Benchmark

incremental/QF_BVLRA/20240414-mapf_r/makespan/coef_1.25/grid/grid_04x04_k2_k6_A1.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
Size136531
Compressed Size11212
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 115088
Compressed Size9870
Max. Term Depth9
Asserts 1150
Declared Functions0
Declared Constants310
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite6 not1015 or1371 and828
=2952 let5 +108 -84
*84 <=66
Query 2
Status sat
Inferred Status None
Size 124149
Compressed Size10386
Max. Term Depth9
Asserts 1179
Declared Functions0
Declared Constants310
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite6 not1123 or1506 and830
=3058 let5 /6 +272
-219 *194 <=124
Query 3
Status sat
Inferred Status None
Size 130518
Compressed Size10701
Max. Term Depth9
Asserts 1200
Declared Functions0
Declared Constants310
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite6 not1197 or1601 and830
=3132 let5 /8 +388
-314 *272 <=166
Query 4
Status sat
Inferred Status None
Size 132126
Compressed Size10867
Max. Term Depth9
Asserts 1205
Declared Functions0
Declared Constants310
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite6 not1217 or1624 and832
=3150 let5 /10 +416
-337 *290 <=176
Query 5
Status sat
Inferred Status None
Size 134161
Compressed Size10957
Max. Term Depth9
Asserts 1211
Declared Functions0
Declared Constants310
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite6 not1241 or1654 and832
=3174 let5 /14 +452
-367 *314 <=188
Query 6
Status sat
Inferred Status None
Size 136390
Compressed Size11053
Max. Term Depth9
Asserts 1218
Declared Functions0
Declared Constants310
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite6 not1268 or1687 and833
=3200 let5 /14 +492
-400 *340 <=202
Query 7
Status sat
Inferred Status None
Size 136507
Compressed Size11087
Max. Term Depth9
Asserts 1221
Declared Functions0
Declared Constants310
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite6 not1268 or1687 and833
=3200 let5 /15 +492
-400 *340 <=205