Benchmark

incremental/QF_BVLRA/20240414-mapf_r/makespan/coef_2/grid/grid_04x04_k2_k7_A3.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	185453
Compressed Size	14294
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	11

Query 1

Status	sat
Inferred Status	None
Size	137330
Compressed Size	11332
Max. Term Depth	10
Asserts	1373
Declared Functions	0
Declared Constants	361
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	7	not	1216	or	1649	and	997
=	3552	let	6	+	126	-	98
*	98	<=	77

Query 2

Status	sat
Inferred Status	None
Size	141078
Compressed Size	11663
Max. Term Depth	10
Asserts	1386
Declared Functions	0
Declared Constants	361
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	7	not	1264	or	1702	and	1005
=	3592	let	6	+	192	-	151
*	142	<=	103

Query 3

Status	sat
Inferred Status	None
Size	153029
Compressed Size	12388
Max. Term Depth	10
Asserts	1423
Declared Functions	0
Declared Constants	361
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	7	not	1407	or	1881	and	1006
=	3734	let	6	/	11	+	408
-	330	*	284	<=	177

Query 4

Status	sat
Inferred Status	None
Size	156604
Compressed Size	12626
Max. Term Depth	10
Asserts	1434
Declared Functions	0
Declared Constants	361
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	7	not	1451	or	1934	and	1008
=	3776	let	6	/	13	+	472
-	383	*	326	<=	199

Query 5

Status	sat
Inferred Status	None
Size	161212
Compressed Size	12888
Max. Term Depth	10
Asserts	1448
Declared Functions	0
Declared Constants	361
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	7	not	1506	or	2003	and	1008
=	3831	let	6	/	17	+	555
-	452	*	382	<=	227

Query 6

Status	sat
Inferred Status	None
Size	168029
Compressed Size	13322
Max. Term Depth	10
Asserts	1470
Declared Functions	0
Declared Constants	361
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	7	not	1587	or	2104	and	1010
=	3910	let	6	/	22	+	678
-	553	*	463	<=	271

Query 7

Status	sat
Inferred Status	None
Size	173127
Compressed Size	13637
Max. Term Depth	10
Asserts	1487
Declared Functions	0
Declared Constants	361
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	7	not	1645	or	2179	and	1010
=	3968	let	6	/	27	+	770
-	628	*	526	<=	305

Query 8

Status	sat
Inferred Status	None
Size	178309
Compressed Size	13810
Max. Term Depth	10
Asserts	1503
Declared Functions	0
Declared Constants	361
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	7	not	1707	or	2257	and	1010
=	4030	let	6	/	27	+	864
-	706	*	590	<=	337

Query 9

Status	sat
Inferred Status	None
Size	184277
Compressed Size	14138
Max. Term Depth	10
Asserts	1521
Declared Functions	0
Declared Constants	361
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	7	not	1778	or	2346	and	1010
=	4101	let	6	/	33	+	971
-	795	*	661	<=	373

Query 10

Status	sat
Inferred Status	None
Size	185312
Compressed Size	14207
Max. Term Depth	10
Asserts	1524
Declared Functions	0
Declared Constants	361
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	7	not	1790	or	2361	and	1010
=	4113	let	6	/	35	+	989
-	810	*	673	<=	379

Query 11

Status	sat
Inferred Status	None
Size	185429
Compressed Size	14241
Max. Term Depth	10
Asserts	1527
Declared Functions	0
Declared Constants	361
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	7	not	1790	or	2361	and	1010
=	4113	let	6	/	36	+	989
-	810	*	673	<=	382