Benchmark

incremental/QF_BVLRA/20240414-mapf_r/makespan/coef_2/grid/grid_04x04_k4_k3_B.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
Size216341
Compressed Size14239
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 calls7
Query 1
Status sat
Inferred Status None
Size 132027
Compressed Size10503
Max. Term Depth15
Asserts 1205
Declared Functions0
Declared Constants223
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite3 not1148 or1715 and1059
=3525 let2 /406 +42
-33 *33 <=27
Query 2
Status sat
Inferred Status None
Size 150978
Compressed Size11463
Max. Term Depth15
Asserts 1260
Declared Functions0
Declared Constants223
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite3 not1368 or1989 and1060
=3744 let2 /504 +371
-323 *252 <=137
Query 3
Status sat
Inferred Status None
Size 183433
Compressed Size12781
Max. Term Depth15
Asserts 1356
Declared Functions0
Declared Constants223
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite3 not1745 or2462 and1060
=4121 let2 /638 +940
-797 *635 <=329
Query 4
Status sat
Inferred Status None
Size 197547
Compressed Size13381
Max. Term Depth15
Asserts 1402
Declared Functions0
Declared Constants223
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite3 not1904 or2666 and1061
=4279 let2 /698 +1190
-1004 *793 <=421
Query 5
Status sat
Inferred Status None
Size 212856
Compressed Size14047
Max. Term Depth15
Asserts 1448
Declared Functions0
Declared Constants223
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite3 not2079 or2887 and1061
=4454 let2 /776 +1457
-1222 *977 <=513
Query 6
Status sat
Inferred Status None
Size 216220
Compressed Size14219
Max. Term Depth15
Asserts 1458
Declared Functions0
Declared Constants223
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite3 not2118 or2935 and1062
=4492 let2 /794 +1515
-1265 *1016 <=533
Query 7
Status sat
Inferred Status None
Size 216325
Compressed Size14250
Max. Term Depth15
Asserts 1460
Declared Functions0
Declared Constants223
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite3 not2118 or2935 and1062
=4492 let2 /796 +1515
-1265 *1016 <=535