48 lines
4.7 KiB
Plaintext
48 lines
4.7 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-22.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: roverprob2413
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Parser: 9296 ground actions and 2187 state variables
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Invariants: 0 1 2 3 4 5 6 7 8 0.02 secs
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Goal: conjunctive
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Simplified: 5964 ground actions and 635 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 30)
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Plan type: E-step
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Allocated 32 MB permanent (total 154 MB)
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Horizon 0: 635 variables
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0 UNSAT (0 decisions 0 conflicts)
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Horizon 5: 46215 variables
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Allocated 32 MB (total 345 MB)
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Horizon 10: 91795 variables
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SAT (218 decisions 1 conflicts)
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PLAN FOUND: 10 steps
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STEP 0.0: calibrate(rover1,camera3,objective8,waypoint16) calibrate(rover2,camera7,objective9,waypoint3) calibrate(rover3,camera1,objective2,waypoint4) calibrate(rover4,camera2,objective3,waypoint0) navigate(rover0,waypoint4,waypoint5) navigate(rover5,waypoint10,waypoint0)
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STEP 0.1: navigate(rover1,waypoint16,waypoint18) navigate(rover2,waypoint3,waypoint14) navigate(rover3,waypoint4,waypoint5) navigate(rover4,waypoint0,waypoint14)
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STEP 1.0: navigate(rover0,waypoint5,waypoint1) navigate(rover5,waypoint0,waypoint6) sample_soil(rover1,rover1store,waypoint18) take_image(rover1,waypoint18,objective9,camera3,high_res) take_image(rover2,waypoint14,objective8,camera7,high_res) take_image(rover3,waypoint5,objective1,camera1,low_res) take_image(rover4,waypoint14,objective6,camera2,low_res)
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STEP 1.1: navigate(rover2,waypoint14,waypoint24) navigate(rover3,waypoint5,waypoint3) navigate(rover4,waypoint14,waypoint17)
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STEP 2.0: calibrate(rover2,camera7,objective9,waypoint24) communicate_image_data(rover1,general,objective9,high_res,waypoint18,waypoint2) communicate_image_data(rover4,general,objective6,low_res,waypoint17,waypoint2) communicate_soil_data(rover1,general,waypoint18,waypoint18,waypoint2) drop(rover1,rover1store) navigate(rover5,waypoint6,waypoint21) sample_rock(rover2,rover2store,waypoint24) sample_soil(rover0,rover0store,waypoint1) sample_soil(rover3,rover3store,waypoint3) sample_soil(rover4,rover4store,waypoint17)
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STEP 2.1: navigate(rover0,waypoint1,waypoint5) navigate(rover1,waypoint18,waypoint16) navigate(rover2,waypoint24,waypoint14) navigate(rover3,waypoint3,waypoint7) navigate(rover4,waypoint17,waypoint14)
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STEP 3.0: communicate_image_data(rover2,general,objective8,high_res,waypoint14,waypoint2) communicate_image_data(rover3,general,objective1,low_res,waypoint7,waypoint2) communicate_rock_data(rover2,general,waypoint24,waypoint14,waypoint2) communicate_soil_data(rover3,general,waypoint3,waypoint7,waypoint2) communicate_soil_data(rover4,general,waypoint17,waypoint14,waypoint2) drop(rover2,rover2store) drop(rover4,rover4store) navigate(rover0,waypoint5,waypoint16) navigate(rover1,waypoint16,waypoint13) sample_rock(rover5,rover5store,waypoint21) take_image(rover2,waypoint14,objective3,camera7,high_res)
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STEP 3.1: navigate(rover4,waypoint14,waypoint38) navigate(rover5,waypoint21,waypoint6)
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STEP 4.0: communicate_image_data(rover2,general,objective3,high_res,waypoint14,waypoint2) navigate(rover0,waypoint16,waypoint18) navigate(rover1,waypoint13,waypoint25) navigate(rover5,waypoint6,waypoint39) sample_rock(rover2,rover2store,waypoint14) sample_soil(rover4,rover4store,waypoint38)
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STEP 4.1: navigate(rover2,waypoint14,waypoint17) navigate(rover4,waypoint38,waypoint14)
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STEP 5.0: communicate_rock_data(rover2,general,waypoint14,waypoint17,waypoint2) communicate_rock_data(rover5,general,waypoint21,waypoint39,waypoint2) communicate_soil_data(rover0,general,waypoint1,waypoint18,waypoint2) communicate_soil_data(rover4,general,waypoint38,waypoint14,waypoint2) drop(rover4,rover4store) sample_rock(rover1,rover1store,waypoint25)
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STEP 5.1: navigate(rover1,waypoint25,waypoint13) navigate(rover4,waypoint14,waypoint0)
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STEP 6: drop(rover1,rover1store) navigate(rover1,waypoint13,waypoint31) navigate(rover4,waypoint0,waypoint3)
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STEP 7.0: navigate(rover4,waypoint3,waypoint7) sample_rock(rover1,rover1store,waypoint31)
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STEP 7.1: navigate(rover1,waypoint31,waypoint13)
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STEP 8: navigate(rover1,waypoint13,waypoint25) sample_rock(rover4,rover4store,waypoint7)
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STEP 9: communicate_rock_data(rover1,general,waypoint25,waypoint25,waypoint2) communicate_rock_data(rover1,general,waypoint31,waypoint25,waypoint2) communicate_rock_data(rover4,general,waypoint7,waypoint7,waypoint2)
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75 actions in the plan.
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total time 2.03 preprocess 1.88
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total size 525.000 MB
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max. learned clause length 234
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t val conflicts decisions
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0 0 0 0
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5 -1 120 344
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10 1 1 218
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