Benchmark

incremental/QF_BVLRA/20240414-mapf_r/makespan/coef_2/grid/grid_04x04_k3_k5_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
Size1230435
Compressed Size61226
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 calls52
Query 1
Status sat
Inferred Status None
Size 105224
Compressed Size8798
Max. Term Depth10
Asserts 982
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not889 or1275 and774
=2648 let4 /205 +70
-55 *55 <=45
Query 2
Status sat
Inferred Status None
Size 153220
Compressed Size11031
Max. Term Depth10
Asserts 1125
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not1448 or1977 and774
=3207 let4 /397 +915
-738 *627 <=331
Query 3
Status sat
Inferred Status None
Size 172275
Compressed Size11965
Max. Term Depth10
Asserts 1191
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not1659 or2254 and774
=3418 let4 /444 +1258
-1020 *849 <=463
Query 4
Status sat
Inferred Status None
Size 197630
Compressed Size13370
Max. Term Depth10
Asserts 1269
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not1954 or2625 and776
=3711 let4 /527 +1707
-1388 *1159 <=619
Query 5
Status sat
Inferred Status None
Size 242310
Compressed Size15200
Max. Term Depth10
Asserts 1405
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not2468 or3274 and777
=4224 let4 /679 +2492
-2041 *1684 <=891
Query 6
Status sat
Inferred Status None
Size 259541
Compressed Size16102
Max. Term Depth10
Asserts 1456
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not2669 or3525 and778
=4424 let4 /755 +2794
-2288 *1887 <=993
Query 7
Status sat
Inferred Status None
Size 294883
Compressed Size17623
Max. Term Depth10
Asserts 1564
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not3074 or4038 and778
=4829 let4 /872 +3415
-2805 *2318 <=1209
Query 8
Status sat
Inferred Status None
Size 314709
Compressed Size18419
Max. Term Depth10
Asserts 1624
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not3304 or4327 and779
=5058 let4 /932 +3764
-3098 *2548 <=1329
Query 9
Status sat
Inferred Status None
Size 317977
Compressed Size18619
Max. Term Depth10
Asserts 1634
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not3342 or4374 and780
=5095 let4 /942 +3821
-3145 *2585 <=1349
Query 10
Status sat
Inferred Status None
Size 326409
Compressed Size19063
Max. Term Depth10
Asserts 1661
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not3436 or4495 and780
=5189 let4 /970 +3969
-3267 *2687 <=1403
Query 11
Status sat
Inferred Status None
Size 354832
Compressed Size20563
Max. Term Depth10
Asserts 1752
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not3760 or4907 and783
=5510 let4 /1063 +4472
-3685 *3027 <=1585
Query 12
Status sat
Inferred Status None
Size 359544
Compressed Size20870
Max. Term Depth10
Asserts 1768
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not3812 or4974 and784
=5561 let4 /1075 +4555
-3753 *3089 <=1617
Query 13
Status sat
Inferred Status None
Size 366565
Compressed Size21196
Max. Term Depth10
Asserts 1790
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not3892 or5076 and784
=5641 let4 /1094 +4679
-3859 *3177 <=1661
Query 14
Status sat
Inferred Status None
Size 372004
Compressed Size21354
Max. Term Depth10
Asserts 1806
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not3955 or5155 and784
=5704 let4 /1111 +4774
-3939 *3240 <=1693
Query 15
Status sat
Inferred Status None
Size 392108
Compressed Size22309
Max. Term Depth10
Asserts 1872
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not4181 or5447 and784
=5930 let4 /1175 +5132
-4229 *3477 <=1825
Query 16
Status sat
Inferred Status None
Size 410887
Compressed Size23361
Max. Term Depth10
Asserts 1929
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not4400 or5722 and785
=6148 let4 /1241 +5464
-4508 *3695 <=1939
Query 17
Status sat
Inferred Status None
Size 411216
Compressed Size23385
Max. Term Depth10
Asserts 1930
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not4404 or5726 and786
=6151 let4 /1242 +5469
-4512 *3698 <=1941
Query 18
Status sat
Inferred Status None
Size 414013
Compressed Size23513
Max. Term Depth10
Asserts 1940
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not4435 or5767 and786
=6182 let4 /1244 +5520
-4554 *3729 <=1961
Query 19
Status sat
Inferred Status None
Size 416967
Compressed Size23743
Max. Term Depth10
Asserts 1949
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not4469 or5809 and787
=6215 let4 /1258 +5571
-4596 *3764 <=1979
Query 20
Status sat
Inferred Status None
Size 426610
Compressed Size24187
Max. Term Depth10
Asserts 1981
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not4577 or5949 and787
=6323 let4 /1283 +5743
-4740 *3880 <=2043
Query 21
Status unsat
Inferred Status None
Size 444766
Compressed Size24879
Max. Term Depth10
Asserts 2043
Declared Functions0
Declared Constants289
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not4778 or6212 and787
=6524 let4 /1322 +6068
-5006 *4101 <=2167
Query 22
Status sat
Inferred Status None
Size 528407
Compressed Size31006
Max. Term Depth10
Asserts 2864
Declared Functions0
Declared Constants360
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not5579 or7358 and1503
=8906 let4 /1502 +6088
-5021 *4116 <=2177
Query 23
Status sat
Inferred Status None
Size 576934
Compressed Size33244
Max. Term Depth10
Asserts 3016
Declared Functions0
Declared Constants360
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not6135 or8066 and1503
=9462 let4 /1642 +6948
-5724 *4702 <=2481
Query 24
Status sat
Inferred Status None
Size 601595
Compressed Size34370
Max. Term Depth10
Asserts 3094
Declared Functions0
Declared Constants360
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not6418 or8427 and1503
=9745 let4 /1721 +7387
-6086 *4985 <=2637
Query 25
Status sat
Inferred Status None
Size 613869
Compressed Size35066
Max. Term Depth10
Asserts 3131
Declared Functions0
Declared Constants360
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not6561 or8606 and1504
=9887 let4 /1772 +7603
-6260 *5127 <=2711
Query 26
Status sat
Inferred Status None
Size 622297
Compressed Size35555
Max. Term Depth10
Asserts 3157
Declared Functions0
Declared Constants360
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not6659 or8728 and1506
=9983 let4 /1803 +7751
-6379 *5229 <=2763
Query 27
Status sat
Inferred Status None
Size 629470
Compressed Size35946
Max. Term Depth10
Asserts 3181
Declared Functions0
Declared Constants360
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not6739 or8831 and1507
=10062 let4 /1818 +7878
-6483 *5323 <=2811
Query 28
Status sat
Inferred Status None
Size 642618
Compressed Size36655
Max. Term Depth10
Asserts 3223
Declared Functions0
Declared Constants360
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not6887 or9021 and1507
=10210 let4 /1865 +8110
-6673 *5474 <=2895
Query 29
Status sat
Inferred Status None
Size 650975
Compressed Size36954
Max. Term Depth10
Asserts 3249
Declared Functions0
Declared Constants360
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not6983 or9143 and1507
=10306 let4 /1885 +8258
-6794 *5578 <=2947
Query 30
Status sat
Inferred Status None
Size 651848
Compressed Size36995
Max. Term Depth10
Asserts 3252
Declared Functions0
Declared Constants360
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not6992 or9155 and1507
=10315 let4 /1887 +8273
-6806 *5590 <=2953
Query 31
Status sat
Inferred Status None
Size 651991
Compressed Size37052
Max. Term Depth10
Asserts 3255
Declared Functions0
Declared Constants360
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not6992 or9155 and1507
=10315 let4 /1890 +8273
-6806 *5590 <=2956
Query 32
Status sat
Inferred Status None
Size 654619
Compressed Size37174
Max. Term Depth10
Asserts 3263
Declared Functions0
Declared Constants360
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not7023 or9193 and1508
=10345 let4 /1899 +8319
-6842 *5621 <=2972
Query 33
Status sat
Inferred Status None
Size 666846
Compressed Size37911
Max. Term Depth10
Asserts 3301
Declared Functions0
Declared Constants360
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not7166 or9371 and1511
=10485 let4 /1940 +8535
-7019 *5761 <=3048
Query 34
Status sat
Inferred Status None
Size 680373
Compressed Size38715
Max. Term Depth10
Asserts 3343
Declared Functions0
Declared Constants360
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not7322 or9567 and1513
=10639 let4 /1986 +8773
-7218 *5922 <=3132
Query 35
Status sat
Inferred Status None
Size 722031
Compressed Size40614
Max. Term Depth10
Asserts 3470
Declared Functions0
Declared Constants360
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not7803 or10174 and1514
=11119 let4 /2135 +9507
-7830 *6408 <=3386
Query 36
Status sat
Inferred Status None
Size 740009
Compressed Size41641
Max. Term Depth10
Asserts 3525
Declared Functions0
Declared Constants360
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not8011 or10433 and1518
=11323 let4 /2198 +9821
-8091 *6618 <=3496
Query 37
Status sat
Inferred Status None
Size 755411
Compressed Size42428
Max. Term Depth10
Asserts 3570
Declared Functions0
Declared Constants360
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not8191 or10658 and1518
=11503 let4 /2250 +10091
-8319 *6798 <=3586
Query 38
Status sat
Inferred Status None
Size 761391
Compressed Size42727
Max. Term Depth10
Asserts 3589
Declared Functions0
Declared Constants360
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not8257 or10743 and1518
=11569 let4 /2270 +10195
-8405 *6873 <=3624
Query 39
Status sat
Inferred Status None
Size 770556
Compressed Size43221
Max. Term Depth10
Asserts 3619
Declared Functions0
Declared Constants360
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not8361 or10876 and1519
=11672 let4 /2299 +10358
-8534 *6977 <=3684
Query 40
Status sat
Inferred Status None
Size 783247
Compressed Size43865
Max. Term Depth10
Asserts 3658
Declared Functions0
Declared Constants360
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not8505 or11059 and1519
=11816 let4 /2342 +10580
-8717 *7129 <=3762
Query 41
Status sat
Inferred Status None
Size 797224
Compressed Size44558
Max. Term Depth10
Asserts 3699
Declared Functions0
Declared Constants360
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not8669 or11264 and1519
=11980 let4 /2399 +10826
-8915 *7293 <=3844
Query 42
Status sat
Inferred Status None
Size 802370
Compressed Size44909
Max. Term Depth10
Asserts 3715
Declared Functions0
Declared Constants360
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not8728 or11339 and1519
=12039 let4 /2416 +10917
-8990 *7355 <=3876
Query 43
Status sat
Inferred Status None
Size 804747
Compressed Size45049
Max. Term Depth10
Asserts 3722
Declared Functions0
Declared Constants360
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not8756 or11374 and1519
=12067 let4 /2422 +10959
-9025 *7383 <=3890
Query 44
Status sat
Inferred Status None
Size 805380
Compressed Size45124
Max. Term Depth10
Asserts 3724
Declared Functions0
Declared Constants360
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not8764 or11382 and1521
=12073 let4 /2424 +10969
-9034 *7389 <=3894
Query 45
Status sat
Inferred Status None
Size 810456
Compressed Size45395
Max. Term Depth10
Asserts 3739
Declared Functions0
Declared Constants360
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not8823 or11455 and1522
=12131 let4 /2445 +11057
-9105 *7448 <=3924
Query 46
Status sat
Inferred Status None
Size 817622
Compressed Size45790
Max. Term Depth10
Asserts 3761
Declared Functions0
Declared Constants360
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not8906 or11559 and1523
=12213 let4 /2471 +11183
-9206 *7533 <=3968
Query 47
Status sat
Inferred Status None
Size 825058
Compressed Size46270
Max. Term Depth10
Asserts 3783
Declared Functions0
Declared Constants360
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not8992 or11667 and1523
=12299 let4 /2501 +11313
-9314 *7619 <=4012
Query 48
Status sat
Inferred Status None
Size 842782
Compressed Size47192
Max. Term Depth10
Asserts 3839
Declared Functions0
Declared Constants360
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not9193 or11924 and1523
=12500 let4 /2554 +11626
-9568 *7825 <=4124
Query 49
Status sat
Inferred Status None
Size 857147
Compressed Size47766
Max. Term Depth10
Asserts 3884
Declared Functions0
Declared Constants360
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not9355 or12131 and1523
=12662 let4 /2600 +11878
-9777 *7995 <=4214
Query 50
Status sat
Inferred Status None
Size 869556
Compressed Size48354
Max. Term Depth10
Asserts 3921
Declared Functions0
Declared Constants360
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not9498 or12311 and1523
=12805 let4 /2648 +12095
-9958 *8141 <=4288
Query 51
Status sat
Inferred Status None
Size 888232
Compressed Size49170
Max. Term Depth10
Asserts 3979
Declared Functions0
Declared Constants360
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not9712 or12583 and1523
=13019 let4 /2704 +12425
-10229 *8367 <=4404
Query 52
Status sat
Inferred Status None
Size 890292
Compressed Size49288
Max. Term Depth10
Asserts 3985
Declared Functions0
Declared Constants360
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite5 not9736 or12613 and1523
=13043 let4 /2711 +12461
-10257 *8391 <=4416