Benchmark

incremental/QF_BVLRA/20240414-mapf_r/makespan/coef_2/grid/grid_02x02_k2_k3_C.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
Size	15266
Compressed Size	2320
License	Creative Commons Attribution 4.0 International (CC-BY-4.0)
Category	industrial
First Occurrence	—
Generated By	Tomas Kolarik
Generated On	2024-04-14 00:00:00
Generator	gitlab.com/Tomaqa/mapf_r
Dolmen OK	1
strict Dolmen OK	1
check-sat calls	6

Query 1

Status	sat
Inferred Status	None
Size	11913
Compressed Size	1983
Max. Term Depth	6
Asserts	111
Declared Functions	0
Declared Constants	79
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	3	not	66	or	82	and	40
=	188	let	2	+	30	-	24
*	24	<=	21

Query 2

Status	sat
Inferred Status	None
Size	13276
Compressed Size	2104
Max. Term Depth	8
Asserts	115
Declared Functions	0
Declared Constants	79
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	3	not	82	or	102	and	40
=	204	let	2	/	2	+	54
-	44	*	40	<=	29

Query 3

Status	sat
Inferred Status	None
Size	13865
Compressed Size	2183
Max. Term Depth	8
Asserts	117
Declared Functions	0
Declared Constants	79
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	3	not	89	or	110	and	41
=	210	let	2	/	2	+	64
-	52	*	46	<=	33

Query 4

Status	sat
Inferred Status	None
Size	14460
Compressed Size	2243
Max. Term Depth	8
Asserts	119
Declared Functions	0
Declared Constants	79
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	3	not	96	or	118	and	42
=	216	let	2	/	2	+	74
-	60	*	53	<=	37

Query 5

Status	sat
Inferred Status	None
Size	15159
Compressed Size	2304
Max. Term Depth	8
Asserts	121
Declared Functions	0
Declared Constants	79
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	3	not	104	or	128	and	42
=	224	let	2	/	3	+	86
-	70	*	61	<=	41

Query 6

Status	sat
Inferred Status	None
Size	15250
Compressed Size	2325
Max. Term Depth	8
Asserts	123
Declared Functions	0
Declared Constants	79
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	3	not	104	or	128	and	42
=	224	let	2	/	4	+	86
-	70	*	61	<=	43