Benchmark

incremental/QF_BVLRA/20240414-mapf_r/makespan/coef_1.5/grid/grid_04x04_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
Size257357
Compressed Size17988
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 calls15
Query 1
Status sat
Inferred Status None
Size 178589
Compressed Size13866
Max. Term Depth15
Asserts 1635
Declared Functions0
Declared Constants296
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not1560 or2330 and1439
=4787 let3 /552 +56
-44 *44 <=36
Query 2
Status sat
Inferred Status None
Size 187408
Compressed Size14347
Max. Term Depth15
Asserts 1661
Declared Functions0
Declared Constants296
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not1664 or2459 and1440
=4890 let3 /575 +211
-173 *147 <=88
Query 3
Status sat
Inferred Status None
Size 198696
Compressed Size14829
Max. Term Depth15
Asserts 1694
Declared Functions0
Declared Constants296
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not1796 or2623 and1441
=5021 let3 /624 +408
-337 *278 <=154
Query 4
Status sat
Inferred Status None
Size 206659
Compressed Size15144
Max. Term Depth15
Asserts 1719
Declared Functions0
Declared Constants296
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not1887 or2738 and1442
=5111 let3 /640 +548
-452 *377 <=204
Query 5
Status sat
Inferred Status None
Size 214005
Compressed Size15554
Max. Term Depth15
Asserts 1741
Declared Functions0
Declared Constants296
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not1971 or2844 and1442
=5195 let3 /678 +676
-554 *461 <=248
Query 6
Status sat
Inferred Status None
Size 228503
Compressed Size16421
Max. Term Depth15
Asserts 1785
Declared Functions0
Declared Constants296
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not2137 or3053 and1443
=5360 let3 /744 +929
-767 *632 <=336
Query 7
Status sat
Inferred Status None
Size 238753
Compressed Size16978
Max. Term Depth15
Asserts 1815
Declared Functions0
Declared Constants296
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not2257 or3200 and1446
=5477 let3 /798 +1106
-915 *749 <=396
Query 8
Status sat
Inferred Status None
Size 239371
Compressed Size17039
Max. Term Depth15
Asserts 1817
Declared Functions0
Declared Constants296
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not2263 or3208 and1446
=5483 let3 /802 +1116
-925 *755 <=400
Query 9
Status sat
Inferred Status None
Size 242942
Compressed Size17292
Max. Term Depth15
Asserts 1828
Declared Functions0
Declared Constants296
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not2304 or3259 and1447
=5523 let3 /817 +1178
-978 *795 <=422
Query 10
Status sat
Inferred Status None
Size 243074
Compressed Size17333
Max. Term Depth15
Asserts 1831
Declared Functions0
Declared Constants296
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not2304 or3259 and1447
=5523 let3 /819 +1178
-978 *795 <=425
Query 11
Status sat
Inferred Status None
Size 248768
Compressed Size17625
Max. Term Depth15
Asserts 1848
Declared Functions0
Declared Constants296
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not2368 or3340 and1447
=5587 let3 /851 +1276
-1070 *859 <=459
Query 12
Status sat
Inferred Status None
Size 252231
Compressed Size17795
Max. Term Depth15
Asserts 1858
Declared Functions0
Declared Constants296
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not2408 or3390 and1447
=5627 let3 /865 +1336
-1121 *899 <=479
Query 13
Status sat
Inferred Status None
Size 253394
Compressed Size17863
Max. Term Depth15
Asserts 1862
Declared Functions0
Declared Constants296
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not2420 or3406 and1447
=5639 let3 /868 +1356
-1137 *915 <=487
Query 14
Status sat
Inferred Status None
Size 257226
Compressed Size18069
Max. Term Depth15
Asserts 1873
Declared Functions0
Declared Constants296
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not2464 or3461 and1447
=5683 let3 /888 +1422
-1192 *959 <=509
Query 15
Status sat
Inferred Status None
Size 257325
Compressed Size18082
Max. Term Depth15
Asserts 1875
Declared Functions0
Declared Constants296
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

ite4 not2464 or3461 and1447
=5683 let3 /890 +1422
-1192 *959 <=511