49 lines
5.0 KiB
Plaintext
49 lines
5.0 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-19.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: roverprob8327
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Parser: 4476 ground actions and 1161 state variables
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Invariants: 0 1 2 3 4 5 6 0.01 secs
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Goal: conjunctive
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Simplified: 2838 ground actions and 353 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 0.00 secs (max SCC size 24)
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Plan type: E-step
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Allocated 32 MB permanent (total 135 MB)
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Horizon 0: 353 variables
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0 UNSAT (0 decisions 0 conflicts)
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Horizon 5: 21808 variables
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Allocated 32 MB (total 322 MB)
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Horizon 10: 43263 variables
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Horizon 15: 64718 variables
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SAT (473 decisions 101 conflicts)
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PLAN FOUND: 10 steps
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STEP 0.0: calibrate(rover0,camera3,objective5,waypoint2) calibrate(rover1,camera2,objective0,waypoint6) calibrate(rover2,camera0,objective0,waypoint13) calibrate(rover3,camera5,objective0,waypoint11) navigate(rover4,waypoint0,waypoint18) navigate(rover5,waypoint12,waypoint7)
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STEP 0.1: navigate(rover0,waypoint2,waypoint0) navigate(rover2,waypoint13,waypoint0) navigate(rover3,waypoint11,waypoint9)
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STEP 1.0: calibrate(rover5,camera6,objective6,waypoint7) sample_rock(rover3,rover3store,waypoint9) sample_soil(rover4,rover4store,waypoint18) take_image(rover0,waypoint0,objective4,camera3,high_res) take_image(rover1,waypoint6,objective7,camera2,low_res) take_image(rover2,waypoint0,objective0,camera0,colour) take_image(rover3,waypoint9,objective5,camera5,colour)
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STEP 1.1: navigate(rover0,waypoint0,waypoint19) navigate(rover1,waypoint6,waypoint19) navigate(rover2,waypoint0,waypoint5) navigate(rover3,waypoint9,waypoint11) navigate(rover4,waypoint18,waypoint0) navigate(rover5,waypoint7,waypoint8)
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STEP 2.0: calibrate(rover2,camera0,objective0,waypoint5) communicate_image_data(rover0,general,objective4,high_res,waypoint19,waypoint6) communicate_image_data(rover1,general,objective7,low_res,waypoint19,waypoint6) communicate_soil_data(rover4,general,waypoint18,waypoint0,waypoint6) drop(rover3,rover3store) drop(rover4,rover4store) navigate(rover3,waypoint11,waypoint17) sample_soil(rover2,rover2store,waypoint5) sample_soil(rover5,rover5store,waypoint8) take_image(rover5,waypoint8,objective6,camera6,low_res)
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STEP 2.1: navigate(rover0,waypoint19,waypoint0) navigate(rover1,waypoint19,waypoint6) navigate(rover2,waypoint5,waypoint0) navigate(rover4,waypoint0,waypoint2)
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STEP 3.0: calibrate(rover0,camera3,objective5,waypoint0) calibrate(rover1,camera2,objective0,waypoint6) communicate_image_data(rover2,general,objective0,colour,waypoint0,waypoint6) communicate_image_data(rover5,general,objective6,low_res,waypoint8,waypoint6) communicate_soil_data(rover2,general,waypoint5,waypoint0,waypoint6) communicate_soil_data(rover5,general,waypoint8,waypoint8,waypoint6) drop(rover5,rover5store) navigate(rover4,waypoint2,waypoint17) sample_rock(rover3,rover3store,waypoint17) take_image(rover2,waypoint0,objective7,camera0,colour)
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STEP 3.1: navigate(rover1,waypoint6,waypoint8) navigate(rover3,waypoint17,waypoint11) navigate(rover5,waypoint8,waypoint7)
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STEP 4: communicate_image_data(rover2,general,objective7,colour,waypoint0,waypoint6) drop(rover3,rover3store) navigate(rover3,waypoint11,waypoint1) navigate(rover4,waypoint17,waypoint2) navigate(rover5,waypoint7,waypoint12) take_image(rover0,waypoint0,objective0,camera3,high_res) take_image(rover1,waypoint8,objective2,camera2,low_res)
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STEP 5.0: communicate_image_data(rover0,general,objective0,high_res,waypoint0,waypoint6) communicate_image_data(rover1,general,objective2,low_res,waypoint8,waypoint6) communicate_image_data(rover3,general,objective5,colour,waypoint1,waypoint6) communicate_rock_data(rover3,general,waypoint17,waypoint1,waypoint6) communicate_rock_data(rover3,general,waypoint9,waypoint1,waypoint6) navigate(rover4,waypoint2,waypoint3) navigate(rover5,waypoint12,waypoint4)
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STEP 5.1: navigate(rover3,waypoint1,waypoint11)
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STEP 6.0: navigate(rover3,waypoint11,waypoint16) sample_rock(rover4,rover4store,waypoint3) sample_rock(rover5,rover5store,waypoint4)
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STEP 6.1: navigate(rover4,waypoint3,waypoint2) navigate(rover5,waypoint4,waypoint12)
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STEP 7: drop(rover4,rover4store) navigate(rover3,waypoint16,waypoint6) navigate(rover4,waypoint2,waypoint19) navigate(rover5,waypoint12,waypoint15)
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STEP 8.0: communicate_rock_data(rover4,general,waypoint3,waypoint19,waypoint6) communicate_rock_data(rover5,general,waypoint4,waypoint15,waypoint6) sample_rock(rover3,rover3store,waypoint6) sample_rock(rover4,rover4store,waypoint19)
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STEP 8.1: navigate(rover3,waypoint6,waypoint16)
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STEP 9: communicate_rock_data(rover3,general,waypoint6,waypoint16,waypoint6) communicate_rock_data(rover4,general,waypoint19,waypoint19,waypoint6)
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80 actions in the plan.
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total time 0.27 preprocess 0.21
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total size 565.000 MB
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max. learned clause length 229
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t val conflicts decisions
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0 0 0 0
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5 -1 180 453
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10 1 101 473
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