Benchmark

incremental/QF_BVLRA/20240414-mapf_r/soc/coef_1.25/grid/grid_04x04_k3_k8_A2.smt2

Publications: Tomas Kolarik, Stefan Ratschan and Pavel Surynek: "Multi-Agent Path-Finding with Continuous Time Using SAT Modulo Linear Real Arithmetic" in ICAART, SCITEPRESS, 2024.
The benchmarks mimic MAPF problems with continuous time where the objective time must be sub-optimal, bounded by a user-specified coefficient. In the original solver, a simulator checks whether there are collisions between particular agents, according to the current model. This check is missing in the case of the final 'check-sat'. The benchmarks also lack commands for preferring certain variables during the search which is of huge importance when searching for short paths in a graph. However, the final plan must still avoid all collisions encountered by the original solver and the objective time must obey the sub-optimal coefficient. Producing models is crucial for the application since the intended solver communicates values of particular variables with the simulator. This communication is ommited though for simplicity. The final 'get-value' allows to compare with the original solver that the objective time indeed obeys the coefficient. Filenames without the extensions correspond to filenames of resulting plans of the original solver.
Benchmark
Size2752611
Compressed Size142614
License Creative Commons Attribution 4.0 International (CC-BY-4.0)
Categoryindustrial
First Occurrence
Generated ByTomas Kolarik
Generated On2024-04-14 00:00:00
Generatorgitlab.com/Tomaqa/mapf_r
Dolmen OK1
strict Dolmen OK1
check-sat calls54
Query 1
Status sat
Inferred Status None
Size 199622
Compressed Size15520
Max. Term Depth11
Asserts 1882
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not1735 or2508 and1534 =5225
/406 +120 -96 *96
<=64
Query 2
Status sat
Inferred Status None
Size 233246
Compressed Size17316
Max. Term Depth11
Asserts 1982
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not2135 or3001 and1541 =5618
/518 +713 -589 *489
<=264
Query 3
Status sat
Inferred Status None
Size 262675
Compressed Size18975
Max. Term Depth11
Asserts 2071
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not2483 or3431 and1548 =5959
/617 +1232 -1017 *838
<=442
Query 4
Status sat
Inferred Status None
Size 316391
Compressed Size21682
Max. Term Depth11
Asserts 2234
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not3110 or4220 and1549 =6585
/795 +2184 -1793 *1482
<=768
Query 5
Status sat
Inferred Status None
Size 355740
Compressed Size23513
Max. Term Depth11
Asserts 2351
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not3573 or4797 and1552 =7045
/927 +2878 -2369 *1942
<=1002
Query 6
Status sat
Inferred Status None
Size 385422
Compressed Size25041
Max. Term Depth11
Asserts 2443
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not3919 or5232 and1555 =7388
/1001 +3405 -2802 *2307
<=1186
Query 7
Status sat
Inferred Status None
Size 434041
Compressed Size27383
Max. Term Depth11
Asserts 2597
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not4475 or5941 and1556 =7943
/1149 +4268 -3507 *2903
<=1494
Query 8
Status sat
Inferred Status None
Size 465676
Compressed Size29113
Max. Term Depth11
Asserts 2696
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not4841 or6403 and1559 =8306
/1242 +4829 -3968 *3277
<=1692
Query 9
Status sat
Inferred Status None
Size 513415
Compressed Size31432
Max. Term Depth11
Asserts 2843
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not5389 or7098 and1559 =8854
/1395 +5671 -4661 *3839
<=1986
Query 10
Status sat
Inferred Status None
Size 551835
Compressed Size33465
Max. Term Depth11
Asserts 2969
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not5822 or7655 and1561 =9285
/1497 +6354 -5221 *4302
<=2238
Query 11
Status sat
Inferred Status None
Size 606446
Compressed Size36192
Max. Term Depth11
Asserts 3138
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not6454 or8452 and1565 =9913
/1672 +7320 -6023 *4954
<=2576
Query 12
Status sat
Inferred Status None
Size 651684
Compressed Size38662
Max. Term Depth11
Asserts 3278
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not6977 or9111 and1569 =10432
/1827 +8119 -6677 *5498
<=2856
Query 13
Status sat
Inferred Status None
Size 673823
Compressed Size39820
Max. Term Depth11
Asserts 3347
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not7232 or9435 and1569 =10687
/1899 +8512 -7002 *5761
<=2994
Query 14
Status sat
Inferred Status None
Size 686860
Compressed Size40596
Max. Term Depth11
Asserts 3391
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not7380 or9626 and1570 =10834
/1924 +8747 -7193 *5916
<=3082
Query 15
Status sat
Inferred Status None
Size 702849
Compressed Size41507
Max. Term Depth11
Asserts 3441
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not7565 or9859 and1572 =11017
/1984 +9030 -7429 *6099
<=3182
Query 16
Status sat
Inferred Status None
Size 733390
Compressed Size42980
Max. Term Depth11
Asserts 3538
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not7918 or10307 and1574 =11368
/2061 +9575 -7879 *6462
<=3376
Query 17
Status sat
Inferred Status None
Size 772759
Compressed Size44983
Max. Term Depth11
Asserts 3664
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not8368 or10879 and1578 =11814
/2183 +10273 -8452 *6934
<=3628
Query 18
Status sat
Inferred Status None
Size 804406
Compressed Size46450
Max. Term Depth11
Asserts 3760
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not8735 or11342 and1578 =12181
/2298 +10832 -8911 *7304
<=3820
Query 19
Status sat
Inferred Status None
Size 839040
Compressed Size48041
Max. Term Depth11
Asserts 3867
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not9135 or11849 and1578 =12581
/2392 +11446 -9410 *7725
<=4034
Query 20
Status sat
Inferred Status None
Size 861716
Compressed Size49253
Max. Term Depth11
Asserts 3938
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not9396 or12180 and1579 =12841
/2468 +11848 -9742 *7997
<=4176
Query 21
Status sat
Inferred Status None
Size 880959
Compressed Size50301
Max. Term Depth11
Asserts 3998
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not9618 or12460 and1581 =13061
/2542 +12188 -10016 *8227
<=4296
Query 22
Status sat
Inferred Status None
Size 891206
Compressed Size50932
Max. Term Depth11
Asserts 4030
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not9738 or12610 and1583 =13179
/2572 +12370 -10167 *8345
<=4360
Query 23
Status sat
Inferred Status None
Size 925184
Compressed Size52846
Max. Term Depth11
Asserts 4138
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not10127 or13106 and1584 =13567
/2681 +12974 -10663 *8758
<=4576
Query 24
Status sat
Inferred Status None
Size 951507
Compressed Size54120
Max. Term Depth11
Asserts 4220
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not10434 or13492 and1587 =13871
/2757 +13442 -11050 *9067
<=4740
Query 25
Status sat
Inferred Status None
Size 973330
Compressed Size55325
Max. Term Depth11
Asserts 4290
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not10682 or13810 and1587 =14119
/2831 +13830 -11371 *9329
<=4880
Query 26
Status sat
Inferred Status None
Size 988534
Compressed Size56230
Max. Term Depth11
Asserts 4340
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not10853 or14031 and1587 =14290
/2877 +14101 -11594 *9510
<=4980
Query 27
Status sat
Inferred Status None
Size 1019045
Compressed Size57610
Max. Term Depth11
Asserts 4439
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not11202 or14479 and1587 =14639
/2956 +14648 -12041 *9870
<=5178
Query 28
Status sat
Inferred Status None
Size 1035202
Compressed Size58449
Max. Term Depth11
Asserts 4489
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not11390 or14715 and1589 =14825
/3012 +14934 -12276 *10061
<=5278
Query 29
Status sat
Inferred Status None
Size 1048982
Compressed Size59241
Max. Term Depth11
Asserts 4531
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not11553 or14915 and1594 =14983
/3057 +15176 -12478 *10223
<=5362
Query 30
Status sat
Inferred Status None
Size 1068164
Compressed Size60069
Max. Term Depth11
Asserts 4593
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not11774 or15197 and1595 =15203
/3103 +15520 -12766 *10443
<=5486
Query 31
Status sat
Inferred Status None
Size 1080441
Compressed Size60776
Max. Term Depth11
Asserts 4631
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not11917 or15377 and1596 =15345
/3141 +15738 -12948 *10588
<=5562
Query 32
Status sat
Inferred Status None
Size 1105555
Compressed Size61890
Max. Term Depth11
Asserts 4705
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not12212 or15746 and1596 =15640
/3223 +16181 -13313 *10883
<=5710
Query 33
Status sat
Inferred Status None
Size 1111397
Compressed Size62125
Max. Term Depth11
Asserts 4726
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not12275 or15830 and1596 =15703
/3233 +16286 -13399 *10954
<=5752
Query 34
Status sat
Inferred Status None
Size 1122895
Compressed Size62757
Max. Term Depth11
Asserts 4763
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not12408 or15997 and1599 =15833
/3257 +16490 -13563 *11099
<=5826
Query 35
Status sat
Inferred Status None
Size 1132136
Compressed Size63201
Max. Term Depth11
Asserts 4794
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not12512 or16131 and1600 =15936
/3277 +16655 -13696 *11219
<=5888
Query 36
Status sat
Inferred Status None
Size 1138360
Compressed Size63541
Max. Term Depth11
Asserts 4814
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not12583 or16221 and1601 =16006
/3299 +16765 -13783 *11295
<=5928
Query 37
Status unsat
Inferred Status None
Size 1138511
Compressed Size63607
Max. Term Depth11
Asserts 4817
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not12583 or16221 and1601 =16006
/3302 +16765 -13783 *11295
<=5931
Query 38
Status sat
Inferred Status None
Size 2076022
Compressed Size111374
Max. Term Depth11
Asserts 7749
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not23431 or29934 and1668 =26787
/6195 +33410 -27470 *22494
<=11795
Query 39
Status sat
Inferred Status None
Size 2078086
Compressed Size111525
Max. Term Depth11
Asserts 7755
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not23455 or29964 and1668 =26811
/6202 +33446 -27501 *22518
<=11807
Query 40
Status sat
Inferred Status None
Size 2125292
Compressed Size113880
Max. Term Depth11
Asserts 7896
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not24010 or30659 and1669 =27365
/6355 +34282 -28198 *23075
<=12089
Query 41
Status sat
Inferred Status None
Size 2138035
Compressed Size114660
Max. Term Depth11
Asserts 7934
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not24159 or30844 and1671 =27512
/6402 +34505 -28382 *23225
<=12165
Query 42
Status sat
Inferred Status None
Size 2153925
Compressed Size115521
Max. Term Depth11
Asserts 7982
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not24345 or31077 and1672 =27697
/6455 +34786 -28615 *23413
<=12261
Query 43
Status sat
Inferred Status None
Size 2161031
Compressed Size115873
Max. Term Depth11
Asserts 8006
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not24424 or31180 and1672 =27776
/6469 +34913 -28716 *23509
<=12309
Query 44
Status sat
Inferred Status None
Size 2182935
Compressed Size116880
Max. Term Depth11
Asserts 8071
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not24681 or31502 and1672 =28033
/6550 +35300 -29032 *23766
<=12439
Query 45
Status sat
Inferred Status None
Size 2195122
Compressed Size117629
Max. Term Depth11
Asserts 8108
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not24823 or31680 and1673 =28174
/6599 +35515 -29207 *23910
<=12513
Query 46
Status sat
Inferred Status None
Size 2222720
Compressed Size118975
Max. Term Depth11
Asserts 8190
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not25148 or32086 and1674 =28498
/6700 +36003 -29608 *24237
<=12677
Query 47
Status sat
Inferred Status None
Size 2235049
Compressed Size119683
Max. Term Depth11
Asserts 8228
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not25291 or32267 and1674 =28641
/6739 +36222 -29786 *24389
<=12753
Query 48
Status sat
Inferred Status None
Size 2292045
Compressed Size122329
Max. Term Depth11
Asserts 8400
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not25955 or33103 and1674 =29305
/6952 +37230 -30619 *25058
<=13097
Query 49
Status sat
Inferred Status None
Size 2319145
Compressed Size123563
Max. Term Depth11
Asserts 8483
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not26269 or33500 and1674 =29619
/7050 +37710 -31006 *25382
<=13263
Query 50
Status sat
Inferred Status None
Size 2341712
Compressed Size124850
Max. Term Depth11
Asserts 8552
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not26532 or33830 and1676 =29880
/7128 +38109 -31336 *25653
<=13401
Query 51
Status sat
Inferred Status None
Size 2371930
Compressed Size126473
Max. Term Depth11
Asserts 8648
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not26878 or34272 and1676 =30226
/7210 +38647 -31783 *26029
<=13593
Query 52
Status sat
Inferred Status None
Size 2386448
Compressed Size127290
Max. Term Depth11
Asserts 8693
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not27047 or34484 and1678 =30393
/7254 +38904 -31998 *26199
<=13683
Query 53
Status unsat
Inferred Status None
Size 2414503
Compressed Size128774
Max. Term Depth11
Asserts 8779
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not27371 or34893 and1679 =30716
/7346 +39399 -32409 *26539
<=13855
Query 54
Status sat
Inferred Status None
Size 2413943
Compressed Size128435
Max. Term Depth11
Asserts 8778
Declared Functions0
Declared Constants460
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not27371 or34893 and1679 =30716
/7345 +39399 -32409 *26539
<=13854