(rover8,waypoint82,waypoint67) take_image(rover10,waypoint5,objective3,camera14,colour) take_image(rover5,waypoint4,objective0,camera11,colour) take_image(rover7,waypoint35,objective3,camera2,low_res)
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STEP 4.1: navigate(rover10,waypoint5,waypoint56) navigate(rover12,waypoint38,waypoint21) navigate(rover13,waypoint74,waypoint89) navigate(rover5,waypoint4,waypoint25) navigate(rover6,waypoint11,waypoint85) navigate(rover7,waypoint35,waypoint82) navigate(rover9,waypoint56,waypoint5)
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STEP 5.0: communicate_image_data(rover0,general,objective0,high_res,waypoint31,waypoint51) communicate_image_data(rover0,general,objective9,high_res,waypoint31,waypoint51) communicate_image_data(rover1,general,objective8,colour,waypoint85,waypoint51) communicate_image_data(rover10,general,objective3,colour,waypoint56,waypoint51) communicate_image_data(rover5,general,objective0,colour,waypoint25,waypoint51) communicate_image_data(rover5,general,objective1,colour,waypoint25,waypoint51) communicate_image_data(rover6,general,objective10,colour,waypoint85,waypoint51) communicate_image_data(rover6,general,objective4,colour,waypoint85,waypoint51) communicate_image_data(rover6,general,objective4,low_res,waypoint85,waypoint51) communicate_image_data(rover6,general,objective9,low_res,waypoint85,waypoint51) communicate_rock_data(rover10,general,waypoint88,waypoint56,waypoint51) communicate_rock_data(rover2,general,waypoint31,waypoint85,waypoint51) communicate_rock_data(rover6,general,waypoint10,waypoint85,waypoint51) communicate_soil_data(rover0,general,waypoint58,waypoint31,waypoint51) communicate_soil_data(rover5,general,waypoint76,waypoint25,waypoint51) navigate(rover11,waypoint2,waypoint61) navigate(rover13,waypoint89,waypoint10) navigate(rover3,waypoint10,waypoint18) navigate(rover4,waypoint52,waypoint85) navigate(rover9,waypoint5,waypoint2) sample_rock(rover2,rover2store,waypoint85) sample_soil(rover12,rover12store,waypoint21) sample_soil(rover7,rover7store,waypoint82) sample_soil(rover8,rover8store,waypoint67)
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STEP 5.1: navigate(rover0,waypoint31,waypoint57) navigate(rover1,waypoint85,waypoint12) navigate(rover10,waypoint56,waypoint89) navigate(rover12,waypoint21,waypoint38) navigate(rover2,waypoint85,waypoint60) navigate(rover6,waypoint85,waypoint63) navigate(rover7,waypoint82,waypoint35) navigate(rover8,waypoint67,waypoint82)
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STEP 6.0: communicate_soil_data(rover12,general,waypoint21,waypoint38,waypoint51) communicate_soil_data(rover4,general,waypoint0,waypoint85,waypoint51) communicate_soil_data(rover4,general,waypoint64,waypoint85,waypoint51) drop(rover2,rover2store) drop(rover7,rover7store) drop(rover8,rover8store) navigate(rover0,waypoint57,waypoint22) navigate(rover10,waypoint89,waypoint14) navigate(rover11,waypoint61,waypoint69) navigate(rover13,waypoint10,waypoint36) navigate(rover2,waypoint60,waypoint76) navigate(rover7,waypoint35,waypoint23) navigate(rover8,waypoint82,waypoint18) navigate(rover9,waypoint2,waypoint24) sample_rock(rover6,rover6store,waypoint63) sample_soil(rover1,rover1store,waypoint12) sample_soil(rover3,rover3store,waypoint18) take_image(rover6,waypoint63,objective5,camera0,low_res)
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STEP 6.1: navigate(rover1,waypoint12,waypoint85) navigate(rover3,waypoint18,waypoint10)
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STEP 7.0: communicate_image_data(rover6,general,objective5,low_res,waypoint63,waypoint51) communicate_rock_data(rover6,general,waypoint63,waypoint63,waypoint51) communicate_soil_data(rover1,general,waypoint12,waypoint85,waypoint51) drop(rover3,rover3store) drop(rover6,rover6store) navigate(rover10,waypoint14,waypoint39) navigate(rover13,waypoint36,waypoint26) navigate(rover3,waypoint10,waypoint7) navigate(rover7,waypoint23,waypoint74) navigate(rover8,waypoint18,waypoint37) sample_rock(rover0,rover0store,waypoint22) sample_rock(rover11,rover11store,waypoint69) sample_rock(rover2,rover2store,waypoint76) sample_soil(rover9,rover9store,waypoint24)
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STEP 7.1: navigate(rover0,waypoint22,waypoint57) navigate(rover11,waypoint69,waypoint61) navigate(rover2,waypoint76,waypoint60) navigate(rover6,waypoint63,waypoint85) navigate(rover9,waypoint24,waypoint16)
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STEP 8.0: communicate_image_data(rover7,general,objective3,low_res,waypoint74,waypoint51) communicate_soil_data(rover7,general,waypoint82,waypoint74,waypoint51) drop(rover0,rover0store) drop(rover2,rover2store) drop(rover9,rover9store) navigate(rover0,waypoint57,waypoint49) navigate(rover10,waypoint39,waypoint83) navigate(rover11,waypoint61,waypoint2) navigate(rover2,waypoint60,waypoint85) navigate(rover3,waypoint7,waypoint38) navigate(rover6,waypoint85,waypoint12) navigate(rover8,waypoint37,waypoint32) navigate(rover9,waypoint16,waypoint25) sample_rock(rover13,rover13store,waypoint26)
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STEP 8.1: navigate(rover13,waypoint26,waypoint36) navigate(rover7,waypoint74,waypoint23)
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STEP 9.0: communicate_rock_data(rover2,general,waypoint76,waypoint85,waypoint51) communicate_rock_data(rover2,general,waypoint85,waypoint85,waypoint51) communicate_rock_data(rover8,general,waypoint37,waypoint32,waypoint51) communicate_soil_data(rover3,general,waypoint18,waypoint38,waypoint51) communicate_soil_data(rover8,general,waypoint67,waypoint32,waypoint51) communicate_soil_data(rover9,general,waypoint24,waypoint25,waypoint51) navigate(rover0,waypoint49,waypoint67) navigate(rover11,waypoint2,waypoint16) navigate(rover13,waypoint36,waypoint10) navigate(rover7,waypoint23,waypoint29) sample_rock(rover10,rover10store,waypoint83) sample_rock(rover6,rover6store,waypoint12)
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STEP 9.1: navigate(rover10,waypoint83,waypoint39) navigate(rover2,waypoint85,waypoint60) navigate(rover3,waypoint38,waypoint7) navigate(rover6,waypoint12,waypoint85) navigate(rover8,waypoint32,waypoint29) navigate(rover9,waypoint25,waypoint16)
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STEP 10.0: communicate_rock_data(rover6,general,waypoint12,waypoint85,waypoint51) drop(rover10,rover10store) navigate(rover10,waypoint39,waypoint80) navigate(rover11,waypoint16,waypoint25) navigate(rover13,waypoint10,waypoint79) navigate(rover2,waypoint60,waypoint59) navigate(rover3,waypoint7,waypoint10) navigate(rover7,waypoint29,waypoint87) navigate(rover9,waypoint16,waypoint1) sample_rock(rover0,rover0store,waypoint67) sample_rock(rover8,rover8store,waypoint29)
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STEP 10.1: navigate(rover0,waypoint67,waypoint49) navigate(rover8,waypoint29,waypoint32)
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STEP 11.0: communicate_rock_data(rover11,general,waypoint33,waypoint25,waypoint51) communicate_rock_data(rover11,general,waypoint69,waypoint25,waypoint51) communicate_rock_data(rover8,general,waypoint29,waypoint32,waypoint51) navigate(rover0,waypoint49,waypoint17) navigate(rover13,waypoint79,waypoint85) navigate(rover2,waypoint59,waypoint35) navigate(rover3,waypoint10,waypoint89) navigate(rover7,waypoint87,waypoint28) sample_rock(rover10,rover10store,waypoint80) sample_rock(rover9,rover9store,waypoint1)
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STEP 11.1: navigate(rover10,waypoint80,waypoint39) navigate(rover9,waypoint1,waypoint16)
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STEP 12.0: communicate_rock_data(rover0,general,waypoint22,waypoint17,waypoint51) communicate_rock_data(rover0,general,waypoint67,waypoint17,waypoint51) communicate_rock_data(rover13,general,waypoint26,waypoint85,waypoint51) navigate(rover10,waypoint39,waypoint14) navigate(rover3,waypoint89,waypoint14) navigate(rover9,waypoint16,waypoint25) sample_rock(rover2,rover2store,waypoint35) sample_rock(rover7,rover7store,waypoint28)
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STEP 12.1: navigate(rover2,waypoint35,waypoint59) navigate(rover7,waypoint28,waypoint87)
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STEP 13.0: communicate_rock_data(rover9,general,waypoint1,waypoint25,waypoint51) navigate(rover10,waypoint14,waypoint32) navigate(rover2,waypoint59,waypoint60) navigate(rover7,waypoint87,waypoint29) sample_rock(rover3,rover3store,waypoint14)
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STEP 13.1: navigate(rover3,waypoint14,waypoint89)
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STEP 14: communicate_rock_data(rover10,general,waypoint80,waypoint32,waypoint51) communicate_rock_data(rover10,general,waypoint83,waypoint32,waypoint51) navigate(rover2,waypoint60,waypoint85) navigate(rover3,waypoint89,waypoint25) navigate(rover7,waypoint29,waypoint32)
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STEP 15: communicate_rock_data(rover2,general,waypoint35,waypoint85,waypoint51) communicate_rock_data(rover3,general,waypoint14,waypoint25,waypoint51) communicate_rock_data(rover7,general,waypoint28,waypoint32,waypoint51)
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301 actions in the plan.
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total time 196.03 preprocess 192.86
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total size 1.199 GB
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max. learned clause length 1090
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t val conflicts decisions
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0 0 0 0
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5 -1 240 974
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10 -1 180 1307
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15 -1 120 1047
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20 1 0 1121
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