Benchmark

incremental/QF_BVLRA/20240414-mapf_r/makespan/coef_2/grid/grid_04x04_k2_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
Size122772
Compressed Size10178
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 calls13
Query 1
Status sat
Inferred Status None
Size 92335
Compressed Size8076
Max. Term Depth7
Asserts 931
Declared Functions0
Declared Constants248
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not824 or1087 and656
=2325 let3 +88 -68
*68 <=52
Query 2
Status sat
Inferred Status None
Size 98241
Compressed Size8590
Max. Term Depth8
Asserts 949
Declared Functions0
Declared Constants248
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not895 or1175 and657
=2395 let3 /5 +194
-154 *139 <=88
Query 3
Status sat
Inferred Status None
Size 101891
Compressed Size8824
Max. Term Depth8
Asserts 961
Declared Functions0
Declared Constants248
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not938 or1229 and658
=2437 let3 /5 +260
-208 *181 <=112
Query 4
Status sat
Inferred Status None
Size 106912
Compressed Size9184
Max. Term Depth8
Asserts 976
Declared Functions0
Declared Constants248
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not998 or1304 and658
=2497 let3 /9 +350
-283 *241 <=142
Query 5
Status sat
Inferred Status None
Size 108629
Compressed Size9267
Max. Term Depth8
Asserts 981
Declared Functions0
Declared Constants248
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not1018 or1329 and658
=2517 let3 /13 +380
-308 *261 <=152
Query 6
Status sat
Inferred Status None
Size 110013
Compressed Size9345
Max. Term Depth8
Asserts 986
Declared Functions0
Declared Constants248
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not1033 or1349 and658
=2532 let3 /13 +405
-328 *277 <=162
Query 7
Status sat
Inferred Status None
Size 112683
Compressed Size9463
Max. Term Depth8
Asserts 994
Declared Functions0
Declared Constants248
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not1065 or1389 and658
=2564 let3 /13 +453
-368 *309 <=178
Query 8
Status sat
Inferred Status None
Size 114084
Compressed Size9532
Max. Term Depth8
Asserts 999
Declared Functions0
Declared Constants248
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not1080 or1409 and658
=2579 let3 /13 +478
-388 *328 <=188
Query 9
Status sat
Inferred Status None
Size 115471
Compressed Size9623
Max. Term Depth8
Asserts 1004
Declared Functions0
Declared Constants248
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not1095 or1429 and658
=2594 let3 /13 +503
-408 *343 <=198
Query 10
Status sat
Inferred Status None
Size 117524
Compressed Size9771
Max. Term Depth8
Asserts 1010
Declared Functions0
Declared Constants248
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not1119 or1459 and658
=2618 let3 /17 +539
-438 *367 <=210
Query 11
Status sat
Inferred Status None
Size 121216
Compressed Size9974
Max. Term Depth8
Asserts 1022
Declared Functions0
Declared Constants248
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not1162 or1514 and658
=2661 let3 /17 +606
-493 *410 <=234
Query 12
Status sat
Inferred Status None
Size 122664
Compressed Size10052
Max. Term Depth8
Asserts 1027
Declared Functions0
Declared Constants248
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not1178 or1535 and658
=2677 let3 /17 +632
-514 *426 <=244
Query 13
Status sat
Inferred Status None
Size 122756
Compressed Size10074
Max. Term Depth8
Asserts 1029
Declared Functions0
Declared Constants248
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not1178 or1535 and658
=2677 let3 /18 +632
-514 *426 <=246