Benchmark

incremental/QF_BVLRA/20240414-mapf_r/makespan/coef_1.5/grid/grid_04x04_k3_k4_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
Size151994
Compressed Size11604
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 calls12
Query 1
Status sat
Inferred Status None
Size 92082
Compressed Size8186
Max. Term Depth11
Asserts 855
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not780 or1126 and687
=2348 let3 /182 +56
-44 *44 <=36
Query 2
Status sat
Inferred Status None
Size 96785
Compressed Size8582
Max. Term Depth11
Asserts 869
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not836 or1195 and688
=2403 let3 /189 +139
-113 *99 <=64
Query 3
Status sat
Inferred Status None
Size 106007
Compressed Size9087
Max. Term Depth11
Asserts 896
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not944 or1329 and689
=2510 let3 /227 +300
-247 *206 <=118
Query 4
Status sat
Inferred Status None
Size 113161
Compressed Size9546
Max. Term Depth11
Asserts 919
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not1025 or1433 and689
=2591 let3 /247 +427
-351 *295 <=164
Query 5
Status sat
Inferred Status None
Size 123478
Compressed Size10070
Max. Term Depth11
Asserts 951
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not1144 or1584 and689
=2710 let3 /276 +610
-499 *418 <=228
Query 6
Status sat
Inferred Status None
Size 135610
Compressed Size10807
Max. Term Depth11
Asserts 987
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not1285 or1761 and689
=2851 let3 /327 +823
-672 *559 <=300
Query 7
Status sat
Inferred Status None
Size 141411
Compressed Size11006
Max. Term Depth11
Asserts 1004
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not1353 or1846 and689
=2919 let3 /350 +925
-757 *627 <=334
Query 8
Status sat
Inferred Status None
Size 146271
Compressed Size11280
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 not1410 or1916 and691
=2974 let3 /368 +1010
-827 *682 <=364
Query 9
Status sat
Inferred Status None
Size 147126
Compressed Size11346
Max. Term Depth11
Asserts 1022
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not1419 or1928 and691
=2983 let3 /370 +1025
-839 *691 <=370
Query 10
Status sat
Inferred Status None
Size 148489
Compressed Size11416
Max. Term Depth11
Asserts 1026
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not1435 or1948 and691
=2999 let3 /372 +1049
-859 *707 <=378
Query 11
Status sat
Inferred Status None
Size 148622
Compressed Size11461
Max. Term Depth11
Asserts 1029
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not1435 or1948 and691
=2999 let3 /374 +1049
-859 *707 <=381
Query 12
Status sat
Inferred Status None
Size 151970
Compressed Size11660
Max. Term Depth11
Asserts 1039
Declared Functions0
Declared Constants232
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not1474 or1996 and692
=3037 let3 /388 +1107
-911 *745 <=401