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The following is our implementation for the Automated Warehouse Scenario, details about which can be found in the ASP challenge 2019
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We have succesfully completed the project, please find below the directory structure
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simpleInstances It contains the various initialization files for checking the working of the system.
- inst1.asp
- inst2.asp
- inst3.asp
- inst4.asp
- inst5.asp
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convert_input.asp It changes the input file schema to an easily readable and understanble form that we used to implement the constraints of the project.
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parsing.asp This file contains code for obtaining various values for the number of objects and their type in the system.
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demo.asp The main file where the code for all the constraints resides including
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description.pdf The pdf containing the problem statement and description of the system.
- script.py A python file for easier execution of the program.
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- Make sure you have python configured on the system.
- Make sure you have clingo configured on the system.
- Download the project into a suitable folder on your local computer.
- Run the script.py file to test the project.
C:\Users\Anish\Desktop\Master\CSE579Warehouseing>python script.py
| code | Instance File |
|---|---|
| 1 | inst1.asp |
| 2 | inst2.asp |
| 3 | inst3.asp |
| 4 | inst4.asp |
| 5 | inst5.asp |
Please enter the code for the instance file: 1
---------- RUNNING ----------
clingo version 5.4.0 Reading from demo.asp ... Solving... Answer: 1 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,1),move(-1,0),1) occurs(object(robot,2),move(1,0),1) occurs(object(robot,2),move(0,-1),2) occurs(object(robot,1),move(-1,0),3) occurs(object(robot,2),move(0,1),5) occurs(object(robot,1),move(0,-1),6) occurs(object(robot,2),move(0,-1),7) occurs(object(robot,1),move(0,1),8) occurs(object(robot,2),pickup,0) occurs(object(robot,1),pickup,2) occurs(object(robot,2),pickup,6) occurs(object(robot,1),pickup,7) occurs(object(robot,2),putdown,4) occurs(object(robot,1),putdown,5) occurs(object(robot,2),deliver(2,2,1),3) occurs(object(robot,1),deliver(1,1,1),4) occurs(object(robot,1),deliver(1,3,4),9) occurs(object(robot,2),deliver(3,4,1),9) timeTaken(9) numActions(19) Optimization: 64 OPTIMUM FOUND
Models : 1 Optimum : yes Optimization : 64 Calls : 1 Time : 0.377s (Solving: 0.25s 1st Model: 0.13s Unsat: 0.13s) CPU Time : 0.375s
C:\Users\Anish\Desktop\Master\CSE579Warehouseing>python script.py
| code | Instance File |
|---|---|
| 1 | inst1.asp |
| 2 | inst2.asp |
| 3 | inst3.asp |
| 4 | inst4.asp |
| 5 | inst5.asp |
Please enter the code for the instance file: 2
---------- RUNNING ----------
clingo version 5.4.0 Reading from demo.asp ... Solving... Answer: 1 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,1),move(-1,0),1) occurs(object(robot,2),move(1,0),1) occurs(object(robot,1),move(0,-1),2) occurs(object(robot,2),move(0,1),3) occurs(object(robot,1),move(0,-1),4) occurs(object(robot,2),move(-1,0),4) occurs(object(robot,1),move(-1,0),5) occurs(object(robot,2),move(-1,0),5) occurs(object(robot,1),move(0,1),6) occurs(object(robot,1),move(0,-1),7) occurs(object(robot,1),move(1,0),8) occurs(object(robot,2),move(1,0),8) occurs(object(robot,1),move(1,0),9) occurs(object(robot,2),move(-1,0),10) occurs(object(robot,2),pickup,2) occurs(object(robot,1),pickup,3) occurs(object(robot,2),pickup,9) occurs(object(robot,2),putdown,7) occurs(object(robot,2),deliver(1,3,2),6) occurs(object(robot,1),deliver(2,2,1),10) occurs(object(robot,2),deliver(1,1,1),11) timeTaken(11) numActions(22) Optimization: 88 Answer: 2 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,2),move(1,0),1) occurs(object(robot,1),move(-1,0),2) occurs(object(robot,1),move(0,-1),3) occurs(object(robot,2),move(0,1),3) occurs(object(robot,2),move(-1,0),4) occurs(object(robot,1),move(0,-1),5) occurs(object(robot,2),move(-1,0),5) occurs(object(robot,1),move(1,0),6) occurs(object(robot,2),move(1,0),8) occurs(object(robot,1),move(-1,0),9) occurs(object(robot,1),move(1,0),10) occurs(object(robot,2),move(-1,0),10) occurs(object(robot,2),pickup,2) occurs(object(robot,1),pickup,4) occurs(object(robot,2),pickup,9) occurs(object(robot,2),putdown,7) occurs(object(robot,1),putdown,8) occurs(object(robot,2),deliver(1,3,2),6) occurs(object(robot,1),deliver(2,2,1),7) occurs(object(robot,2),deliver(1,1,1),11) timeTaken(11) numActions(21) Optimization: 87 Answer: 3 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,1),move(-1,0),1) occurs(object(robot,2),move(1,0),1) occurs(object(robot,1),move(0,-1),2) occurs(object(robot,2),move(0,1),3) occurs(object(robot,1),move(0,-1),4) occurs(object(robot,2),move(-1,0),4) occurs(object(robot,1),move(1,0),5) occurs(object(robot,2),move(-1,0),5) occurs(object(robot,2),move(1,0),8) occurs(object(robot,1),move(-1,0),9) occurs(object(robot,2),move(-1,0),10) occurs(object(robot,2),pickup,2) occurs(object(robot,1),pickup,3) occurs(object(robot,2),pickup,9) occurs(object(robot,2),putdown,7) occurs(object(robot,2),deliver(1,3,2),6) occurs(object(robot,1),deliver(2,2,1),7) occurs(object(robot,2),deliver(1,1,1),11) timeTaken(11) numActions(19) Optimization: 85 Answer: 4 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,1),move(-1,0),1) occurs(object(robot,2),move(1,0),1) occurs(object(robot,1),move(0,-1),2) occurs(object(robot,2),move(0,1),3) occurs(object(robot,1),move(0,-1),4) occurs(object(robot,2),move(-1,0),4) occurs(object(robot,1),move(1,0),5) occurs(object(robot,2),move(-1,0),5) occurs(object(robot,2),move(1,0),8) occurs(object(robot,2),move(-1,0),10) occurs(object(robot,2),pickup,2) occurs(object(robot,1),pickup,3) occurs(object(robot,2),pickup,9) occurs(object(robot,2),putdown,7) occurs(object(robot,2),deliver(1,3,2),6) occurs(object(robot,1),deliver(2,2,1),7) occurs(object(robot,2),deliver(1,1,1),11) timeTaken(11) numActions(18) Optimization: 84 Answer: 5 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,2),move(1,0),1) occurs(object(robot,2),move(0,-1),2) occurs(object(robot,1),move(-1,0),3) occurs(object(robot,1),move(-1,0),5) occurs(object(robot,2),move(0,1),5) occurs(object(robot,1),move(1,0),7) occurs(object(robot,2),move(0,1),7) occurs(object(robot,1),move(0,-1),8) occurs(object(robot,2),move(-1,0),8) occurs(object(robot,2),move(-1,0),9) occurs(object(robot,1),move(1,0),10) occurs(object(robot,2),pickup,0) occurs(object(robot,1),pickup,4) occurs(object(robot,2),pickup,6) occurs(object(robot,2),putdown,4) occurs(object(robot,1),putdown,9) occurs(object(robot,2),deliver(2,2,1),3) occurs(object(robot,1),deliver(1,1,1),6) occurs(object(robot,2),deliver(1,3,2),10) timeTaken(10) numActions(20) Optimization: 75 Answer: 6 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,2),move(1,0),1) occurs(object(robot,2),move(0,-1),2) occurs(object(robot,1),move(-1,0),3) occurs(object(robot,1),move(-1,0),5) occurs(object(robot,2),move(0,1),5) occurs(object(robot,1),move(1,0),7) occurs(object(robot,2),move(0,1),7) occurs(object(robot,1),move(0,-1),8) occurs(object(robot,2),move(-1,0),8) occurs(object(robot,2),move(-1,0),9) occurs(object(robot,2),pickup,0) occurs(object(robot,1),pickup,4) occurs(object(robot,2),pickup,6) occurs(object(robot,2),putdown,4) occurs(object(robot,1),putdown,9) occurs(object(robot,2),deliver(2,2,1),3) occurs(object(robot,1),deliver(1,1,1),6) occurs(object(robot,2),deliver(1,3,2),10) timeTaken(10) numActions(19) Optimization: 74 Answer: 7 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,2),move(1,0),1) occurs(object(robot,2),move(0,-1),2) occurs(object(robot,1),move(-1,0),3) occurs(object(robot,1),move(-1,0),5) occurs(object(robot,2),move(0,1),5) occurs(object(robot,1),move(1,0),7) occurs(object(robot,2),move(0,1),7) occurs(object(robot,1),move(0,-1),8) occurs(object(robot,2),move(-1,0),8) occurs(object(robot,2),move(-1,0),9) occurs(object(robot,2),pickup,0) occurs(object(robot,1),pickup,4) occurs(object(robot,2),pickup,6) occurs(object(robot,2),putdown,4) occurs(object(robot,2),deliver(2,2,1),3) occurs(object(robot,1),deliver(1,1,1),6) occurs(object(robot,2),deliver(1,3,2),10) timeTaken(10) numActions(18) Optimization: 73 Answer: 8 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,1),move(-1,0),1) occurs(object(robot,2),move(0,-1),1) occurs(object(robot,2),move(1,0),2) occurs(object(robot,1),move(-1,0),4) occurs(object(robot,2),move(0,1),5) occurs(object(robot,1),move(1,0),6) occurs(object(robot,2),move(-1,0),7) occurs(object(robot,2),move(-1,0),8) occurs(object(robot,2),move(0,1),9) occurs(object(robot,2),pickup,0) occurs(object(robot,1),pickup,3) occurs(object(robot,2),pickup,6) occurs(object(robot,2),putdown,4) occurs(object(robot,2),deliver(2,2,1),3) occurs(object(robot,1),deliver(1,1,1),5) occurs(object(robot,2),deliver(1,3,2),10) timeTaken(10) numActions(17) Optimization: 72 OPTIMUM FOUND
Models : 8 Optimum : yes Optimization : 72 Calls : 1 Time : 0.886s (Solving: 0.77s 1st Model: 0.14s Unsat: 0.31s) CPU Time : 0.891s
C:\Users\Anish\Desktop\Master\CSE579Warehouseing>python script.py
| code | Instance File |
|---|---|
| 1 | inst1.asp |
| 2 | inst2.asp |
| 3 | inst3.asp |
| 4 | inst4.asp |
| 5 | inst5.asp |
Please enter the code for the instance file: 3
---------- RUNNING ----------
clingo version 5.4.0 Reading from demo.asp ... Solving... Answer: 1 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,2),move(0,1),0) occurs(object(robot,1),move(0,-1),1) occurs(object(robot,2),move(1,0),1) occurs(object(robot,1),move(-1,0),2) occurs(object(robot,2),move(0,-1),2) occurs(object(robot,1),move(0,-1),4) occurs(object(robot,2),move(0,-1),4) occurs(object(robot,2),move(0,1),7) occurs(object(robot,1),move(1,0),8) occurs(object(robot,1),pickup,3) occurs(object(robot,2),pickup,3) occurs(object(robot,2),putdown,8) occurs(object(robot,2),deliver(2,4,1),6) occurs(object(robot,1),deliver(1,2,1),9) timeTaken(8) numActions(15) Optimization: 55 Answer: 2 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,2),move(0,1),0) occurs(object(robot,1),move(0,-1),1) occurs(object(robot,2),move(1,0),1) occurs(object(robot,1),move(-1,0),2) occurs(object(robot,2),move(0,-1),2) occurs(object(robot,1),move(0,-1),4) occurs(object(robot,2),move(0,-1),4) occurs(object(robot,2),move(0,1),7) occurs(object(robot,1),move(1,0),8) occurs(object(robot,1),pickup,3) occurs(object(robot,2),pickup,3) occurs(object(robot,2),deliver(2,4,1),6) occurs(object(robot,1),deliver(1,2,1),9) timeTaken(8) numActions(14) Optimization: 54 Answer: 3 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,2),move(0,1),0) occurs(object(robot,1),move(0,-1),1) occurs(object(robot,2),move(1,0),1) occurs(object(robot,1),move(-1,0),2) occurs(object(robot,2),move(0,-1),2) occurs(object(robot,1),move(0,-1),4) occurs(object(robot,2),move(0,-1),4) occurs(object(robot,1),move(1,0),8) occurs(object(robot,2),move(0,1),8) occurs(object(robot,1),pickup,3) occurs(object(robot,2),pickup,3) occurs(object(robot,2),deliver(2,4,1),6) occurs(object(robot,1),deliver(1,2,1),9) timeTaken(7) numActions(14) Optimization: 47 Answer: 4 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,1),move(0,-1),1) occurs(object(robot,1),move(1,0),3) occurs(object(robot,2),move(1,0),3) occurs(object(robot,1),move(0,-1),4) occurs(object(robot,2),move(0,-1),4) occurs(object(robot,1),move(-1,0),8) occurs(object(robot,2),move(0,1),8) occurs(object(robot,2),pickup,1) occurs(object(robot,1),pickup,2) occurs(object(robot,2),deliver(1,2,1),5) occurs(object(robot,1),deliver(2,4,1),9) timeTaken(7) numActions(12) Optimization: 44 Answer: 5 occurs(object(robot,1),move(0,-1),0) occurs(object(robot,1),move(-1,0),1) occurs(object(robot,2),move(0,1),1) occurs(object(robot,2),move(0,-1),2) occurs(object(robot,1),move(0,-1),4) occurs(object(robot,2),move(0,-1),4) occurs(object(robot,1),move(1,0),7) occurs(object(robot,2),move(1,0),7) occurs(object(robot,1),pickup,2) occurs(object(robot,2),pickup,3) occurs(object(robot,1),deliver(2,4,1),6) occurs(object(robot,2),deliver(1,2,1),8) timeTaken(7) numActions(12) Optimization: 43 Answer: 6 occurs(object(robot,1),move(-1,0),1) occurs(object(robot,1),move(0,-1),2) occurs(object(robot,1),move(0,-1),4) occurs(object(robot,2),move(0,-1),4) occurs(object(robot,1),move(1,0),7) occurs(object(robot,2),move(1,0),7) occurs(object(robot,1),pickup,3) occurs(object(robot,2),pickup,3) occurs(object(robot,1),deliver(2,4,1),6) occurs(object(robot,2),deliver(1,2,1),9) timeTaken(6) numActions(10) Optimization: 42 Answer: 7 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,1),move(0,-1),2) occurs(object(robot,1),move(0,-1),4) occurs(object(robot,2),move(0,-1),4) occurs(object(robot,1),move(1,0),7) occurs(object(robot,2),move(1,0),7) occurs(object(robot,1),pickup,3) occurs(object(robot,2),pickup,3) occurs(object(robot,1),deliver(2,4,1),6) occurs(object(robot,2),deliver(1,2,1),9) timeTaken(6) numActions(10) Optimization: 41 Answer: 8 occurs(object(robot,1),move(0,-1),0) occurs(object(robot,1),move(-1,0),1) occurs(object(robot,1),move(0,-1),4) occurs(object(robot,2),move(0,-1),4) occurs(object(robot,1),move(1,0),7) occurs(object(robot,2),move(1,0),7) occurs(object(robot,1),pickup,3) occurs(object(robot,2),pickup,3) occurs(object(robot,1),deliver(2,4,1),6) occurs(object(robot,2),deliver(1,2,1),9) timeTaken(6) numActions(10) Optimization: 40 Answer: 9 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,1),move(0,-1),1) occurs(object(robot,1),move(0,-1),4) occurs(object(robot,2),move(0,-1),4) occurs(object(robot,1),move(1,0),7) occurs(object(robot,2),move(1,0),7) occurs(object(robot,1),pickup,3) occurs(object(robot,2),pickup,3) occurs(object(robot,1),deliver(2,4,1),6) occurs(object(robot,2),deliver(1,2,1),8) timeTaken(6) numActions(10) Optimization: 39 Answer: 10 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,1),move(0,-1),1) occurs(object(robot,1),move(0,-1),3) occurs(object(robot,2),move(0,-1),3) occurs(object(robot,1),move(0,1),5) occurs(object(robot,2),move(1,0),5) occurs(object(robot,1),move(1,0),6) occurs(object(robot,2),pickup,1) occurs(object(robot,1),pickup,2) occurs(object(robot,1),deliver(2,4,1),4) occurs(object(robot,2),deliver(1,2,1),6) timeTaken(6) numActions(11) Optimization: 32 Answer: 11 occurs(object(robot,1),move(0,-1),0) occurs(object(robot,1),move(-1,0),1) occurs(object(robot,1),move(0,-1),3) occurs(object(robot,2),move(0,-1),3) occurs(object(robot,1),move(0,1),5) occurs(object(robot,2),move(1,0),5) occurs(object(robot,2),pickup,1) occurs(object(robot,1),pickup,2) occurs(object(robot,1),deliver(2,4,1),4) occurs(object(robot,2),deliver(1,2,1),6) timeTaken(6) numActions(10) Optimization: 31 OPTIMUM FOUND
Models : 11 Optimum : yes Optimization : 31 Calls : 1 Time : 0.273s (Solving: 0.21s 1st Model: 0.00s Unsat: 0.07s) CPU Time : 0.281s
C:\Users\Anish\Desktop\Master\CSE579Warehouseing>python script.py
| code | Instance File |
|---|---|
| 1 | inst1.asp |
| 2 | inst2.asp |
| 3 | inst3.asp |
| 4 | inst4.asp |
| 5 | inst5.asp |
Please enter the code for the instance file: 4
---------- RUNNING ----------
clingo version 5.4.0 Reading from demo.asp ... Solving... Answer: 1 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,1),move(-1,0),1) occurs(object(robot,2),move(1,0),1) occurs(object(robot,2),move(0,-1),2) occurs(object(robot,1),move(-1,0),3) occurs(object(robot,2),pickup,0) occurs(object(robot,1),pickup,2) occurs(object(robot,2),deliver(3,2,1),3) occurs(object(robot,2),deliver(3,2,1),5) occurs(object(robot,1),deliver(1,1,1),9) occurs(object(robot,2),deliver(2,2,1),9) timeTaken(5) numActions(11) Optimization: 31 Answer: 2 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,1),move(-1,0),1) occurs(object(robot,2),move(1,0),1) occurs(object(robot,2),move(0,-1),2) occurs(object(robot,1),move(-1,0),3) occurs(object(robot,2),pickup,0) occurs(object(robot,1),pickup,2) occurs(object(robot,2),deliver(3,2,1),3) occurs(object(robot,2),deliver(3,2,1),4) occurs(object(robot,1),deliver(1,1,1),9) occurs(object(robot,2),deliver(2,2,1),9) timeTaken(5) numActions(11) Optimization: 30 Answer: 3 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,1),move(-1,0),1) occurs(object(robot,2),move(1,0),2) occurs(object(robot,1),move(-1,0),3) occurs(object(robot,2),move(0,-1),3) occurs(object(robot,2),pickup,1) occurs(object(robot,1),pickup,2) occurs(object(robot,2),deliver(2,2,1),5) occurs(object(robot,1),deliver(1,1,1),7) occurs(object(robot,2),deliver(3,2,2),7) timeTaken(5) numActions(10) Optimization: 28 Answer: 4 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,1),move(-1,0),1) occurs(object(robot,2),move(1,0),2) occurs(object(robot,1),move(-1,0),3) occurs(object(robot,2),move(0,-1),3) occurs(object(robot,2),pickup,1) occurs(object(robot,1),pickup,2) occurs(object(robot,2),deliver(2,2,1),4) occurs(object(robot,1),deliver(1,1,1),7) occurs(object(robot,2),deliver(3,2,2),7) timeTaken(5) numActions(10) Optimization: 27 Answer: 5 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,1),move(-1,0),1) occurs(object(robot,2),move(1,0),1) occurs(object(robot,2),move(0,-1),2) occurs(object(robot,1),move(-1,0),3) occurs(object(robot,2),pickup,0) occurs(object(robot,1),pickup,2) occurs(object(robot,2),deliver(2,2,1),3) occurs(object(robot,1),deliver(1,1,1),7) occurs(object(robot,2),deliver(3,2,2),7) timeTaken(4) numActions(10) Optimization: 23 Answer: 6 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,1),move(-1,0),1) occurs(object(robot,2),move(1,0),1) occurs(object(robot,2),move(0,-1),2) occurs(object(robot,1),move(-1,0),3) occurs(object(robot,2),pickup,0) occurs(object(robot,1),pickup,2) occurs(object(robot,2),deliver(2,2,1),3) occurs(object(robot,1),deliver(1,1,1),4) occurs(object(robot,2),deliver(3,2,2),4) timeTaken(4) numActions(10) Optimization: 20 OPTIMUM FOUND
Models : 6 Optimum : yes Optimization : 20 Calls : 1 Time : 0.300s (Solving: 0.18s 1st Model: 0.01s Unsat: 0.10s) CPU Time : 0.313s
C:\Users\Anish\Desktop\Master\CSE579Warehouseing>python script.py
| code | Instance File |
|---|---|
| 1 | inst1.asp |
| 2 | inst2.asp |
| 3 | inst3.asp |
| 4 | inst4.asp |
| 5 | inst5.asp |
Please enter the code for the instance file: 5
---------- RUNNING ----------
clingo version 5.4.0 Reading from demo.asp ... Solving... Answer: 1 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,2),move(-1,0),0) occurs(object(robot,1),move(0,1),2) occurs(object(robot,2),move(0,1),2) occurs(object(robot,2),move(1,0),6) occurs(object(robot,2),move(-1,0),8) occurs(object(robot,2),pickup,1) occurs(object(robot,2),pickup,7) occurs(object(robot,2),putdown,5) occurs(object(robot,2),deliver(1,3,3),3) occurs(object(robot,2),deliver(1,3,1),4) occurs(object(robot,2),deliver(1,1,1),9) timeTaken(9) numActions(12) Optimization: 57 Answer: 2 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,2),move(-1,0),0) occurs(object(robot,2),move(0,1),2) occurs(object(robot,2),move(1,0),6) occurs(object(robot,2),move(-1,0),8) occurs(object(robot,2),pickup,1) occurs(object(robot,2),pickup,7) occurs(object(robot,2),putdown,5) occurs(object(robot,2),deliver(1,3,3),3) occurs(object(robot,2),deliver(1,3,1),4) occurs(object(robot,2),deliver(1,1,1),9) timeTaken(9) numActions(11) Optimization: 56 Answer: 3 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,1),move(-1,0),1) occurs(object(robot,2),move(-1,0),2) occurs(object(robot,2),move(1,0),3) occurs(object(robot,1),move(-1,0),4) occurs(object(robot,2),move(-1,0),4) occurs(object(robot,1),move(1,0),6) occurs(object(robot,2),move(0,1),6) occurs(object(robot,1),pickup,2) occurs(object(robot,2),pickup,5) occurs(object(robot,1),putdown,7) occurs(object(robot,2),putdown,8) occurs(object(robot,1),deliver(1,1,1),5) occurs(object(robot,2),deliver(1,3,4),7) timeTaken(8) numActions(14) Optimization: 50 Answer: 4 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,2),move(-1,0),0) occurs(object(robot,2),move(0,1),2) occurs(object(robot,1),move(0,-1),3) occurs(object(robot,2),move(1,0),5) occurs(object(robot,2),move(-1,0),8) occurs(object(robot,2),pickup,1) occurs(object(robot,2),pickup,6) occurs(object(robot,2),putdown,4) occurs(object(robot,2),deliver(1,3,4),3) occurs(object(robot,2),deliver(1,1,1),9) timeTaken(8) numActions(11) Optimization: 49 Answer: 5 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,2),move(-1,0),0) occurs(object(robot,2),move(0,1),2) occurs(object(robot,2),move(1,0),5) occurs(object(robot,2),move(-1,0),8) occurs(object(robot,2),pickup,1) occurs(object(robot,2),pickup,6) occurs(object(robot,2),putdown,4) occurs(object(robot,2),deliver(1,3,4),3) occurs(object(robot,2),deliver(1,1,1),9) timeTaken(8) numActions(10) Optimization: 48 Answer: 6 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,2),move(-1,0),0) occurs(object(robot,2),move(0,1),2) occurs(object(robot,2),move(1,0),4) occurs(object(robot,1),move(-1,0),5) occurs(object(robot,2),move(0,1),5) occurs(object(robot,1),move(-1,0),7) occurs(object(robot,2),pickup,1) occurs(object(robot,1),pickup,6) occurs(object(robot,2),deliver(1,3,4),3) occurs(object(robot,1),deliver(1,1,1),8) timeTaken(8) numActions(11) Optimization: 47 Answer: 7 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,2),move(-1,0),0) occurs(object(robot,2),move(0,1),2) occurs(object(robot,2),move(1,0),5) occurs(object(robot,2),move(-1,0),7) occurs(object(robot,2),pickup,1) occurs(object(robot,2),pickup,6) occurs(object(robot,2),putdown,4) occurs(object(robot,2),deliver(1,3,4),3) occurs(object(robot,2),deliver(1,1,1),8) timeTaken(8) numActions(10) Optimization: 46 Answer: 8 occurs(object(robot,1),move(0,-1),0) occurs(object(robot,2),move(0,1),0) occurs(object(robot,1),move(-1,0),1) occurs(object(robot,1),move(-1,0),2) occurs(object(robot,1),move(-1,0),3) occurs(object(robot,2),move(-1,0),3) occurs(object(robot,1),move(0,1),6) occurs(object(robot,2),move(1,0),6) occurs(object(robot,2),pickup,2) occurs(object(robot,1),pickup,5) occurs(object(robot,2),putdown,5) occurs(object(robot,2),deliver(1,1,1),4) occurs(object(robot,1),deliver(1,3,4),8) timeTaken(7) numActions(13) Optimization: 42 Answer: 9 occurs(object(robot,1),move(0,-1),0) occurs(object(robot,2),move(0,1),0) occurs(object(robot,1),move(-1,0),1) occurs(object(robot,1),move(-1,0),2) occurs(object(robot,1),move(-1,0),3) occurs(object(robot,2),move(-1,0),3) occurs(object(robot,1),move(0,1),6) occurs(object(robot,2),move(0,1),6) occurs(object(robot,2),pickup,1) occurs(object(robot,1),pickup,5) occurs(object(robot,2),putdown,5) occurs(object(robot,2),deliver(1,1,1),4) occurs(object(robot,1),deliver(1,3,4),7) timeTaken(7) numActions(13) Optimization: 41 Answer: 10 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,1),move(-1,0),1) occurs(object(robot,1),move(-1,0),3) occurs(object(robot,2),move(-1,0),3) occurs(object(robot,1),move(0,1),5) occurs(object(robot,2),move(0,1),5) occurs(object(robot,1),pickup,2) occurs(object(robot,2),pickup,4) occurs(object(robot,2),putdown,7) occurs(object(robot,1),deliver(1,1,1),4) occurs(object(robot,2),deliver(1,3,4),6) timeTaken(7) numActions(11) Optimization: 39 Answer: 11 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,1),move(-1,0),1) occurs(object(robot,2),move(1,0),1) occurs(object(robot,2),move(-1,0),2) occurs(object(robot,1),move(-1,0),3) occurs(object(robot,2),move(-1,0),3) occurs(object(robot,1),move(1,0),5) occurs(object(robot,2),move(0,1),5) occurs(object(robot,1),pickup,2) occurs(object(robot,2),pickup,4) occurs(object(robot,1),deliver(1,1,1),4) occurs(object(robot,2),deliver(1,3,4),6) timeTaken(6) numActions(12) Optimization: 33 Answer: 12 occurs(object(robot,1),move(-1,0),0) occurs(object(robot,1),move(-1,0),1) occurs(object(robot,1),move(-1,0),3) occurs(object(robot,2),move(-1,0),3) occurs(object(robot,1),move(1,0),5) occurs(object(robot,2),move(0,1),5) occurs(object(robot,1),pickup,2) occurs(object(robot,2),pickup,4) occurs(object(robot,1),deliver(1,1,1),4) occurs(object(robot,2),deliver(1,3,4),6) timeTaken(6) numActions(10) Optimization: 31 OPTIMUM FOUND
Models : 12 Optimum : yes Optimization : 31 Calls : 1 Time : 0.388s (Solving: 0.28s 1st Model: 0.02s Unsat: 0.17s) CPU Time : 0.391s