Benchmark

incremental/QF_BVLRA/20240414-mapf_r/soc/coef_1.5/grid/grid_04x04_k3_k4_D.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
Size954569
Compressed Size49345
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 calls55
Query 1
Status sat
Inferred Status None
Size 74203
Compressed Size6545
Max. Term Depth10
Asserts 687
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not612 or875 and528 =1817
/140 +60 -48 *48
<=32
Query 2
Status sat
Inferred Status None
Size 89990
Compressed Size7374
Max. Term Depth10
Asserts 733
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not796 or1105 and528 =2001
/216 +336 -278 *232
<=124
Query 3
Status sat
Inferred Status None
Size 103454
Compressed Size7974
Max. Term Depth10
Asserts 778
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not946 or1300 and528 =2151
/246 +576 -475 *398
<=214
Query 4
Status sat
Inferred Status None
Size 116956
Compressed Size8604
Max. Term Depth10
Asserts 823
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not1096 or1495 and528 =2301
/276 +816 -670 *578
<=304
Query 5
Status sat
Inferred Status None
Size 128004
Compressed Size9265
Max. Term Depth10
Asserts 857
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not1226 or1657 and530 =2429
/306 +1012 -832 *712
<=372
Query 6
Status sat
Inferred Status None
Size 153872
Compressed Size10471
Max. Term Depth10
Asserts 933
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not1529 or2035 and531 =2731
/414 +1466 -1203 *1015
<=524
Query 7
Status sat
Inferred Status None
Size 170018
Compressed Size11268
Max. Term Depth10
Asserts 982
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not1716 or2270 and532 =2917
/473 +1750 -1438 *1204
<=622
Query 8
Status sat
Inferred Status None
Size 193688
Compressed Size12139
Max. Term Depth10
Asserts 1056
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not1984 or2612 and532 =3185
/541 +2166 -1784 *1480
<=770
Query 9
Status sat
Inferred Status None
Size 196466
Compressed Size12312
Max. Term Depth10
Asserts 1064
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not2016 or2652 and532 =3217
/551 +2214 -1826 *1512
<=786
Query 10
Status sat
Inferred Status None
Size 196798
Compressed Size12339
Max. Term Depth10
Asserts 1065
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not2020 or2656 and533 =3220
/552 +2219 -1830 *1515
<=788
Query 11
Status sat
Inferred Status None
Size 215717
Compressed Size13239
Max. Term Depth10
Asserts 1124
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not2238 or2933 and533 =3438
/612 +2555 -2108 *1733
<=906
Query 12
Status sat
Inferred Status None
Size 221144
Compressed Size13500
Max. Term Depth10
Asserts 1141
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not2300 or3011 and534 =3499
/635 +2650 -2186 *1794
<=940
Query 13
Status sat
Inferred Status None
Size 240447
Compressed Size14323
Max. Term Depth10
Asserts 1201
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not2523 or3294 and534 =3722
/688 +2993 -2477 *2025
<=1060
Query 14
Status sat
Inferred Status None
Size 243292
Compressed Size14468
Max. Term Depth10
Asserts 1211
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not2554 or3335 and534 =3753
/694 +3044 -2519 *2056
<=1080
Query 15
Status sat
Inferred Status None
Size 246043
Compressed Size14608
Max. Term Depth10
Asserts 1219
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not2586 or3375 and534 =3785
/704 +3092 -2561 *2088
<=1096
Query 16
Status sat
Inferred Status None
Size 246372
Compressed Size14639
Max. Term Depth10
Asserts 1220
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not2590 or3379 and535 =3788
/705 +3097 -2565 *2091
<=1098
Query 17
Status sat
Inferred Status None
Size 260508
Compressed Size15268
Max. Term Depth10
Asserts 1263
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not2753 or3584 and536 =3950
/757 +3345 -2770 *2262
<=1184
Query 18
Status unsat
Inferred Status None
Size 268773
Compressed Size15633
Max. Term Depth10
Asserts 1289
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not2847 or3704 and536 =4044
/780 +3491 -2892 *2356
<=1236
Query 19
Status sat
Inferred Status None
Size 335571
Compressed Size20352
Max. Term Depth10
Asserts 1945
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not3487 or4620 and1108 =5948
/924 +3507 -2904 *2368
<=1244
Query 20
Status sat
Inferred Status None
Size 364577
Compressed Size21734
Max. Term Depth10
Asserts 2031
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not3828 or5047 and1108 =6289
/1010 +4020 -3330 *2712
<=1416
Query 21
Status sat
Inferred Status None
Size 391062
Compressed Size23055
Max. Term Depth10
Asserts 2116
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not4131 or5434 and1109 =6591
/1078 +4492 -3713 *3017
<=1586
Query 22
Status sat
Inferred Status None
Size 401964
Compressed Size23655
Max. Term Depth10
Asserts 2153
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not4253 or5593 and1109 =6713
/1098 +4688 -3872 *3154
<=1660
Query 23
Status sat
Inferred Status None
Size 403938
Compressed Size23782
Max. Term Depth10
Asserts 2160
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not4275 or5621 and1110 =6734
/1103 +4723 -3900 *3175
<=1674
Query 24
Status sat
Inferred Status None
Size 410846
Compressed Size24144
Max. Term Depth10
Asserts 2183
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not4351 or5720 and1110 =6810
/1124 +4845 -3999 *3259
<=1720
Query 25
Status sat
Inferred Status None
Size 416847
Compressed Size24526
Max. Term Depth10
Asserts 2201
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not4420 or5807 and1110 =6879
/1149 +4950 -4086 *3331
<=1756
Query 26
Status sat
Inferred Status None
Size 428888
Compressed Size25159
Max. Term Depth10
Asserts 2238
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not4559 or5983 and1110 =7018
/1190 +5163 -4259 *3476
<=1830
Query 27
Status sat
Inferred Status None
Size 432021
Compressed Size25371
Max. Term Depth10
Asserts 2247
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not4595 or6028 and1110 =7054
/1206 +5217 -4304 *3512
<=1848
Query 28
Status sat
Inferred Status None
Size 442749
Compressed Size25782
Max. Term Depth10
Asserts 2280
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not4718 or6184 and1110 =7177
/1236 +5406 -4461 *3635
<=1914
Query 29
Status sat
Inferred Status None
Size 460820
Compressed Size26562
Max. Term Depth10
Asserts 2336
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not4923 or6444 and1111 =7381
/1299 +5722 -4723 *3849
<=2026
Query 30
Status sat
Inferred Status None
Size 466501
Compressed Size26836
Max. Term Depth10
Asserts 2354
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not4987 or6526 and1111 =7445
/1316 +5822 -4804 *3921
<=2062
Query 31
Status sat
Inferred Status None
Size 469605
Compressed Size27020
Max. Term Depth10
Asserts 2363
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not5023 or6571 and1111 =7481
/1327 +5876 -4851 *3957
<=2080
Query 32
Status sat
Inferred Status None
Size 472094
Compressed Size27110
Max. Term Depth10
Asserts 2372
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not5050 or6607 and1111 =7508
/1329 +5921 -4888 *3984
<=2098
Query 33
Status sat
Inferred Status None
Size 483724
Compressed Size27659
Max. Term Depth10
Asserts 2406
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not5186 or6776 and1112 =7643
/1370 +6124 -5060 *4119
<=2166
Query 34
Status sat
Inferred Status None
Size 487082
Compressed Size27795
Max. Term Depth10
Asserts 2418
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not5222 or6824 and1112 =7679
/1374 +6184 -5109 *4163
<=2190
Query 35
Status sat
Inferred Status None
Size 487226
Compressed Size27851
Max. Term Depth10
Asserts 2421
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not5222 or6824 and1112 =7679
/1377 +6184 -5109 *4163
<=2193
Query 36
Status sat
Inferred Status None
Size 503564
Compressed Size28747
Max. Term Depth10
Asserts 2469
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not5414 or7064 and1112 =7871
/1447 +6472 -5344 *4355
<=2289
Query 37
Status sat
Inferred Status None
Size 526670
Compressed Size29803
Max. Term Depth10
Asserts 2538
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not5684 or7402 and1113 =8140
/1530 +6879 -5685 *4627
<=2427
Query 38
Status sat
Inferred Status None
Size 544534
Compressed Size30821
Max. Term Depth10
Asserts 2591
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not5894 or7663 and1115 =8348
/1603 +7193 -5949 *4835
<=2533
Query 39
Status sat
Inferred Status None
Size 569944
Compressed Size32047
Max. Term Depth10
Asserts 2670
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not6187 or8034 and1116 =8640
/1687 +7643 -6325 *5135
<=2691
Query 40
Status sat
Inferred Status None
Size 596301
Compressed Size33204
Max. Term Depth10
Asserts 2749
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not6497 or8423 and1116 =8950
/1760 +8111 -6713 *5448
<=2849
Query 41
Status sat
Inferred Status None
Size 612061
Compressed Size33957
Max. Term Depth10
Asserts 2799
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not6679 or8654 and1117 =9131
/1803 +8392 -6943 *5629
<=2949
Query 42
Status sat
Inferred Status None
Size 624045
Compressed Size34616
Max. Term Depth10
Asserts 2834
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not6819 or8829 and1117 =9271
/1851 +8602 -7120 *5769
<=3019
Query 43
Status sat
Inferred Status None
Size 635701
Compressed Size35223
Max. Term Depth10
Asserts 2872
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not6951 or8999 and1117 =9403
/1878 +8810 -7286 *5915
<=3095
Query 44
Status sat
Inferred Status None
Size 654344
Compressed Size36073
Max. Term Depth10
Asserts 2929
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not7167 or9272 and1117 =9619
/1943 +9140 -7560 *6131
<=3209
Query 45
Status sat
Inferred Status None
Size 663566
Compressed Size36614
Max. Term Depth10
Asserts 2957
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not7272 or9405 and1117 =9724
/1987 +9301 -7690 *6239
<=3265
Query 46
Status sat
Inferred Status None
Size 683565
Compressed Size37415
Max. Term Depth10
Asserts 3019
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not7502 or9697 and1117 =9954
/2052 +9655 -7984 *6478
<=3389
Query 47
Status sat
Inferred Status None
Size 699403
Compressed Size38216
Max. Term Depth10
Asserts 3069
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not7682 or9926 and1118 =10133
/2099 +9934 -8214 *6676
<=3489
Query 48
Status sat
Inferred Status None
Size 709429
Compressed Size38641
Max. Term Depth10
Asserts 3100
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not7797 or10072 and1118 =10248
/2132 +10111 -8361 *6791
<=3551
Query 49
Status sat
Inferred Status None
Size 710859
Compressed Size38734
Max. Term Depth10
Asserts 3105
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not7812 or10092 and1118 =10263
/2136 +10136 -8381 *6809
<=3561
Query 50
Status sat
Inferred Status None
Size 725370
Compressed Size39363
Max. Term Depth10
Asserts 3150
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not7980 or10305 and1118 =10431
/2174 +10394 -8591 *6989
<=3651
Query 51
Status sat
Inferred Status None
Size 729184
Compressed Size39602
Max. Term Depth10
Asserts 3162
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not8023 or10360 and1118 =10474
/2189 +10461 -8646 *7035
<=3675
Query 52
Status sat
Inferred Status None
Size 745562
Compressed Size40301
Max. Term Depth10
Asserts 3210
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not8214 or10599 and1118 =10665
/2259 +10748 -8873 *7227
<=3771
Query 53
Status sat
Inferred Status None
Size 756340
Compressed Size40886
Max. Term Depth10
Asserts 3242
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not8339 or10755 and1119 =10789
/2306 +10936 -9027 *7354
<=3835
Query 54
Status sat
Inferred Status None
Size 758789
Compressed Size40983
Max. Term Depth10
Asserts 3249
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not8367 or10790 and1119 =10817
/2318 +10978 -9062 *7382
<=3849
Query 55
Status sat
Inferred Status None
Size 759652
Compressed Size41025
Max. Term Depth10
Asserts 3252
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not8376 or10802 and1119 =10826
/2320 +10993 -9074 *7391
<=3855