Benchmark

incremental/QF_BVLRA/20240414-mapf_r/makespan/coef_2/grid/grid_04x04_k3_k4_A.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
Size120768
Compressed Size9751
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 102524
Compressed Size8693
Max. Term Depth11
Asserts 960
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not885 or1277 and782
=2660 let3 /206 +56
-44 *44 <=36
Query 2
Status sat
Inferred Status None
Size 105541
Compressed Size8921
Max. Term Depth11
Asserts 970
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not918 or1320 and782
=2693 let3 /215 +109
-87 *84 <=56
Query 3
Status sat
Inferred Status None
Size 110150
Compressed Size9166
Max. Term Depth11
Asserts 984
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not972 or1388 and782
=2747 let3 /228 +191
-155 *138 <=84
Query 4
Status sat
Inferred Status None
Size 112711
Compressed Size9345
Max. Term Depth11
Asserts 992
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not1002 or1425 and783
=2776 let3 /236 +236
-192 *167 <=100
Query 5
Status sat
Inferred Status None
Size 117385
Compressed Size9554
Max. Term Depth11
Asserts 1007
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not1056 or1494 and783
=2830 let3 /246 +320
-259 *222 <=130
Query 6
Status sat
Inferred Status None
Size 120651
Compressed Size9727
Max. Term Depth11
Asserts 1017
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not1093 or1541 and783
=2867 let3 /260 +377
-306 *262 <=150
Query 7
Status sat
Inferred Status None
Size 120752
Compressed Size9756
Max. Term Depth11
Asserts 1019
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not1093 or1541 and783
=2867 let3 /262 +377
-306 *262 <=152