50 lines
9.2 KiB
Plaintext
50 lines
9.2 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-32.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: 27577 ground actions and 5202 state variables
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Invariants: 0 1 2 3 4 5 6 7 8 0.08 secs
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Goal: conjunctive
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Simplified: 14727 ground actions and 1513 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 33)
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Plan type: E-step
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Allocated 32 MB permanent (total 211 MB)
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Horizon 0: 1513 variables
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0 UNSAT (0 decisions 0 conflicts)
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Horizon 5: 107438 variables
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Allocated 32 MB (total 410 MB)
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Horizon 10: 213363 variables
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SAT (326 decisions 1 conflicts)
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PLAN FOUND: 10 steps
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STEP 0.0: calibrate(rover0,camera10,objective8,waypoint11) calibrate(rover8,camera8,objective2,waypoint27) navigate(rover1,waypoint5,waypoint6) navigate(rover10,waypoint42,waypoint27) navigate(rover3,waypoint40,waypoint39) navigate(rover4,waypoint49,waypoint36) navigate(rover6,waypoint22,waypoint39) navigate(rover7,waypoint31,waypoint10) sample_rock(rover0,rover0store,waypoint11) sample_rock(rover2,rover2store,waypoint56) sample_rock(rover5,rover5store,waypoint45) sample_soil(rover11,rover11store,waypoint51) sample_soil(rover9,rover9store,waypoint38)
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STEP 0.1: navigate(rover0,waypoint11,waypoint31) navigate(rover2,waypoint56,waypoint53) navigate(rover5,waypoint45,waypoint35) navigate(rover8,waypoint27,waypoint55) navigate(rover9,waypoint38,waypoint21)
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STEP 1.0: communicate_rock_data(rover2,general,waypoint56,waypoint53,waypoint26) communicate_soil_data(rover11,general,waypoint51,waypoint51,waypoint26) communicate_soil_data(rover9,general,waypoint38,waypoint21,waypoint26) drop(rover0,rover0store) drop(rover11,rover11store) drop(rover2,rover2store) drop(rover5,rover5store) drop(rover9,rover9store) navigate(rover1,waypoint6,waypoint30) navigate(rover10,waypoint27,waypoint59) navigate(rover3,waypoint39,waypoint40) navigate(rover4,waypoint36,waypoint29) navigate(rover5,waypoint35,waypoint49) navigate(rover6,waypoint39,waypoint31) navigate(rover7,waypoint10,waypoint54) sample_rock(rover8,rover8store,waypoint55) take_image(rover0,waypoint31,objective3,camera10,high_res)
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STEP 1.1: navigate(rover0,waypoint31,waypoint53) navigate(rover11,waypoint51,waypoint3) navigate(rover2,waypoint53,waypoint41) navigate(rover8,waypoint55,waypoint27) navigate(rover9,waypoint21,waypoint34)
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STEP 2.0: calibrate(rover11,camera13,objective9,waypoint3) communicate_image_data(rover0,general,objective3,high_res,waypoint53,waypoint26) communicate_rock_data(rover0,general,waypoint11,waypoint53,waypoint26) drop(rover8,rover8store) navigate(rover3,waypoint40,waypoint2) sample_rock(rover0,rover0store,waypoint53) sample_rock(rover2,rover2store,waypoint41) sample_rock(rover4,rover4store,waypoint29) sample_rock(rover7,rover7store,waypoint54) sample_soil(rover1,rover1store,waypoint30) sample_soil(rover10,rover10store,waypoint59) sample_soil(rover11,rover11store,waypoint3) sample_soil(rover5,rover5store,waypoint49) sample_soil(rover6,rover6store,waypoint31) sample_soil(rover9,rover9store,waypoint34) take_image(rover8,waypoint27,objective3,camera8,low_res)
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STEP 2.1: navigate(rover0,waypoint53,waypoint31) navigate(rover1,waypoint30,waypoint6) navigate(rover10,waypoint59,waypoint27) navigate(rover11,waypoint3,waypoint51) navigate(rover2,waypoint41,waypoint53) navigate(rover4,waypoint29,waypoint36) navigate(rover5,waypoint49,waypoint35) navigate(rover6,waypoint31,waypoint39) navigate(rover7,waypoint54,waypoint10) navigate(rover8,waypoint27,waypoint47) navigate(rover9,waypoint34,waypoint21)
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STEP 3.0: calibrate(rover3,camera11,objective2,waypoint2) communicate_image_data(rover8,general,objective3,low_res,waypoint47,waypoint26) communicate_rock_data(rover2,general,waypoint41,waypoint53,waypoint26) communicate_rock_data(rover8,general,waypoint55,waypoint47,waypoint26) communicate_soil_data(rover11,general,waypoint3,waypoint51,waypoint26) communicate_soil_data(rover9,general,waypoint34,waypoint21,waypoint26) drop(rover0,rover0store) drop(rover1,rover1store) drop(rover10,rover10store) drop(rover11,rover11store) drop(rover2,rover2store) drop(rover4,rover4store) drop(rover5,rover5store) drop(rover6,rover6store) drop(rover7,rover7store) drop(rover9,rover9store) navigate(rover0,waypoint31,waypoint11) navigate(rover1,waypoint6,waypoint24) navigate(rover10,waypoint27,waypoint42) navigate(rover4,waypoint36,waypoint49) navigate(rover5,waypoint35,waypoint45) navigate(rover6,waypoint39,waypoint22) navigate(rover7,waypoint10,waypoint17)
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STEP 3.1: navigate(rover11,waypoint51,waypoint2) navigate(rover2,waypoint53,waypoint56) navigate(rover8,waypoint47,waypoint37) navigate(rover9,waypoint21,waypoint38)
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STEP 4.0: calibrate(rover8,camera8,objective2,waypoint37) communicate_rock_data(rover5,general,waypoint45,waypoint45,waypoint26) communicate_soil_data(rover5,general,waypoint49,waypoint45,waypoint26) navigate(rover0,waypoint11,waypoint1) navigate(rover1,waypoint24,waypoint36) navigate(rover10,waypoint42,waypoint18) navigate(rover2,waypoint56,waypoint21) navigate(rover4,waypoint49,waypoint18) navigate(rover6,waypoint22,waypoint46) navigate(rover9,waypoint38,waypoint25) sample_rock(rover7,rover7store,waypoint17) sample_rock(rover8,rover8store,waypoint37) take_image(rover11,waypoint2,objective0,camera13,colour) take_image(rover3,waypoint2,objective6,camera11,colour)
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STEP 4.1: navigate(rover11,waypoint2,waypoint52) navigate(rover3,waypoint2,waypoint45) navigate(rover5,waypoint45,waypoint7) navigate(rover7,waypoint17,waypoint10) navigate(rover8,waypoint37,waypoint47)
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STEP 5.0: calibrate(rover2,camera9,objective0,waypoint21) communicate_image_data(rover3,general,objective6,colour,waypoint45,waypoint26) communicate_rock_data(rover4,general,waypoint29,waypoint18,waypoint26) communicate_rock_data(rover8,general,waypoint37,waypoint47,waypoint26) communicate_soil_data(rover10,general,waypoint59,waypoint18,waypoint26) navigate(rover0,waypoint1,waypoint50) navigate(rover7,waypoint10,waypoint45) navigate(rover9,waypoint25,waypoint53) sample_rock(rover4,rover4store,waypoint18) sample_soil(rover1,rover1store,waypoint36) sample_soil(rover11,rover11store,waypoint52) sample_soil(rover5,rover5store,waypoint7) sample_soil(rover6,rover6store,waypoint46)
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STEP 5.1: navigate(rover1,waypoint36,waypoint24) navigate(rover10,waypoint18,waypoint58) navigate(rover11,waypoint52,waypoint2) navigate(rover2,waypoint21,waypoint38) navigate(rover4,waypoint18,waypoint58) navigate(rover5,waypoint7,waypoint45) navigate(rover6,waypoint46,waypoint22) navigate(rover8,waypoint47,waypoint24)
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STEP 6.0: communicate_rock_data(rover4,general,waypoint18,waypoint58,waypoint26) communicate_rock_data(rover7,general,waypoint17,waypoint45,waypoint26) communicate_rock_data(rover7,general,waypoint54,waypoint45,waypoint26) communicate_soil_data(rover5,general,waypoint7,waypoint45,waypoint26) drop(rover5,rover5store) navigate(rover1,waypoint24,waypoint6) navigate(rover11,waypoint2,waypoint51) navigate(rover6,waypoint22,waypoint2) sample_rock(rover0,rover0store,waypoint50) sample_rock(rover2,rover2store,waypoint38) sample_soil(rover10,rover10store,waypoint58) sample_soil(rover9,rover9store,waypoint53) take_image(rover2,waypoint38,objective4,camera9,high_res) take_image(rover8,waypoint24,objective9,camera8,high_res)
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STEP 6.1: navigate(rover0,waypoint50,waypoint1) navigate(rover10,waypoint58,waypoint18) navigate(rover2,waypoint38,waypoint21) navigate(rover5,waypoint45,waypoint23) navigate(rover8,waypoint24,waypoint47)
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STEP 7.0: communicate_image_data(rover11,general,objective0,colour,waypoint51,waypoint26) communicate_image_data(rover2,general,objective4,high_res,waypoint21,waypoint26) communicate_image_data(rover8,general,objective9,high_res,waypoint47,waypoint26) communicate_rock_data(rover2,general,waypoint38,waypoint21,waypoint26) communicate_soil_data(rover10,general,waypoint58,waypoint18,waypoint26) communicate_soil_data(rover11,general,waypoint52,waypoint51,waypoint26) communicate_soil_data(rover9,general,waypoint53,waypoint53,waypoint26) drop(rover2,rover2store) navigate(rover0,waypoint1,waypoint47) navigate(rover1,waypoint6,waypoint21) navigate(rover5,waypoint23,waypoint54) navigate(rover6,waypoint2,waypoint51)
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STEP 7.1: navigate(rover2,waypoint21,waypoint43)
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STEP 8.0: communicate_rock_data(rover0,general,waypoint50,waypoint47,waypoint26) communicate_rock_data(rover0,general,waypoint53,waypoint47,waypoint26) communicate_soil_data(rover1,general,waypoint30,waypoint21,waypoint26) communicate_soil_data(rover1,general,waypoint36,waypoint21,waypoint26) communicate_soil_data(rover6,general,waypoint31,waypoint51,waypoint26) communicate_soil_data(rover6,general,waypoint46,waypoint51,waypoint26) sample_rock(rover2,rover2store,waypoint43) sample_soil(rover5,rover5store,waypoint54)
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STEP 8.1: navigate(rover2,waypoint43,waypoint21)
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STEP 9: communicate_rock_data(rover2,general,waypoint43,waypoint21,waypoint26) communicate_soil_data(rover5,general,waypoint54,waypoint54,waypoint26)
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177 actions in the plan.
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total time 25.64 preprocess 24.94
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total size 649.000 MB
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max. learned clause length 437
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t val conflicts decisions
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0 0 0 0
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5 -1 120 471
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10 1 1 326
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