Benchmark

incremental/QF_BVLRA/20240414-mapf_r/makespan/coef_1.25/grid/grid_04x04_k2_k8_C.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
Size	272299
Compressed Size	19696
License	Creative Commons Attribution 4.0 International (CC-BY-4.0)
Category	industrial
First Occurrence	—
Generated By	Tomas Kolarik
Generated On	2024-04-14 00:00:00
Generator	gitlab.com/Tomaqa/mapf_r
Dolmen OK	1
strict Dolmen OK	1
check-sat calls	34

Query 1

Status	sat
Inferred Status	None
Size	147670
Compressed Size	12492
Max. Term Depth	11
Asserts	1482
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	1303	or	1751	and	1053
=	3760	let	7	+	144	-	112
*	112	<=	88

Query 2

Status	sat
Inferred Status	None
Size	167322
Compressed Size	13745
Max. Term Depth	11
Asserts	1545
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	1533	or	2044	and	1053
=	3990	let	7	/	8	+	500
-	404	*	361	<=	214

Query 3

Status	sat
Inferred Status	None
Size	171471
Compressed Size	14073
Max. Term Depth	11
Asserts	1559
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	1583	or	2104	and	1057
=	4036	let	7	/	10	+	574
-	464	*	408	<=	242

Query 4

Status	sat
Inferred Status	None
Size	178532
Compressed Size	14456
Max. Term Depth	11
Asserts	1581
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	1666	or	2209	and	1057
=	4119	let	7	/	16	+	701
-	569	*	495	<=	286

Query 5

Status	sat
Inferred Status	None
Size	186721
Compressed Size	14890
Max. Term Depth	11
Asserts	1607
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	1762	or	2331	and	1057
=	4215	let	7	/	24	+	849
-	691	*	592	<=	338

Query 6

Status	sat
Inferred Status	None
Size	192402
Compressed Size	15158
Max. Term Depth	11
Asserts	1626
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	1827	or	2415	and	1057
=	4280	let	7	/	26	+	952
-	775	*	662	<=	376

Query 7

Status	sat
Inferred Status	None
Size	194449
Compressed Size	15286
Max. Term Depth	11
Asserts	1632
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	1851	or	2445	and	1057
=	4304	let	7	/	30	+	988
-	805	*	686	<=	388

Query 8

Status	sat
Inferred Status	None
Size	195586
Compressed Size	15343
Max. Term Depth	11
Asserts	1636
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	1863	or	2461	and	1057
=	4316	let	7	/	30	+	1008
-	821	*	701	<=	396

Query 9

Status	sat
Inferred Status	None
Size	196710
Compressed Size	15381
Max. Term Depth	11
Asserts	1640
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	1875	or	2477	and	1057
=	4328	let	7	/	30	+	1028
-	837	*	714	<=	404

Query 10

Status	sat
Inferred Status	None
Size	203097
Compressed Size	15712
Max. Term Depth	11
Asserts	1660
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	1950	or	2572	and	1057
=	4403	let	7	/	34	+	1143
-	931	*	790	<=	444

Query 11

Status	sat
Inferred Status	None
Size	206558
Compressed Size	15913
Max. Term Depth	11
Asserts	1671
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	1990	or	2623	and	1057
=	4443	let	7	/	38	+	1205
-	982	*	834	<=	466

Query 12

Status	sat
Inferred Status	None
Size	209540
Compressed Size	16126
Max. Term Depth	11
Asserts	1680
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	2026	or	2667	and	1058
=	4478	let	7	/	42	+	1258
-	1025	*	869	<=	484

Query 13

Status	sat
Inferred Status	None
Size	211825
Compressed Size	16248
Max. Term Depth	11
Asserts	1688
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	2051	or	2700	and	1058
=	4503	let	7	/	42	+	1299
-	1058	*	898	<=	500

Query 14

Status	sat
Inferred Status	None
Size	217920
Compressed Size	16480
Max. Term Depth	11
Asserts	1710
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	2119	or	2789	and	1059
=	4570	let	7	/	42	+	1410
-	1147	*	979	<=	544

Query 15

Status	sat
Inferred Status	None
Size	221612
Compressed Size	16684
Max. Term Depth	11
Asserts	1722
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	2162	or	2844	and	1059
=	4613	let	7	/	42	+	1477
-	1202	*	1022	<=	568

Query 16

Status	sat
Inferred Status	None
Size	225751
Compressed Size	16950
Max. Term Depth	11
Asserts	1735
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	2210	or	2905	and	1059
=	4661	let	7	/	48	+	1551
-	1263	*	1070	<=	594

Query 17

Status	sat
Inferred Status	None
Size	229096
Compressed Size	17150
Max. Term Depth	11
Asserts	1746
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	2249	or	2954	and	1060
=	4699	let	7	/	48	+	1611
-	1312	*	1110	<=	616

Query 18

Status	sat
Inferred Status	None
Size	232976
Compressed Size	17401
Max. Term Depth	11
Asserts	1759
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	2293	or	3011	and	1060
=	4743	let	7	/	51	+	1681
-	1369	*	1158	<=	642

Query 19

Status	sat
Inferred Status	None
Size	235599
Compressed Size	17522
Max. Term Depth	11
Asserts	1767
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	2324	or	3050	and	1060
=	4774	let	7	/	51	+	1728
-	1408	*	1189	<=	658

Query 20

Status	sat
Inferred Status	None
Size	235725
Compressed Size	17566
Max. Term Depth	11
Asserts	1770
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	2324	or	3050	and	1060
=	4774	let	7	/	53	+	1728
-	1408	*	1189	<=	661

Query 21

Status	sat
Inferred Status	None
Size	237197
Compressed Size	17651
Max. Term Depth	11
Asserts	1775
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	2340	or	3071	and	1060
=	4790	let	7	/	53	+	1754
-	1429	*	1209	<=	671

Query 22

Status	sat
Inferred Status	None
Size	237299
Compressed Size	17661
Max. Term Depth	11
Asserts	1777
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	2340	or	3071	and	1060
=	4790	let	7	/	55	+	1754
-	1429	*	1209	<=	673

Query 23

Status	sat
Inferred Status	None
Size	240676
Compressed Size	17840
Max. Term Depth	11
Asserts	1788
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	2379	or	3121	and	1060
=	4829	let	7	/	59	+	1815
-	1479	*	1248	<=	695

Query 24

Status	sat
Inferred Status	None
Size	243052
Compressed Size	17937
Max. Term Depth	11
Asserts	1796
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	2406	or	3156	and	1060
=	4856	let	7	/	61	+	1858
-	1514	*	1275	<=	711

Query 25

Status	sat
Inferred Status	None
Size	247321
Compressed Size	18217
Max. Term Depth	11
Asserts	1809
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	2457	or	3219	and	1061
=	4906	let	7	/	69	+	1934
-	1577	*	1325	<=	737

Query 26

Status	sat
Inferred Status	None
Size	250092
Compressed Size	18367
Max. Term Depth	11
Asserts	1818
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	2489	or	3260	and	1061
=	4938	let	7	/	69	+	1984
-	1618	*	1361	<=	755

Query 27

Status	sat
Inferred Status	None
Size	251127
Compressed Size	18423
Max. Term Depth	11
Asserts	1821
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	2501	or	3275	and	1061
=	4950	let	7	/	71	+	2002
-	1633	*	1373	<=	761

Query 28

Status	sat
Inferred Status	None
Size	254536
Compressed Size	18591
Max. Term Depth	11
Asserts	1832
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	2541	or	3326	and	1061
=	4990	let	7	/	71	+	2064
-	1684	*	1414	<=	783

Query 29

Status	sat
Inferred Status	None
Size	257195
Compressed Size	18650
Max. Term Depth	11
Asserts	1840
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	2573	or	3366	and	1061
=	5022	let	7	/	71	+	2112
-	1724	*	1446	<=	799

Query 30

Status	sat
Inferred Status	None
Size	257288
Compressed Size	18661
Max. Term Depth	11
Asserts	1842
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	2573	or	3366	and	1061
=	5022	let	7	/	72	+	2112
-	1724	*	1446	<=	801

Query 31

Status	sat
Inferred Status	None
Size	258903
Compressed Size	18780
Max. Term Depth	11
Asserts	1847
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	2593	or	3389	and	1063
=	5040	let	7	/	74	+	2140
-	1747	*	1464	<=	811

Query 32

Status	sat
Inferred Status	None
Size	261716
Compressed Size	18954
Max. Term Depth	11
Asserts	1856
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	2625	or	3430	and	1063
=	5072	let	7	/	78	+	2190
-	1788	*	1500	<=	829

Query 33

Status	sat
Inferred Status	None
Size	264959
Compressed Size	19199
Max. Term Depth	11
Asserts	1866
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	2665	or	3477	and	1066
=	5109	let	7	/	81	+	2247
-	1835	*	1537	<=	849

Query 34

Status	sat
Inferred Status	None
Size	272259
Compressed Size	19596
Max. Term Depth	11
Asserts	1888
Declared Functions	0
Declared Constants	412
Declared Sorts	0
Defined Functions	0
Defined Recursive Functions	0
Defined Sorts	0
Constants	0
Declared Datatypes	0

Symbols

ite	8	not	2752	or	3585	and	1067
=	5195	let	7	/	91	+	2377
-	1943	*	1623	<=	893