49 lines
6.8 KiB
Plaintext
49 lines
6.8 KiB
Plaintext
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-30.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: roverprob5621
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Parser: 17476 ground actions and 3686 state variables
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Invariants: 0 1 2 3 4 5 6 7 0.05 secs
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Goal: conjunctive
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Simplified: 10500 ground actions and 1160 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 0.02 secs (max SCC size 24)
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Plan type: E-step
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Allocated 32 MB permanent (total 180 MB)
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Horizon 0: 1160 variables
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0 UNSAT (0 decisions 0 conflicts)
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Horizon 5: 72240 variables
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Allocated 32 MB (total 374 MB)
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Horizon 10: 143320 variables
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SAT (326 decisions 2 conflicts)
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PLAN FOUND: 10 steps
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STEP 0.0: calibrate(rover0,camera0,objective3,waypoint0) calibrate(rover2,camera12,objective5,waypoint11) calibrate(rover4,camera8,objective1,waypoint26) calibrate(rover6,camera3,objective6,waypoint14) calibrate(rover9,camera10,objective1,waypoint17) navigate(rover1,waypoint46,waypoint47) navigate(rover3,waypoint47,waypoint25) navigate(rover5,waypoint37,waypoint13) navigate(rover7,waypoint34,waypoint16) navigate(rover8,waypoint13,waypoint39) sample_soil(rover2,rover2store,waypoint11)
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STEP 0.1: navigate(rover0,waypoint0,waypoint33) navigate(rover2,waypoint11,waypoint38) navigate(rover4,waypoint26,waypoint39) navigate(rover6,waypoint14,waypoint10) navigate(rover9,waypoint17,waypoint48)
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STEP 1.0: calibrate(rover3,camera1,objective7,waypoint25) communicate_soil_data(rover2,general,waypoint11,waypoint38,waypoint36) drop(rover2,rover2store) navigate(rover1,waypoint47,waypoint45) navigate(rover5,waypoint13,waypoint1) sample_rock(rover9,rover9store,waypoint48) sample_soil(rover6,rover6store,waypoint10) sample_soil(rover7,rover7store,waypoint16) sample_soil(rover8,rover8store,waypoint39) take_image(rover0,waypoint33,objective1,camera0,high_res) take_image(rover2,waypoint38,objective1,camera12,colour) take_image(rover4,waypoint39,objective1,camera8,low_res) take_image(rover6,waypoint10,objective5,camera3,high_res)
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STEP 1.1: navigate(rover0,waypoint33,waypoint2) navigate(rover2,waypoint38,waypoint11) navigate(rover3,waypoint25,waypoint15) navigate(rover4,waypoint39,waypoint13) navigate(rover6,waypoint10,waypoint14) navigate(rover7,waypoint16,waypoint25) navigate(rover8,waypoint39,waypoint13) navigate(rover9,waypoint48,waypoint17)
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STEP 2.0: communicate_image_data(rover0,general,objective1,high_res,waypoint2,waypoint36) communicate_soil_data(rover7,general,waypoint16,waypoint25,waypoint36) drop(rover6,rover6store) drop(rover7,rover7store) drop(rover8,rover8store) drop(rover9,rover9store) navigate(rover2,waypoint11,waypoint42) navigate(rover5,waypoint1,waypoint24) navigate(rover6,waypoint14,waypoint25) navigate(rover8,waypoint13,waypoint31) sample_rock(rover0,rover0store,waypoint2) sample_rock(rover3,rover3store,waypoint15) sample_rock(rover4,rover4store,waypoint13) sample_soil(rover1,rover1store,waypoint45) take_image(rover3,waypoint15,objective7,camera1,colour) take_image(rover9,waypoint17,objective6,camera10,high_res)
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STEP 2.1: navigate(rover1,waypoint45,waypoint47) navigate(rover3,waypoint15,waypoint25) navigate(rover4,waypoint13,waypoint39) navigate(rover7,waypoint25,waypoint16) navigate(rover9,waypoint17,waypoint18)
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STEP 3.0: communicate_image_data(rover2,general,objective1,colour,waypoint42,waypoint36) communicate_image_data(rover3,general,objective7,colour,waypoint25,waypoint36) communicate_image_data(rover4,general,objective1,low_res,waypoint39,waypoint36) communicate_image_data(rover6,general,objective5,high_res,waypoint25,waypoint36) communicate_image_data(rover9,general,objective6,high_res,waypoint18,waypoint36) communicate_rock_data(rover0,general,waypoint2,waypoint2,waypoint36) communicate_rock_data(rover3,general,waypoint15,waypoint25,waypoint36) communicate_rock_data(rover4,general,waypoint13,waypoint39,waypoint36) communicate_rock_data(rover9,general,waypoint48,waypoint18,waypoint36) communicate_soil_data(rover6,general,waypoint10,waypoint25,waypoint36) drop(rover3,rover3store) navigate(rover1,waypoint47,waypoint46) navigate(rover7,waypoint16,waypoint46) sample_soil(rover5,rover5store,waypoint24) sample_soil(rover6,rover6store,waypoint25) sample_soil(rover8,rover8store,waypoint31)
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STEP 3.1: navigate(rover2,waypoint42,waypoint18) navigate(rover3,waypoint25,waypoint47) navigate(rover5,waypoint24,waypoint1) navigate(rover6,waypoint25,waypoint14) navigate(rover8,waypoint31,waypoint13) navigate(rover9,waypoint18,waypoint43)
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STEP 4.0: drop(rover6,rover6store) drop(rover8,rover8store) navigate(rover1,waypoint46,waypoint37) navigate(rover3,waypoint47,waypoint3) navigate(rover5,waypoint1,waypoint13) navigate(rover6,waypoint14,waypoint10) navigate(rover8,waypoint13,waypoint1) sample_rock(rover9,rover9store,waypoint43) sample_soil(rover2,rover2store,waypoint18) sample_soil(rover7,rover7store,waypoint46)
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STEP 4.1: navigate(rover2,waypoint18,waypoint42) navigate(rover7,waypoint46,waypoint16) navigate(rover9,waypoint43,waypoint42)
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STEP 5.0: communicate_rock_data(rover9,general,waypoint43,waypoint42,waypoint36) communicate_soil_data(rover1,general,waypoint45,waypoint37,waypoint36) communicate_soil_data(rover2,general,waypoint18,waypoint42,waypoint36) drop(rover2,rover2store) navigate(rover3,waypoint3,waypoint19) navigate(rover5,waypoint13,waypoint42) navigate(rover6,waypoint10,waypoint20) navigate(rover7,waypoint16,waypoint42) sample_soil(rover8,rover8store,waypoint1)
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STEP 5.1: navigate(rover2,waypoint42,waypoint41) navigate(rover8,waypoint1,waypoint13)
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STEP 6.0: communicate_soil_data(rover5,general,waypoint24,waypoint42,waypoint36) communicate_soil_data(rover6,general,waypoint25,waypoint20,waypoint36) communicate_soil_data(rover7,general,waypoint46,waypoint42,waypoint36) navigate(rover3,waypoint19,waypoint1) navigate(rover8,waypoint13,waypoint37) sample_soil(rover2,rover2store,waypoint41)
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STEP 6.1: navigate(rover2,waypoint41,waypoint42) navigate(rover6,waypoint20,waypoint49)
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STEP 7.0: communicate_soil_data(rover2,general,waypoint41,waypoint42,waypoint36) communicate_soil_data(rover8,general,waypoint1,waypoint37,waypoint36) communicate_soil_data(rover8,general,waypoint31,waypoint37,waypoint36) communicate_soil_data(rover8,general,waypoint39,waypoint37,waypoint36) sample_rock(rover3,rover3store,waypoint1) sample_soil(rover6,rover6store,waypoint49)
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STEP 7.1: navigate(rover3,waypoint1,waypoint19) navigate(rover6,waypoint49,waypoint20)
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STEP 8: communicate_soil_data(rover6,general,waypoint49,waypoint20,waypoint36) navigate(rover3,waypoint19,waypoint38)
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STEP 9: communicate_rock_data(rover3,general,waypoint1,waypoint38,waypoint36)
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123 actions in the plan.
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total time 8.50 preprocess 8.12
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total size 582.000 MB
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max. learned clause length 336
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t val conflicts decisions
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0 0 0 0
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5 -1 120 363
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10 1 2 326
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