NO Initial ITS Start location: l7 0: l0 -> l1 : is_aborted^0'=is_aborted^post0, pc_Plan_next^0'=pc_Plan_next^post0, __const_7^0'=__const_7^post0, x_next^0'=x_next^post0, pc_Drive_next^0'=pc_Drive_next^post0, n0^0'=n0^post0, executed_Drive^0'=executed_Drive^post0, y_next^0'=y_next^post0, pc_Plan^0'=pc_Plan^post0, __const_6^0'=__const_6^post0, pc_Drive^0'=pc_Drive^post0, is_aborted_next^0'=is_aborted_next^post0, x^0'=x^post0, __const_8^0'=__const_8^post0, y^0'=y^post0, pc_Loop^0'=pc_Loop^post0, n1^0'=n1^post0, (0 == 0 /\ 1-is_aborted_next^post0 <= 0 /\ -1+is_aborted_next^post0 <= 0 /\ 1-pc_Plan_next^post0 <= 0 /\ -is_aborted_next^post0 <= 0 /\ -1+pc_Loop^post0 == 0 /\ __const_8^0-__const_8^post0 == 0 /\ 1-pc_Drive_next^post0 <= 0 /\ 1-y_next^post0+y^0 <= 0 /\ -2+pc_Plan^post0 <= 0 /\ 3-pc_Plan_next^post0 <= 0 /\ -x_next^post0+x^post0 == 0 /\ -pc_Plan_next^post0+pc_Plan^post0 == 0 /\ y^post0-y_next^post0 == 0 /\ n0^0-n0^post0 == 0 /\ -1+x_next^post0-x^0 <= 0 /\ pc_Drive^post0-pc_Drive_next^post0 == 0 /\ 1+pc_Drive_next^post0-__const_8^0 <= 0 /\ -4+pc_Drive_next^post0 <= 0 /\ 4-pc_Drive_next^post0 <= 0 /\ __const_6^0-__const_6^post0 == 0 /\ -1+y_next^post0-y^0 <= 0 /\ __const_7^0-__const_7^post0 == 0 /\ -n1^post0+n1^0 == 0 /\ 2-pc_Plan^post0 <= 0 /\ 1+pc_Plan_next^post0-__const_8^0 <= 0 /\ is_aborted^post0-is_aborted_next^post0 == 0 /\ 1-x_next^post0+x^0 <= 0 /\ -1+executed_Drive^post0 == 0), cost: 1 1: l0 -> l1 : is_aborted^0'=is_aborted^post1, pc_Plan_next^0'=pc_Plan_next^post1, __const_7^0'=__const_7^post1, x_next^0'=x_next^post1, pc_Drive_next^0'=pc_Drive_next^post1, n0^0'=n0^post1, executed_Drive^0'=executed_Drive^post1, y_next^0'=y_next^post1, pc_Plan^0'=pc_Plan^post1, __const_6^0'=__const_6^post1, pc_Drive^0'=pc_Drive^post1, is_aborted_next^0'=is_aborted_next^post1, x^0'=x^post1, __const_8^0'=__const_8^post1, y^0'=y^post1, pc_Loop^0'=pc_Loop^post1, n1^0'=n1^post1, (0 == 0 /\ 2-pc_Plan^post1 <= 0 /\ x_next^post1-x^0 <= 0 /\ is_aborted^post1-is_aborted_next^post1 == 0 /\ -pc_Plan_next^post1+pc_Plan^post1 == 0 /\ 1+pc_Drive_next^post1-__const_8^0 <= 0 /\ 1-is_aborted_next^post1 <= 0 /\ -1+is_aborted_next^post1 <= 0 /\ -x_next^post1+x^0 <= 0 /\ -x_next^post1+x^post1 == 0 /\ 5-pc_Drive_next^post1 <= 0 /\ -is_aborted_next^post1 <= 0 /\ __const_6^0-__const_6^post1 == 0 /\ 1+pc_Plan_next^post1-__const_8^0 <= 0 /\ -1+pc_Loop^post1 == 0 /\ -2+pc_Plan^post1 <= 0 /\ -executed_Drive^post1+executed_Drive^0 == 0 /\ 3-pc_Plan_next^post1 <= 0 /\ n0^0-n0^post1 == 0 /\ -y_next^post1+y^0 <= 0 /\ 1-pc_Plan_next^post1 <= 0 /\ -n1^post1+n1^0 == 0 /\ -__const_8^post1+__const_8^0 == 0 /\ __const_7^0-__const_7^post1 == 0 /\ -y_next^post1+y^post1 == 0 /\ 1-pc_Drive_next^post1 <= 0 /\ -pc_Drive_next^post1+pc_Drive^post1 == 0 /\ y_next^post1-y^0 <= 0), cost: 1 2: l0 -> l1 : is_aborted^0'=is_aborted^post2, pc_Plan_next^0'=pc_Plan_next^post2, __const_7^0'=__const_7^post2, x_next^0'=x_next^post2, pc_Drive_next^0'=pc_Drive_next^post2, n0^0'=n0^post2, executed_Drive^0'=executed_Drive^post2, y_next^0'=y_next^post2, pc_Plan^0'=pc_Plan^post2, __const_6^0'=__const_6^post2, pc_Drive^0'=pc_Drive^post2, is_aborted_next^0'=is_aborted_next^post2, x^0'=x^post2, __const_8^0'=__const_8^post2, y^0'=y^post2, pc_Loop^0'=pc_Loop^post2, n1^0'=n1^post2, (0 == 0 /\ 1-__const_8^0+pc_Plan_next^post2 <= 0 /\ 1-pc_Plan_next^post2 <= 0 /\ -__const_8^post2+__const_8^0 == 0 /\ -y_next^post2+y^0 <= 0 /\ x^post2-x_next^post2 == 0 /\ executed_Drive^0-executed_Drive^post2 == 0 /\ 1-__const_8^0+pc_Drive_next^post2 <= 0 /\ 1-pc_Drive_next^post2 <= 0 /\ -2+pc_Plan^post2 <= 0 /\ 3-pc_Plan_next^post2 <= 0 /\ -n1^post2+n1^0 == 0 /\ y^post2-y_next^post2 == 0 /\ y_next^post2-y^0 <= 0 /\ pc_Drive^post2-pc_Drive_next^post2 == 0 /\ -__const_6^post2+__const_6^0 == 0 /\ -is_aborted_next^post2+is_aborted^post2 == 0 /\ x_next^post2-x^0 <= 0 /\ __const_7^0-__const_7^post2 == 0 /\ 2-pc_Plan^post2 <= 0 /\ -n0^post2+n0^0 == 0 /\ -is_aborted_next^post2 <= 0 /\ -1+pc_Loop^post2 == 0 /\ -3+pc_Drive_next^post2 <= 0 /\ -x_next^post2+x^0 <= 0 /\ pc_Plan^post2-pc_Plan_next^post2 == 0 /\ 1-is_aborted_next^post2 <= 0 /\ -1+is_aborted_next^post2 <= 0), cost: 1 3: l0 -> l1 : is_aborted^0'=is_aborted^post3, pc_Plan_next^0'=pc_Plan_next^post3, __const_7^0'=__const_7^post3, x_next^0'=x_next^post3, pc_Drive_next^0'=pc_Drive_next^post3, n0^0'=n0^post3, executed_Drive^0'=executed_Drive^post3, y_next^0'=y_next^post3, pc_Plan^0'=pc_Plan^post3, __const_6^0'=__const_6^post3, pc_Drive^0'=pc_Drive^post3, is_aborted_next^0'=is_aborted_next^post3, x^0'=x^post3, __const_8^0'=__const_8^post3, y^0'=y^post3, pc_Loop^0'=pc_Loop^post3, n1^0'=n1^post3, (0 == 0 /\ 1+pc_Plan_next^post3-__const_8^0 <= 0 /\ -__const_6^post3+__const_6^0 == 0 /\ y^post3-y_next^post3 == 0 /\ 1-__const_8^0+pc_Drive_next^post3 <= 0 /\ 1-pc_Drive_next^post3 <= 0 /\ -x_next^post3+x^post3 == 0 /\ -1+is_aborted_next^post3 <= 0 /\ -1+x_next^post3-x^0 <= 0 /\ -2+pc_Plan^post3 <= 0 /\ -is_aborted_next^post3 <= 0 /\ pc_Drive^post3-pc_Drive_next^post3 == 0 /\ 1+y^0-y_next^post3 <= 0 /\ -4+pc_Drive_next^post3 <= 0 /\ 4-pc_Drive_next^post3 <= 0 /\ __const_7^0-__const_7^post3 == 0 /\ -pc_Plan_next^post3+pc_Plan^post3 == 0 /\ -n1^post3+n1^0 == 0 /\ 1-x_next^post3+x^0 <= 0 /\ -1+pc_Loop^post3 == 0 /\ 2-pc_Plan^post3 <= 0 /\ -is_aborted_next^post3+is_aborted^post3 == 0 /\ -1+executed_Drive^post3 == 0 /\ -__const_8^post3+__const_8^0 == 0 /\ -n0^post3+n0^0 == 0 /\ -1-y^0+y_next^post3 <= 0 /\ 1-pc_Plan_next^post3 <= 0 /\ -1+pc_Plan_next^post3 <= 0), cost: 1 4: l0 -> l1 : is_aborted^0'=is_aborted^post4, pc_Plan_next^0'=pc_Plan_next^post4, __const_7^0'=__const_7^post4, x_next^0'=x_next^post4, pc_Drive_next^0'=pc_Drive_next^post4, n0^0'=n0^post4, executed_Drive^0'=executed_Drive^post4, y_next^0'=y_next^post4, pc_Plan^0'=pc_Plan^post4, __const_6^0'=__const_6^post4, pc_Drive^0'=pc_Drive^post4, is_aborted_next^0'=is_aborted_next^post4, x^0'=x^post4, __const_8^0'=__const_8^post4, y^0'=y^post4, pc_Loop^0'=pc_Loop^post4, n1^0'=n1^post4, (0 == 0 /\ __const_8^0-__const_8^post4 == 0 /\ -is_aborted_next^post4 <= 0 /\ -2+pc_Plan^post4 <= 0 /\ -1+pc_Loop^post4 == 0 /\ 1+pc_Drive_next^post4-__const_8^0 <= 0 /\ n0^0-n0^post4 == 0 /\ -1+is_aborted_next^post4 <= 0 /\ -__const_6^post4+__const_6^0 == 0 /\ -n1^post4+n1^0 == 0 /\ 1-pc_Plan_next^post4 <= 0 /\ -1+pc_Plan_next^post4 <= 0 /\ x^post4-x_next^post4 == 0 /\ 1-pc_Drive_next^post4 <= 0 /\ __const_7^0-__const_7^post4 == 0 /\ pc_Drive^post4-pc_Drive_next^post4 == 0 /\ is_aborted^post4-is_aborted_next^post4 == 0 /\ y^post4-y_next^post4 == 0 /\ 1+pc_Plan_next^post4-__const_8^0 <= 0 /\ -y_next^post4+y^0 <= 0 /\ 2-pc_Plan^post4 <= 0 /\ -pc_Plan_next^post4+pc_Plan^post4 == 0 /\ x^0-x_next^post4 <= 0 /\ y_next^post4-y^0 <= 0 /\ 5-pc_Drive_next^post4 <= 0 /\ -x^0+x_next^post4 <= 0 /\ executed_Drive^0-executed_Drive^post4 == 0), cost: 1 5: l0 -> l1 : is_aborted^0'=is_aborted^post5, pc_Plan_next^0'=pc_Plan_next^post5, __const_7^0'=__const_7^post5, x_next^0'=x_next^post5, pc_Drive_next^0'=pc_Drive_next^post5, n0^0'=n0^post5, executed_Drive^0'=executed_Drive^post5, y_next^0'=y_next^post5, pc_Plan^0'=pc_Plan^post5, __const_6^0'=__const_6^post5, pc_Drive^0'=pc_Drive^post5, is_aborted_next^0'=is_aborted_next^post5, x^0'=x^post5, __const_8^0'=__const_8^post5, y^0'=y^post5, pc_Loop^0'=pc_Loop^post5, n1^0'=n1^post5, (0 == 0 /\ -x_next^post5+x^post5 == 0 /\ 1+pc_Plan_next^post5-__const_8^0 <= 0 /\ __const_6^0-__const_6^post5 == 0 /\ -y_next^post5+y^0 <= 0 /\ is_aborted^post5-is_aborted_next^post5 == 0 /\ 1-pc_Drive_next^post5 <= 0 /\ y^post5-y_next^post5 == 0 /\ -x_next^post5+x^0 <= 0 /\ -executed_Drive^post5+executed_Drive^0 == 0 /\ __const_8^0-__const_8^post5 == 0 /\ -2+pc_Plan^post5 <= 0 /\ y_next^post5-y^0 <= 0 /\ x_next^post5-x^0 <= 0 /\ n0^0-n0^post5 == 0 /\ -is_aborted_next^post5 <= 0 /\ __const_7^0-__const_7^post5 == 0 /\ -pc_Plan_next^post5+pc_Plan^post5 == 0 /\ -n1^post5+n1^0 == 0 /\ -1+is_aborted_next^post5 <= 0 /\ -3+pc_Drive_next^post5 <= 0 /\ 1+pc_Drive_next^post5-__const_8^0 <= 0 /\ -1+pc_Loop^post5 == 0 /\ 2-pc_Plan^post5 <= 0 /\ -pc_Drive_next^post5+pc_Drive^post5 == 0 /\ 1-pc_Plan_next^post5 <= 0 /\ -1+pc_Plan_next^post5 <= 0), cost: 1 30: l1 -> l4 : is_aborted^0'=is_aborted^post30, pc_Plan_next^0'=pc_Plan_next^post30, __const_7^0'=__const_7^post30, x_next^0'=x_next^post30, pc_Drive_next^0'=pc_Drive_next^post30, n0^0'=n0^post30, executed_Drive^0'=executed_Drive^post30, y_next^0'=y_next^post30, pc_Plan^0'=pc_Plan^post30, __const_6^0'=__const_6^post30, pc_Drive^0'=pc_Drive^post30, is_aborted_next^0'=is_aborted_next^post30, x^0'=x^post30, __const_8^0'=__const_8^post30, y^0'=y^post30, pc_Loop^0'=pc_Loop^post30, n1^0'=n1^post30, (0 == 0 /\ -2+pc_Loop^post30 == 0 /\ 1-x_next^post30+x^0 <= 0 /\ 1-pc_Drive_next^post30 <= 0 /\ 1-__const_8^0+pc_Drive_next^post30 <= 0 /\ 1+y^0-y_next^post30 <= 0 /\ 1-pc_Plan_next^post30 <= 0 /\ 1-__const_8^0+pc_Plan_next^post30 <= 0 /\ x^post30-x_next^post30 == 0 /\ -n0^post30+n0^0 == 0 /\ -3+pc_Plan^post30 <= 0 /\ pc_Drive^post30-pc_Drive_next^post30 == 0 /\ -n1^post30+n1^0 == 0 /\ -__const_6^post30+__const_6^0 == 0 /\ -1+x_next^post30-x^0 <= 0 /\ pc_Plan^post30-pc_Plan_next^post30 == 0 /\ y^post30-y_next^post30 == 0 /\ __const_7^0-__const_7^post30 == 0 /\ -1-y^0+y_next^post30 <= 0 /\ is_aborted^post30 <= 0 /\ -4+pc_Drive_next^post30 <= 0 /\ 4-pc_Drive_next^post30 <= 0 /\ -1+executed_Drive^post30 == 0 /\ -1+is_aborted_next^post30 <= 0 /\ 3-pc_Plan^post30 <= 0 /\ -is_aborted_next^post30+is_aborted^post30 == 0 /\ -is_aborted_next^post30 <= 0 /\ -__const_8^post30+__const_8^0 == 0), cost: 1 31: l1 -> l4 : is_aborted^0'=is_aborted^post31, pc_Plan_next^0'=pc_Plan_next^post31, __const_7^0'=__const_7^post31, x_next^0'=x_next^post31, pc_Drive_next^0'=pc_Drive_next^post31, n0^0'=n0^post31, executed_Drive^0'=executed_Drive^post31, y_next^0'=y_next^post31, pc_Plan^0'=pc_Plan^post31, __const_6^0'=__const_6^post31, pc_Drive^0'=pc_Drive^post31, is_aborted_next^0'=is_aborted_next^post31, x^0'=x^post31, __const_8^0'=__const_8^post31, y^0'=y^post31, pc_Loop^0'=pc_Loop^post31, n1^0'=n1^post31, (0 == 0 /\ is_aborted^post31 <= 0 /\ -pc_Drive_next^post31+pc_Drive^post31 == 0 /\ 5-pc_Drive_next^post31 <= 0 /\ y_next^post31-y^0 <= 0 /\ -1+is_aborted_next^post31 <= 0 /\ 3-pc_Plan^post31 <= 0 /\ -is_aborted_next^post31 <= 0 /\ __const_7^0-__const_7^post31 == 0 /\ -x_next^post31+x^post31 == 0 /\ -__const_8^post31+__const_8^0 == 0 /\ -y_next^post31+y^0 <= 0 /\ is_aborted^post31-is_aborted_next^post31 == 0 /\ 1+pc_Drive_next^post31-__const_8^0 <= 0 /\ 1-pc_Plan_next^post31 <= 0 /\ -3+pc_Plan^post31 <= 0 /\ -pc_Plan_next^post31+pc_Plan^post31 == 0 /\ -x^0+x_next^post31 <= 0 /\ 1-pc_Drive_next^post31 <= 0 /\ executed_Drive^post31 == 0 /\ -2+pc_Loop^post31 == 0 /\ -y_next^post31+y^post31 == 0 /\ 1+pc_Plan_next^post31-__const_8^0 <= 0 /\ n0^0-n0^post31 == 0 /\ -n1^post31+n1^0 == 0 /\ x^0-x_next^post31 <= 0 /\ -__const_6^post31+__const_6^0 == 0), cost: 1 32: l1 -> l4 : is_aborted^0'=is_aborted^post32, pc_Plan_next^0'=pc_Plan_next^post32, __const_7^0'=__const_7^post32, x_next^0'=x_next^post32, pc_Drive_next^0'=pc_Drive_next^post32, n0^0'=n0^post32, executed_Drive^0'=executed_Drive^post32, y_next^0'=y_next^post32, pc_Plan^0'=pc_Plan^post32, __const_6^0'=__const_6^post32, pc_Drive^0'=pc_Drive^post32, is_aborted_next^0'=is_aborted_next^post32, x^0'=x^post32, __const_8^0'=__const_8^post32, y^0'=y^post32, pc_Loop^0'=pc_Loop^post32, n1^0'=n1^post32, (0 == 0 /\ 1-pc_Drive_next^post32 <= 0 /\ -2+pc_Loop^post32 == 0 /\ executed_Drive^post32 == 0 /\ x_next^post32-x^0 <= 0 /\ 1+pc_Plan_next^post32-__const_8^0 <= 0 /\ is_aborted^post32 <= 0 /\ pc_Drive^post32-pc_Drive_next^post32 == 0 /\ -3+pc_Plan^post32 <= 0 /\ -n1^post32+n1^0 == 0 /\ -x_next^post32+x^0 <= 0 /\ __const_8^0-__const_8^post32 == 0 /\ n0^0-n0^post32 == 0 /\ y_next^post32-y^0 <= 0 /\ y^post32-y_next^post32 == 0 /\ is_aborted^post32-is_aborted_next^post32 == 0 /\ -1+is_aborted_next^post32 <= 0 /\ 3-pc_Plan^post32 <= 0 /\ 1-pc_Plan_next^post32 <= 0 /\ -y_next^post32+y^0 <= 0 /\ -3+pc_Drive_next^post32 <= 0 /\ __const_6^0-__const_6^post32 == 0 /\ -is_aborted_next^post32 <= 0 /\ __const_7^0-__const_7^post32 == 0 /\ -pc_Plan_next^post32+pc_Plan^post32 == 0 /\ 1+pc_Drive_next^post32-__const_8^0 <= 0 /\ -x_next^post32+x^post32 == 0), cost: 1 33: l1 -> l0 : is_aborted^0'=is_aborted^post33, pc_Plan_next^0'=pc_Plan_next^post33, __const_7^0'=__const_7^post33, x_next^0'=x_next^post33, pc_Drive_next^0'=pc_Drive_next^post33, n0^0'=n0^post33, executed_Drive^0'=executed_Drive^post33, y_next^0'=y_next^post33, pc_Plan^0'=pc_Plan^post33, __const_6^0'=__const_6^post33, pc_Drive^0'=pc_Drive^post33, is_aborted_next^0'=is_aborted_next^post33, x^0'=x^post33, __const_8^0'=__const_8^post33, y^0'=y^post33, pc_Loop^0'=pc_Loop^post33, n1^0'=n1^post33, (0 == 0 /\ -1+is_aborted_next^post33 <= 0 /\ 1+pc_Drive_next^post33-__const_8^0 <= 0 /\ -pc_Plan_next^post33+pc_Plan^post33 == 0 /\ -is_aborted_next^post33 <= 0 /\ -1+y_next^post33-y^0 <= 0 /\ -y_next^post33+y^post33 == 0 /\ -__const_8^post33+__const_8^0 == 0 /\ -4+pc_Drive_next^post33 <= 0 /\ 4-pc_Drive_next^post33 <= 0 /\ 1-x_next^post33+x^0 <= 0 /\ is_aborted^post33-is_aborted_next^post33 == 0 /\ 1-is_aborted^post33 <= 0 /\ 1+pc_Plan_next^post33-__const_8^0 <= 0 /\ -pc_Drive_next^post33+pc_Drive^post33 == 0 /\ -x_next^post33+x^post33 == 0 /\ n0^0-n0^post33 == 0 /\ 1-y_next^post33+y^0 <= 0 /\ -1+executed_Drive^post33 == 0 /\ -__const_7^0+pc_Loop^post33 == 0 /\ 1-pc_Plan_next^post33 <= 0 /\ -n1^post33+n1^0 == 0 /\ -1+x_next^post33-x^0 <= 0 /\ __const_7^0-__const_7^post33 == 0 /\ 1-pc_Drive_next^post33 <= 0 /\ -__const_6^post33+__const_6^0 == 0), cost: 1 34: l1 -> l0 : is_aborted^0'=is_aborted^post34, pc_Plan_next^0'=pc_Plan_next^post34, __const_7^0'=__const_7^post34, x_next^0'=x_next^post34, pc_Drive_next^0'=pc_Drive_next^post34, n0^0'=n0^post34, executed_Drive^0'=executed_Drive^post34, y_next^0'=y_next^post34, pc_Plan^0'=pc_Plan^post34, __const_6^0'=__const_6^post34, pc_Drive^0'=pc_Drive^post34, is_aborted_next^0'=is_aborted_next^post34, x^0'=x^post34, __const_8^0'=__const_8^post34, y^0'=y^post34, pc_Loop^0'=pc_Loop^post34, n1^0'=n1^post34, (0 == 0 /\ 1-pc_Plan_next^post34 <= 0 /\ 1-__const_8^0+pc_Plan_next^post34 <= 0 /\ x^post34-x_next^post34 == 0 /\ -y_next^post34+y^0 <= 0 /\ 1-pc_Drive_next^post34 <= 0 /\ 1-__const_8^0+pc_Drive_next^post34 <= 0 /\ y^post34-y_next^post34 == 0 /\ -n1^post34+n1^0 == 0 /\ y_next^post34-y^0 <= 0 /\ -__const_8^post34+__const_8^0 == 0 /\ executed_Drive^post34 == 0 /\ 5-pc_Drive_next^post34 <= 0 /\ pc_Drive^post34-pc_Drive_next^post34 == 0 /\ -__const_6^post34+__const_6^0 == 0 /\ -is_aborted_next^post34+is_aborted^post34 == 0 /\ 1-is_aborted^post34 <= 0 /\ x_next^post34-x^0 <= 0 /\ __const_7^0-__const_7^post34 == 0 /\ -n0^post34+n0^0 == 0 /\ -is_aborted_next^post34 <= 0 /\ pc_Plan^post34-pc_Plan_next^post34 == 0 /\ pc_Loop^post34-__const_7^0 == 0 /\ -x_next^post34+x^0 <= 0 /\ -1+is_aborted_next^post34 <= 0), cost: 1 35: l1 -> l0 : is_aborted^0'=is_aborted^post35, pc_Plan_next^0'=pc_Plan_next^post35, __const_7^0'=__const_7^post35, x_next^0'=x_next^post35, pc_Drive_next^0'=pc_Drive_next^post35, n0^0'=n0^post35, executed_Drive^0'=executed_Drive^post35, y_next^0'=y_next^post35, pc_Plan^0'=pc_Plan^post35, __const_6^0'=__const_6^post35, pc_Drive^0'=pc_Drive^post35, is_aborted_next^0'=is_aborted_next^post35, x^0'=x^post35, __const_8^0'=__const_8^post35, y^0'=y^post35, pc_Loop^0'=pc_Loop^post35, n1^0'=n1^post35, (0 == 0 /\ y^post35-y_next^post35 == 0 /\ -__const_6^post35+__const_6^0 == 0 /\ x^0-x_next^post35 <= 0 /\ 1+pc_Drive_next^post35-__const_8^0 <= 0 /\ -is_aborted_next^post35+is_aborted^post35 == 0 /\ -__const_7^0+pc_Loop^post35 == 0 /\ -3+pc_Drive_next^post35 <= 0 /\ y^0-y_next^post35 <= 0 /\ -pc_Plan_next^post35+pc_Plan^post35 == 0 /\ -1+is_aborted_next^post35 <= 0 /\ -x_next^post35+x^post35 == 0 /\ -is_aborted_next^post35 <= 0 /\ -x^0+x_next^post35 <= 0 /\ 1-is_aborted^post35 <= 0 /\ -n0^post35+n0^0 == 0 /\ 1+pc_Plan_next^post35-__const_8^0 <= 0 /\ -y^0+y_next^post35 <= 0 /\ executed_Drive^post35 == 0 /\ -n1^post35+n1^0 == 0 /\ 1-pc_Plan_next^post35 <= 0 /\ __const_7^0-__const_7^post35 == 0 /\ -__const_8^post35+__const_8^0 == 0 /\ 1-pc_Drive_next^post35 <= 0 /\ -pc_Drive_next^post35+pc_Drive^post35 == 0), cost: 1 6: l2 -> l3 : is_aborted^0'=is_aborted^post6, pc_Plan_next^0'=pc_Plan_next^post6, __const_7^0'=__const_7^post6, x_next^0'=x_next^post6, pc_Drive_next^0'=pc_Drive_next^post6, n0^0'=n0^post6, executed_Drive^0'=executed_Drive^post6, y_next^0'=y_next^post6, pc_Plan^0'=pc_Plan^post6, __const_6^0'=__const_6^post6, pc_Drive^0'=pc_Drive^post6, is_aborted_next^0'=is_aborted_next^post6, x^0'=x^post6, __const_8^0'=__const_8^post6, y^0'=y^post6, pc_Loop^0'=pc_Loop^post6, n1^0'=n1^post6, (0 == 0 /\ -__const_8^post6+__const_8^0 == 0 /\ -1+y_next^post6-y^0 <= 0 /\ -__const_7^0+pc_Drive^post6 <= 0 /\ 1-executed_Drive^post6 <= 0 /\ -1+executed_Drive^post6 <= 0 /\ -1+executed_Drive^post6 == 0 /\ -n1^post6+n1^0 == 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ 1-pc_Plan_next^post6 <= 0 /\ 1-x_next^post6+x^0 <= 0 /\ __const_6^0-__const_6^post6 == 0 /\ x^post6-x_next^post6 == 0 /\ __const_7^0-pc_Drive^post6 <= 0 /\ 1-pc_Drive_next^post6 <= 0 /\ 1-__const_8^0+pc_Drive_next^post6 <= 0 /\ pc_Plan^post6-pc_Plan_next^post6 == 0 /\ __const_7^0-__const_7^post6 == 0 /\ -n0^post6+n0^0 == 0 /\ y^post6-y_next^post6 == 0 /\ 1-y_next^post6+y^0 <= 0 /\ -4+pc_Loop^post6 == 0 /\ -1+x_next^post6-x^0 <= 0 /\ pc_Drive^post6-pc_Drive_next^post6 == 0 /\ -4+pc_Drive_next^post6 <= 0 /\ 4-pc_Drive_next^post6 <= 0 /\ -is_aborted_next^post6 <= 0 /\ -is_aborted_next^post6+is_aborted^post6 == 0 /\ -1+is_aborted_next^post6 <= 0), cost: 1 7: l2 -> l3 : is_aborted^0'=is_aborted^post7, pc_Plan_next^0'=pc_Plan_next^post7, __const_7^0'=__const_7^post7, x_next^0'=x_next^post7, pc_Drive_next^0'=pc_Drive_next^post7, n0^0'=n0^post7, executed_Drive^0'=executed_Drive^post7, y_next^0'=y_next^post7, pc_Plan^0'=pc_Plan^post7, __const_6^0'=__const_6^post7, pc_Drive^0'=pc_Drive^post7, is_aborted_next^0'=is_aborted_next^post7, x^0'=x^post7, __const_8^0'=__const_8^post7, y^0'=y^post7, pc_Loop^0'=pc_Loop^post7, n1^0'=n1^post7, (0 == 0 /\ -n0^post7+n0^0 == 0 /\ executed_Drive^0-executed_Drive^post7 == 0 /\ -is_aborted_next^post7+is_aborted^post7 == 0 /\ pc_Drive^post7-pc_Drive_next^post7 == 0 /\ 1+pc_Plan_next^post7-__const_8^0 <= 0 /\ y^post7-y_next^post7 == 0 /\ 1-pc_Drive_next^post7 <= 0 /\ 1-__const_8^0+pc_Drive_next^post7 <= 0 /\ -x_next^post7+x^0 <= 0 /\ -y^0+y_next^post7 <= 0 /\ 1-executed_Drive^0 <= 0 /\ -1+executed_Drive^0 <= 0 /\ x_next^post7-x^0 <= 0 /\ y^0-y_next^post7 <= 0 /\ -4+pc_Loop^post7 == 0 /\ __const_7^0-pc_Drive^post7 <= 0 /\ -pc_Plan_next^post7+pc_Plan^post7 == 0 /\ -is_aborted_next^post7 <= 0 /\ __const_7^0-__const_7^post7 == 0 /\ -n1^post7+n1^0 == 0 /\ -1+is_aborted_next^post7 <= 0 /\ 5-pc_Drive_next^post7 <= 0 /\ -__const_8^post7+__const_8^0 == 0 /\ -__const_6^post7+__const_6^0 == 0 /\ -__const_7^0+pc_Drive^post7 <= 0 /\ x^post7-x_next^post7 == 0 /\ 1-pc_Plan_next^post7 <= 0), cost: 1 8: l2 -> l3 : is_aborted^0'=is_aborted^post8, pc_Plan_next^0'=pc_Plan_next^post8, __const_7^0'=__const_7^post8, x_next^0'=x_next^post8, pc_Drive_next^0'=pc_Drive_next^post8, n0^0'=n0^post8, executed_Drive^0'=executed_Drive^post8, y_next^0'=y_next^post8, pc_Plan^0'=pc_Plan^post8, __const_6^0'=__const_6^post8, pc_Drive^0'=pc_Drive^post8, is_aborted_next^0'=is_aborted_next^post8, x^0'=x^post8, __const_8^0'=__const_8^post8, y^0'=y^post8, pc_Loop^0'=pc_Loop^post8, n1^0'=n1^post8, (0 == 0 /\ -__const_7^0+pc_Drive^post8 <= 0 /\ __const_8^0-__const_8^post8 == 0 /\ -x_next^post8+x^post8 == 0 /\ 1-executed_Drive^0 <= 0 /\ -1+executed_Drive^0 <= 0 /\ -n1^post8+n1^0 == 0 /\ 1+pc_Drive_next^post8-__const_8^0 <= 0 /\ 1-pc_Plan_next^post8 <= 0 /\ n0^0-n0^post8 == 0 /\ __const_7^0-pc_Drive^post8 <= 0 /\ __const_7^0-__const_7^post8 == 0 /\ 1-pc_Drive_next^post8 <= 0 /\ y^post8-y_next^post8 == 0 /\ __const_6^0-__const_6^post8 == 0 /\ 1+pc_Plan_next^post8-__const_8^0 <= 0 /\ -pc_Plan_next^post8+pc_Plan^post8 == 0 /\ -y_next^post8+y^0 <= 0 /\ -x_next^post8+x^0 <= 0 /\ -4+pc_Loop^post8 == 0 /\ -3+pc_Drive_next^post8 <= 0 /\ is_aborted^post8-is_aborted_next^post8 == 0 /\ -is_aborted_next^post8 <= 0 /\ y_next^post8-y^0 <= 0 /\ x_next^post8-x^0 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ executed_Drive^0-executed_Drive^post8 == 0 /\ pc_Drive^post8-pc_Drive_next^post8 == 0), cost: 1 9: l2 -> l3 : is_aborted^0'=is_aborted^post9, pc_Plan_next^0'=pc_Plan_next^post9, __const_7^0'=__const_7^post9, x_next^0'=x_next^post9, pc_Drive_next^0'=pc_Drive_next^post9, n0^0'=n0^post9, executed_Drive^0'=executed_Drive^post9, y_next^0'=y_next^post9, pc_Plan^0'=pc_Plan^post9, __const_6^0'=__const_6^post9, pc_Drive^0'=pc_Drive^post9, is_aborted_next^0'=is_aborted_next^post9, x^0'=x^post9, __const_8^0'=__const_8^post9, y^0'=y^post9, pc_Loop^0'=pc_Loop^post9, n1^0'=n1^post9, (0 == 0 /\ -1+y_next^post9-y^0 <= 0 /\ is_aborted^post9-is_aborted_next^post9 == 0 /\ pc_Drive^post9-pc_Drive_next^post9 == 0 /\ 1-pc_Drive_next^post9 <= 0 /\ 1+pc_Plan_next^post9-__const_8^0 <= 0 /\ 1-x_next^post9+x^0 <= 0 /\ 2-pc_Drive^post9 <= 0 /\ -pc_Plan_next^post9+pc_Plan^post9 == 0 /\ y^post9-y_next^post9 == 0 /\ __const_8^0-__const_8^post9 == 0 /\ -4+pc_Loop^post9 == 0 /\ n0^0-n0^post9 == 0 /\ -is_aborted_next^post9 <= 0 /\ 1-y_next^post9+y^0 <= 0 /\ -n1^post9+n1^0 == 0 /\ __const_7^0-__const_7^post9 == 0 /\ -1+is_aborted_next^post9 <= 0 /\ -1+x_next^post9-x^0 <= 0 /\ -2+pc_Drive^post9 <= 0 /\ -4+pc_Drive_next^post9 <= 0 /\ 4-pc_Drive_next^post9 <= 0 /\ __const_6^0-__const_6^post9 == 0 /\ 1+pc_Drive_next^post9-__const_8^0 <= 0 /\ -1+executed_Drive^post9 == 0 /\ 1-pc_Plan_next^post9 <= 0 /\ x^post9-x_next^post9 == 0), cost: 1 10: l2 -> l3 : is_aborted^0'=is_aborted^post10, pc_Plan_next^0'=pc_Plan_next^post10, __const_7^0'=__const_7^post10, x_next^0'=x_next^post10, pc_Drive_next^0'=pc_Drive_next^post10, n0^0'=n0^post10, executed_Drive^0'=executed_Drive^post10, y_next^0'=y_next^post10, pc_Plan^0'=pc_Plan^post10, __const_6^0'=__const_6^post10, pc_Drive^0'=pc_Drive^post10, is_aborted_next^0'=is_aborted_next^post10, x^0'=x^post10, __const_8^0'=__const_8^post10, y^0'=y^post10, pc_Loop^0'=pc_Loop^post10, n1^0'=n1^post10, (0 == 0 /\ x^post10-x_next^post10 == 0 /\ -n1^post10+n1^0 == 0 /\ -__const_8^post10+__const_8^0 == 0 /\ 1-pc_Plan_next^post10 <= 0 /\ 1-__const_8^0+pc_Plan_next^post10 <= 0 /\ __const_7^0-__const_7^post10 == 0 /\ 1-pc_Drive_next^post10 <= 0 /\ 1-__const_8^0+pc_Drive_next^post10 <= 0 /\ y^post10-y_next^post10 == 0 /\ executed_Drive^post10 == 0 /\ pc_Plan^post10-pc_Plan_next^post10 == 0 /\ -2+pc_Drive^post10 <= 0 /\ -n0^post10+n0^0 == 0 /\ -y_next^post10+y^0 <= 0 /\ -x_next^post10+x^0 <= 0 /\ -4+pc_Loop^post10 == 0 /\ -__const_6^post10+__const_6^0 == 0 /\ pc_Drive^post10-pc_Drive_next^post10 == 0 /\ -is_aborted_next^post10+is_aborted^post10 == 0 /\ -is_aborted_next^post10 <= 0 /\ y_next^post10-y^0 <= 0 /\ x_next^post10-x^0 <= 0 /\ -1+is_aborted_next^post10 <= 0 /\ 5-pc_Drive_next^post10 <= 0 /\ 2-pc_Drive^post10 <= 0), cost: 1 11: l2 -> l3 : is_aborted^0'=is_aborted^post11, pc_Plan_next^0'=pc_Plan_next^post11, __const_7^0'=__const_7^post11, x_next^0'=x_next^post11, pc_Drive_next^0'=pc_Drive_next^post11, n0^0'=n0^post11, executed_Drive^0'=executed_Drive^post11, y_next^0'=y_next^post11, pc_Plan^0'=pc_Plan^post11, __const_6^0'=__const_6^post11, pc_Drive^0'=pc_Drive^post11, is_aborted_next^0'=is_aborted_next^post11, x^0'=x^post11, __const_8^0'=__const_8^post11, y^0'=y^post11, pc_Loop^0'=pc_Loop^post11, n1^0'=n1^post11, (0 == 0 /\ -3+pc_Drive_next^post11 <= 0 /\ -y_next^post11+y^0 <= 0 /\ -n1^post11+n1^0 == 0 /\ -4+pc_Loop^post11 == 0 /\ -__const_8^post11+__const_8^0 == 0 /\ 1+pc_Drive_next^post11-__const_8^0 <= 0 /\ y_next^post11-y^0 <= 0 /\ -is_aborted_next^post11+is_aborted^post11 == 0 /\ -is_aborted_next^post11 <= 0 /\ -y_next^post11+y^post11 == 0 /\ 1-is_aborted_next^post11 <= 0 /\ -1+is_aborted_next^post11 <= 0 /\ -pc_Drive_next^post11+pc_Drive^post11 == 0 /\ 2-pc_Drive^post11 <= 0 /\ 1+pc_Plan_next^post11-__const_8^0 <= 0 /\ -x^0+x_next^post11 <= 0 /\ -pc_Plan_next^post11+pc_Plan^post11 == 0 /\ x^post11-x_next^post11 == 0 /\ -__const_6^post11+__const_6^0 == 0 /\ 1-pc_Plan_next^post11 <= 0 /\ executed_Drive^post11 == 0 /\ __const_7^0-__const_7^post11 == 0 /\ x^0-x_next^post11 <= 0 /\ 1-pc_Drive_next^post11 <= 0 /\ n0^0-n0^post11 == 0 /\ -2+pc_Drive^post11 <= 0), cost: 1 12: l3 -> l0 : is_aborted^0'=is_aborted^post12, pc_Plan_next^0'=pc_Plan_next^post12, __const_7^0'=__const_7^post12, x_next^0'=x_next^post12, pc_Drive_next^0'=pc_Drive_next^post12, n0^0'=n0^post12, executed_Drive^0'=executed_Drive^post12, y_next^0'=y_next^post12, pc_Plan^0'=pc_Plan^post12, __const_6^0'=__const_6^post12, pc_Drive^0'=pc_Drive^post12, is_aborted_next^0'=is_aborted_next^post12, x^0'=x^post12, __const_8^0'=__const_8^post12, y^0'=y^post12, pc_Loop^0'=pc_Loop^post12, n1^0'=n1^post12, (0 == 0 /\ is_aborted^post12-is_aborted_next^post12 == 0 /\ 1+pc_Plan_next^post12-__const_8^0 <= 0 /\ -1+y_next^post12-y^0 <= 0 /\ -1+executed_Drive^post12 == 0 /\ -pc_Drive_next^post12+pc_Drive^post12 == 0 /\ __const_8^0-__const_8^post12 == 0 /\ 1+pc_Drive_next^post12-__const_8^0 <= 0 /\ n0^0-n0^post12 == 0 /\ -1+x_next^post12-x^0 <= 0 /\ -__const_7^0+pc_Loop^post12 == 0 /\ 1-pc_Drive_next^post12 <= 0 /\ 1-y_next^post12+y^0 <= 0 /\ __const_7^0-__const_7^post12 == 0 /\ -is_aborted_next^post12 <= 0 /\ x^post12-x_next^post12 == 0 /\ 1-is_aborted^post12 <= 0 /\ -y_next^post12+y^post12 == 0 /\ -n1^post12+n1^0 == 0 /\ -1+is_aborted_next^post12 <= 0 /\ 1-x_next^post12+x^0 <= 0 /\ __const_6^0-__const_6^post12 == 0 /\ -pc_Plan_next^post12+pc_Plan^post12 == 0 /\ 1-pc_Plan_next^post12 <= 0 /\ -4+pc_Drive_next^post12 <= 0 /\ 4-pc_Drive_next^post12 <= 0), cost: 1 13: l3 -> l0 : is_aborted^0'=is_aborted^post13, pc_Plan_next^0'=pc_Plan_next^post13, __const_7^0'=__const_7^post13, x_next^0'=x_next^post13, pc_Drive_next^0'=pc_Drive_next^post13, n0^0'=n0^post13, executed_Drive^0'=executed_Drive^post13, y_next^0'=y_next^post13, pc_Plan^0'=pc_Plan^post13, __const_6^0'=__const_6^post13, pc_Drive^0'=pc_Drive^post13, is_aborted_next^0'=is_aborted_next^post13, x^0'=x^post13, __const_8^0'=__const_8^post13, y^0'=y^post13, pc_Loop^0'=pc_Loop^post13, n1^0'=n1^post13, (0 == 0 /\ -__const_7^0+pc_Loop^post13 == 0 /\ __const_6^0-__const_6^post13 == 0 /\ 5-pc_Drive_next^post13 <= 0 /\ y^post13-y_next^post13 == 0 /\ -y_next^post13+y^0 <= 0 /\ -executed_Drive^post13+executed_Drive^0 == 0 /\ -n1^post13+n1^0 == 0 /\ -x_next^post13+x^0 <= 0 /\ -__const_8^post13+__const_8^0 == 0 /\ pc_Drive^post13-pc_Drive_next^post13 == 0 /\ is_aborted^post13-is_aborted_next^post13 == 0 /\ -is_aborted_next^post13 <= 0 /\ 1-is_aborted^post13 <= 0 /\ y_next^post13-y^0 <= 0 /\ -1+is_aborted_next^post13 <= 0 /\ x_next^post13-x^0 <= 0 /\ -pc_Plan_next^post13+pc_Plan^post13 == 0 /\ 1+pc_Plan_next^post13-__const_8^0 <= 0 /\ 1-pc_Drive_next^post13 <= 0 /\ 1-pc_Plan_next^post13 <= 0 /\ 1+pc_Drive_next^post13-__const_8^0 <= 0 /\ __const_7^0-__const_7^post13 == 0 /\ x^post13-x_next^post13 == 0 /\ n0^0-n0^post13 == 0), cost: 1 14: l3 -> l0 : is_aborted^0'=is_aborted^post14, pc_Plan_next^0'=pc_Plan_next^post14, __const_7^0'=__const_7^post14, x_next^0'=x_next^post14, pc_Drive_next^0'=pc_Drive_next^post14, n0^0'=n0^post14, executed_Drive^0'=executed_Drive^post14, y_next^0'=y_next^post14, pc_Plan^0'=pc_Plan^post14, __const_6^0'=__const_6^post14, pc_Drive^0'=pc_Drive^post14, is_aborted_next^0'=is_aborted_next^post14, x^0'=x^post14, __const_8^0'=__const_8^post14, y^0'=y^post14, pc_Loop^0'=pc_Loop^post14, n1^0'=n1^post14, (0 == 0 /\ -is_aborted_next^post14+is_aborted^post14 == 0 /\ 1+pc_Plan_next^post14-__const_8^0 <= 0 /\ y_next^post14-y^0 <= 0 /\ -__const_6^post14+__const_6^0 == 0 /\ -pc_Drive_next^post14+pc_Drive^post14 == 0 /\ -y_next^post14+y^post14 == 0 /\ 1-pc_Drive_next^post14 <= 0 /\ __const_7^0-__const_7^post14 == 0 /\ 1-__const_8^0+pc_Drive_next^post14 <= 0 /\ -y_next^post14+y^0 <= 0 /\ -3+pc_Drive_next^post14 <= 0 /\ pc_Loop^post14-__const_7^0 == 0 /\ -is_aborted_next^post14 <= 0 /\ -__const_8^post14+__const_8^0 == 0 /\ -n0^post14+n0^0 == 0 /\ 1-is_aborted^post14 <= 0 /\ -n1^post14+n1^0 == 0 /\ -1+is_aborted_next^post14 <= 0 /\ -x_next^post14+x^0 <= 0 /\ executed_Drive^0-executed_Drive^post14 == 0 /\ -x_next^post14+x^post14 == 0 /\ -pc_Plan_next^post14+pc_Plan^post14 == 0 /\ 1-pc_Plan_next^post14 <= 0 /\ x_next^post14-x^0 <= 0), cost: 1 15: l3 -> l0 : is_aborted^0'=is_aborted^post15, pc_Plan_next^0'=pc_Plan_next^post15, __const_7^0'=__const_7^post15, x_next^0'=x_next^post15, pc_Drive_next^0'=pc_Drive_next^post15, n0^0'=n0^post15, executed_Drive^0'=executed_Drive^post15, y_next^0'=y_next^post15, pc_Plan^0'=pc_Plan^post15, __const_6^0'=__const_6^post15, pc_Drive^0'=pc_Drive^post15, is_aborted_next^0'=is_aborted_next^post15, x^0'=x^post15, __const_8^0'=__const_8^post15, y^0'=y^post15, pc_Loop^0'=pc_Loop^post15, n1^0'=n1^post15, (0 == 0 /\ -__const_7^0+pc_Loop^post15 == 0 /\ -1-x^0+x_next^post15 <= 0 /\ 1-y_next^post15+y^0 <= 0 /\ n0^0-n0^post15 == 0 /\ 1+pc_Plan_next^post15-__const_8^0 <= 0 /\ -pc_Plan_next^post15+pc_Plan^post15 == 0 /\ __const_7^0-__const_7^post15 == 0 /\ -n1^post15+n1^0 == 0 /\ -4+pc_Drive_next^post15 <= 0 /\ 4-pc_Drive_next^post15 <= 0 /\ -__const_8^post15+__const_8^0 == 0 /\ -is_aborted_next^post15+is_aborted^post15 == 0 /\ -is_aborted_next^post15 <= 0 /\ n0^0-x^post15 <= 0 /\ -1+executed_Drive^post15 == 0 /\ -1+is_aborted_next^post15 <= 0 /\ -y_next^post15+y^post15 == 0 /\ 1-pc_Plan_next^post15 <= 0 /\ 1+x^0-x_next^post15 <= 0 /\ -1+y_next^post15-y^0 <= 0 /\ -y^post15+n1^0 <= 0 /\ 1-pc_Drive_next^post15 <= 0 /\ -__const_6^post15+__const_6^0 == 0 /\ 1+pc_Drive_next^post15-__const_8^0 <= 0 /\ is_aborted^post15 <= 0 /\ -pc_Drive_next^post15+pc_Drive^post15 == 0 /\ x^post15-x_next^post15 == 0), cost: 1 16: l3 -> l0 : is_aborted^0'=is_aborted^post16, pc_Plan_next^0'=pc_Plan_next^post16, __const_7^0'=__const_7^post16, x_next^0'=x_next^post16, pc_Drive_next^0'=pc_Drive_next^post16, n0^0'=n0^post16, executed_Drive^0'=executed_Drive^post16, y_next^0'=y_next^post16, pc_Plan^0'=pc_Plan^post16, __const_6^0'=__const_6^post16, pc_Drive^0'=pc_Drive^post16, is_aborted_next^0'=is_aborted_next^post16, x^0'=x^post16, __const_8^0'=__const_8^post16, y^0'=y^post16, pc_Loop^0'=pc_Loop^post16, n1^0'=n1^post16, (0 == 0 /\ is_aborted^post16 <= 0 /\ -y^post16+n1^0 <= 0 /\ -pc_Drive_next^post16+pc_Drive^post16 == 0 /\ y_next^post16-y^0 <= 0 /\ -x^post16+n0^0 <= 0 /\ 1-pc_Plan_next^post16 <= 0 /\ n0^0-n0^post16 == 0 /\ 1+pc_Drive_next^post16-__const_8^0 <= 0 /\ 1-pc_Drive_next^post16 <= 0 /\ __const_8^0-__const_8^post16 == 0 /\ -y_next^post16+y^post16 == 0 /\ -__const_7^0+pc_Loop^post16 == 0 /\ __const_7^0-__const_7^post16 == 0 /\ -y_next^post16+y^0 <= 0 /\ -pc_Plan_next^post16+pc_Plan^post16 == 0 /\ -is_aborted_next^post16 <= 0 /\ 1+pc_Plan_next^post16-__const_8^0 <= 0 /\ -n1^post16+n1^0 == 0 /\ -1+is_aborted_next^post16 <= 0 /\ is_aborted^post16-is_aborted_next^post16 == 0 /\ -x_next^post16+x^0 <= 0 /\ __const_6^0-__const_6^post16 == 0 /\ executed_Drive^0-executed_Drive^post16 == 0 /\ -x_next^post16+x^post16 == 0 /\ 5-pc_Drive_next^post16 <= 0 /\ x_next^post16-x^0 <= 0), cost: 1 17: l3 -> l0 : is_aborted^0'=is_aborted^post17, pc_Plan_next^0'=pc_Plan_next^post17, __const_7^0'=__const_7^post17, x_next^0'=x_next^post17, pc_Drive_next^0'=pc_Drive_next^post17, n0^0'=n0^post17, executed_Drive^0'=executed_Drive^post17, y_next^0'=y_next^post17, pc_Plan^0'=pc_Plan^post17, __const_6^0'=__const_6^post17, pc_Drive^0'=pc_Drive^post17, is_aborted_next^0'=is_aborted_next^post17, x^0'=x^post17, __const_8^0'=__const_8^post17, y^0'=y^post17, pc_Loop^0'=pc_Loop^post17, n1^0'=n1^post17, (0 == 0 /\ -n0^post17+n0^0 == 0 /\ -__const_7^0+pc_Loop^post17 == 0 /\ y^post17-y_next^post17 == 0 /\ -pc_Plan_next^post17+pc_Plan^post17 == 0 /\ 1+pc_Plan_next^post17-__const_8^0 <= 0 /\ -y_next^post17+y^0 <= 0 /\ pc_Drive^post17-pc_Drive_next^post17 == 0 /\ -x_next^post17+x^0 <= 0 /\ -__const_8^post17+__const_8^0 == 0 /\ -is_aborted_next^post17 <= 0 /\ -3+pc_Drive_next^post17 <= 0 /\ y_next^post17-y^0 <= 0 /\ -executed_Drive^post17+executed_Drive^0 == 0 /\ -1+is_aborted_next^post17 <= 0 /\ x_next^post17-x^0 <= 0 /\ 1-pc_Plan_next^post17 <= 0 /\ is_aborted^post17 <= 0 /\ __const_6^0-__const_6^post17 == 0 /\ -y^post17+n1^0 <= 0 /\ 1-pc_Drive_next^post17 <= 0 /\ -n1^post17+n1^0 == 0 /\ -x^post17+n0^0 <= 0 /\ is_aborted^post17-is_aborted_next^post17 == 0 /\ 1+pc_Drive_next^post17-__const_8^0 <= 0 /\ -__const_7^post17+__const_7^0 == 0 /\ x^post17-x_next^post17 == 0), cost: 1 18: l3 -> l4 : is_aborted^0'=is_aborted^post18, pc_Plan_next^0'=pc_Plan_next^post18, __const_7^0'=__const_7^post18, x_next^0'=x_next^post18, pc_Drive_next^0'=pc_Drive_next^post18, n0^0'=n0^post18, executed_Drive^0'=executed_Drive^post18, y_next^0'=y_next^post18, pc_Plan^0'=pc_Plan^post18, __const_6^0'=__const_6^post18, pc_Drive^0'=pc_Drive^post18, is_aborted_next^0'=is_aborted_next^post18, x^0'=x^post18, __const_8^0'=__const_8^post18, y^0'=y^post18, pc_Loop^0'=pc_Loop^post18, n1^0'=n1^post18, (0 == 0 /\ 1-n1^0 <= 0 /\ 1-x_next^post18+x^0 <= 0 /\ -pc_Plan_next^post18+pc_Plan^post18 == 0 /\ -__const_6^post18+__const_6^0 == 0 /\ -4+pc_Drive_next^post18 <= 0 /\ 4-pc_Drive_next^post18 <= 0 /\ -n0^post18+n0^0 == 0 /\ 1-n0^0 <= 0 /\ 1+y^post18-n1^0 <= 0 /\ 1-n0^0+x^post18 <= 0 /\ 1-executed_Drive^post18 <= 0 /\ -1+executed_Drive^post18 <= 0 /\ -1+executed_Drive^post18 == 0 /\ -1+y_next^post18-y^0 <= 0 /\ 1-pc_Plan_next^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post18 <= 0 /\ -x_next^post18+x^post18 == 0 /\ is_aborted^post18 <= 0 /\ -n1^post18+n1^0 == 0 /\ 1-pc_Drive_next^post18 <= 0 /\ -is_aborted_next^post18 <= 0 /\ -1+x_next^post18-x^0 <= 0 /\ -pc_Drive_next^post18+pc_Drive^post18 == 0 /\ -is_aborted_next^post18+is_aborted^post18 == 0 /\ -1+is_aborted_next^post18 <= 0 /\ -__const_8^post18+__const_8^0 == 0 /\ -2+pc_Loop^post18 == 0 /\ 1-y_next^post18+y^0 <= 0 /\ 1+pc_Drive_next^post18-__const_8^0 <= 0 /\ -__const_7^post18+__const_7^0 == 0 /\ -y_next^post18+y^post18 == 0), cost: 1 19: l3 -> l4 : is_aborted^0'=is_aborted^post19, pc_Plan_next^0'=pc_Plan_next^post19, __const_7^0'=__const_7^post19, x_next^0'=x_next^post19, pc_Drive_next^0'=pc_Drive_next^post19, n0^0'=n0^post19, executed_Drive^0'=executed_Drive^post19, y_next^0'=y_next^post19, pc_Plan^0'=pc_Plan^post19, __const_6^0'=__const_6^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=is_aborted_next^post19, x^0'=x^post19, __const_8^0'=__const_8^post19, y^0'=y^post19, pc_Loop^0'=pc_Loop^post19, n1^0'=n1^post19, (0 == 0 /\ 1-n1^0 <= 0 /\ -y_next^post19+y^post19 == 0 /\ -n1^post19+n1^0 == 0 /\ 1-executed_Drive^0 <= 0 /\ -1+executed_Drive^0 <= 0 /\ y_next^post19-y^0 <= 0 /\ 1-n0^0 <= 0 /\ x^post19-x_next^post19 == 0 /\ executed_Drive^0-executed_Drive^post19 == 0 /\ -__const_8^post19+__const_8^0 == 0 /\ 1+pc_Drive_next^post19-__const_8^0 <= 0 /\ -pc_Drive_next^post19+pc_Drive^post19 == 0 /\ -2+pc_Loop^post19 == 0 /\ 1-n0^0+x^post19 <= 0 /\ -y_next^post19+y^0 <= 0 /\ 5-pc_Drive_next^post19 <= 0 /\ -x^0+x_next^post19 <= 0 /\ -1+is_aborted_next^post19 <= 0 /\ 1+pc_Plan_next^post19-__const_8^0 <= 0 /\ 1-pc_Plan_next^post19 <= 0 /\ -is_aborted_next^post19+is_aborted^post19 == 0 /\ -is_aborted_next^post19 <= 0 /\ -__const_6^post19+__const_6^0 == 0 /\ -pc_Plan_next^post19+pc_Plan^post19 == 0 /\ __const_7^0-__const_7^post19 == 0 /\ x^0-x_next^post19 <= 0 /\ n0^0-n0^post19 == 0 /\ 1-pc_Drive_next^post19 <= 0 /\ 1+y^post19-n1^0 <= 0 /\ is_aborted^post19 <= 0), cost: 1 20: l3 -> l4 : is_aborted^0'=is_aborted^post20, pc_Plan_next^0'=pc_Plan_next^post20, __const_7^0'=__const_7^post20, x_next^0'=x_next^post20, pc_Drive_next^0'=pc_Drive_next^post20, n0^0'=n0^post20, executed_Drive^0'=executed_Drive^post20, y_next^0'=y_next^post20, pc_Plan^0'=pc_Plan^post20, __const_6^0'=__const_6^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=is_aborted_next^post20, x^0'=x^post20, __const_8^0'=__const_8^post20, y^0'=y^post20, pc_Loop^0'=pc_Loop^post20, n1^0'=n1^post20, (0 == 0 /\ is_aborted^post20 <= 0 /\ 1-n1^0 <= 0 /\ -pc_Plan_next^post20+pc_Plan^post20 == 0 /\ __const_7^0-__const_7^post20 == 0 /\ n0^0-n0^post20 == 0 /\ 1+y^post20-n1^0 <= 0 /\ 1-executed_Drive^0 <= 0 /\ -1+executed_Drive^0 <= 0 /\ 1+pc_Plan_next^post20-__const_8^0 <= 0 /\ 1-n0^0 <= 0 /\ -__const_8^post20+__const_8^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ 1-pc_Plan_next^post20 <= 0 /\ y_next^post20-y^0 <= 0 /\ 1-pc_Drive_next^post20 <= 0 /\ x^0-x_next^post20 <= 0 /\ -x_next^post20+x^post20 == 0 /\ executed_Drive^0-executed_Drive^post20 == 0 /\ y^post20-y_next^post20 == 0 /\ is_aborted^post20-is_aborted_next^post20 == 0 /\ -pc_Drive_next^post20+pc_Drive^post20 == 0 /\ 1-n0^0+x^post20 <= 0 /\ -y_next^post20+y^0 <= 0 /\ -2+pc_Loop^post20 == 0 /\ -x^0+x_next^post20 <= 0 /\ -1+is_aborted_next^post20 <= 0 /\ __const_6^0-__const_6^post20 == 0 /\ 1+pc_Drive_next^post20-__const_8^0 <= 0 /\ -is_aborted_next^post20 <= 0 /\ -n1^post20+n1^0 == 0), cost: 1 24: l4 -> l5 : is_aborted^0'=is_aborted^post24, pc_Plan_next^0'=pc_Plan_next^post24, __const_7^0'=__const_7^post24, x_next^0'=x_next^post24, pc_Drive_next^0'=pc_Drive_next^post24, n0^0'=n0^post24, executed_Drive^0'=executed_Drive^post24, y_next^0'=y_next^post24, pc_Plan^0'=pc_Plan^post24, __const_6^0'=__const_6^post24, pc_Drive^0'=pc_Drive^post24, is_aborted_next^0'=is_aborted_next^post24, x^0'=x^post24, __const_8^0'=__const_8^post24, y^0'=y^post24, pc_Loop^0'=pc_Loop^post24, n1^0'=n1^post24, (0 == 0 /\ is_aborted^post24 <= 0 /\ 1+pc_Drive_next^post24-__const_8^0 <= 0 /\ x^post24-x_next^post24 == 0 /\ -1+is_aborted_next^post24 <= 0 /\ n0^0-n0^post24 == 0 /\ -1-x^0+x_next^post24 <= 0 /\ -is_aborted_next^post24 <= 0 /\ -1+executed_Drive^post24 == 0 /\ -1+y_next^post24-y^0 <= 0 /\ -__const_8^post24+__const_8^0 == 0 /\ 1+pc_Plan_next^post24-__const_8^0 <= 0 /\ 1-pc_Plan_next^post24 <= 0 /\ __const_7^0-__const_7^post24 == 0 /\ is_aborted^post24-is_aborted_next^post24 == 0 /\ 1-pc_Drive_next^post24 <= 0 /\ y^post24-y_next^post24 == 0 /\ pc_Drive^post24-pc_Drive_next^post24 == 0 /\ 1+x^0-x_next^post24 <= 0 /\ -pc_Plan_next^post24+pc_Plan^post24 == 0 /\ 1-y_next^post24+y^0 <= 0 /\ -4+pc_Drive_next^post24 <= 0 /\ 4-pc_Drive_next^post24 <= 0 /\ -n1^post24+n1^0 == 0 /\ -3+pc_Loop^post24 == 0 /\ -__const_6^post24+__const_6^0 == 0), cost: 1 25: l4 -> l5 : is_aborted^0'=is_aborted^post25, pc_Plan_next^0'=pc_Plan_next^post25, __const_7^0'=__const_7^post25, x_next^0'=x_next^post25, pc_Drive_next^0'=pc_Drive_next^post25, n0^0'=n0^post25, executed_Drive^0'=executed_Drive^post25, y_next^0'=y_next^post25, pc_Plan^0'=pc_Plan^post25, __const_6^0'=__const_6^post25, pc_Drive^0'=pc_Drive^post25, is_aborted_next^0'=is_aborted_next^post25, x^0'=x^post25, __const_8^0'=__const_8^post25, y^0'=y^post25, pc_Loop^0'=pc_Loop^post25, n1^0'=n1^post25, (0 == 0 /\ y_next^post25-y^0 <= 0 /\ -y_next^post25+y^0 <= 0 /\ -1+is_aborted_next^post25 <= 0 /\ y^post25-y_next^post25 == 0 /\ is_aborted^post25 <= 0 /\ __const_6^0-__const_6^post25 == 0 /\ -n1^post25+n1^0 == 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -is_aborted_next^post25 <= 0 /\ 5-pc_Drive_next^post25 <= 0 /\ -x_next^post25+x^0 <= 0 /\ 1-pc_Plan_next^post25 <= 0 /\ pc_Drive^post25-pc_Drive_next^post25 == 0 /\ -3+pc_Loop^post25 == 0 /\ is_aborted^post25-is_aborted_next^post25 == 0 /\ -pc_Plan_next^post25+pc_Plan^post25 == 0 /\ -__const_8^post25+__const_8^0 == 0 /\ 1-pc_Drive_next^post25 <= 0 /\ x^post25-x_next^post25 == 0 /\ 1+pc_Plan_next^post25-__const_8^0 <= 0 /\ __const_7^0-__const_7^post25 == 0 /\ x_next^post25-x^0 <= 0 /\ n0^0-n0^post25 == 0 /\ -executed_Drive^post25+executed_Drive^0 == 0), cost: 1 26: l4 -> l5 : is_aborted^0'=is_aborted^post26, pc_Plan_next^0'=pc_Plan_next^post26, __const_7^0'=__const_7^post26, x_next^0'=x_next^post26, pc_Drive_next^0'=pc_Drive_next^post26, n0^0'=n0^post26, executed_Drive^0'=executed_Drive^post26, y_next^0'=y_next^post26, pc_Plan^0'=pc_Plan^post26, __const_6^0'=__const_6^post26, pc_Drive^0'=pc_Drive^post26, is_aborted_next^0'=is_aborted_next^post26, x^0'=x^post26, __const_8^0'=__const_8^post26, y^0'=y^post26, pc_Loop^0'=pc_Loop^post26, n1^0'=n1^post26, (0 == 0 /\ executed_Drive^0-executed_Drive^post26 == 0 /\ y^0-y_next^post26 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ 1-pc_Plan_next^post26 <= 0 /\ pc_Drive^post26-pc_Drive_next^post26 == 0 /\ -3+pc_Loop^post26 == 0 /\ 1-pc_Drive_next^post26 <= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ x^post26-x_next^post26 == 0 /\ __const_7^0-__const_7^post26 == 0 /\ -y^0+y_next^post26 <= 0 /\ -n1^post26+n1^0 == 0 /\ -__const_6^post26+__const_6^0 == 0 /\ y^post26-y_next^post26 == 0 /\ -x_next^post26+x^0 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ is_aborted^post26 <= 0 /\ -n0^post26+n0^0 == 0 /\ pc_Plan^post26-pc_Plan_next^post26 == 0 /\ -__const_8^post26+__const_8^0 == 0 /\ -is_aborted_next^post26+is_aborted^post26 == 0 /\ -1+is_aborted_next^post26 <= 0 /\ x_next^post26-x^0 <= 0 /\ -is_aborted_next^post26 <= 0), cost: 1 27: l4 -> l0 : is_aborted^0'=is_aborted^post27, pc_Plan_next^0'=pc_Plan_next^post27, __const_7^0'=__const_7^post27, x_next^0'=x_next^post27, pc_Drive_next^0'=pc_Drive_next^post27, n0^0'=n0^post27, executed_Drive^0'=executed_Drive^post27, y_next^0'=y_next^post27, pc_Plan^0'=pc_Plan^post27, __const_6^0'=__const_6^post27, pc_Drive^0'=pc_Drive^post27, is_aborted_next^0'=is_aborted_next^post27, x^0'=x^post27, __const_8^0'=__const_8^post27, y^0'=y^post27, pc_Loop^0'=pc_Loop^post27, n1^0'=n1^post27, (0 == 0 /\ x^post27-x_next^post27 == 0 /\ 1-is_aborted^post27 <= 0 /\ __const_7^0-__const_7^post27 == 0 /\ -1-x^0+x_next^post27 <= 0 /\ -1+is_aborted_next^post27 <= 0 /\ -4+pc_Drive_next^post27 <= 0 /\ 4-pc_Drive_next^post27 <= 0 /\ 1+pc_Plan_next^post27-__const_8^0 <= 0 /\ -is_aborted_next^post27 <= 0 /\ -pc_Plan_next^post27+pc_Plan^post27 == 0 /\ 1-y_next^post27+y^0 <= 0 /\ -__const_8^post27+__const_8^0 == 0 /\ pc_Drive^post27-pc_Drive_next^post27 == 0 /\ 1-pc_Plan_next^post27 <= 0 /\ -n1^post27+n1^0 == 0 /\ -1+executed_Drive^post27 == 0 /\ 1-pc_Drive_next^post27 <= 0 /\ 1+x^0-x_next^post27 <= 0 /\ -__const_7^0+pc_Loop^post27 == 0 /\ -y_next^post27+y^post27 == 0 /\ -__const_6^post27+__const_6^0 == 0 /\ -1+y_next^post27-y^0 <= 0 /\ n0^0-n0^post27 == 0 /\ 1+pc_Drive_next^post27-__const_8^0 <= 0 /\ -is_aborted_next^post27+is_aborted^post27 == 0), cost: 1 28: l4 -> l0 : is_aborted^0'=is_aborted^post28, pc_Plan_next^0'=pc_Plan_next^post28, __const_7^0'=__const_7^post28, x_next^0'=x_next^post28, pc_Drive_next^0'=pc_Drive_next^post28, n0^0'=n0^post28, executed_Drive^0'=executed_Drive^post28, y_next^0'=y_next^post28, pc_Plan^0'=pc_Plan^post28, __const_6^0'=__const_6^post28, pc_Drive^0'=pc_Drive^post28, is_aborted_next^0'=is_aborted_next^post28, x^0'=x^post28, __const_8^0'=__const_8^post28, y^0'=y^post28, pc_Loop^0'=pc_Loop^post28, n1^0'=n1^post28, (0 == 0 /\ 1-pc_Drive_next^post28 <= 0 /\ 1-pc_Plan_next^post28 <= 0 /\ is_aborted^post28-is_aborted_next^post28 == 0 /\ pc_Drive^post28-pc_Drive_next^post28 == 0 /\ __const_8^0-__const_8^post28 == 0 /\ -n1^post28+n1^0 == 0 /\ -x_next^post28+x^post28 == 0 /\ -__const_7^0+pc_Loop^post28 == 0 /\ -pc_Plan_next^post28+pc_Plan^post28 == 0 /\ -executed_Drive^post28+executed_Drive^0 == 0 /\ y^post28-y_next^post28 == 0 /\ y_next^post28-y^0 <= 0 /\ n0^0-n0^post28 == 0 /\ x_next^post28-x^0 <= 0 /\ __const_7^0-__const_7^post28 == 0 /\ 1-is_aborted^post28 <= 0 /\ 5-pc_Drive_next^post28 <= 0 /\ -y_next^post28+y^0 <= 0 /\ 1+pc_Plan_next^post28-__const_8^0 <= 0 /\ -1+is_aborted_next^post28 <= 0 /\ 1+pc_Drive_next^post28-__const_8^0 <= 0 /\ __const_6^0-__const_6^post28 == 0 /\ -x_next^post28+x^0 <= 0 /\ -is_aborted_next^post28 <= 0), cost: 1 29: l4 -> l0 : is_aborted^0'=is_aborted^post29, pc_Plan_next^0'=pc_Plan_next^post29, __const_7^0'=__const_7^post29, x_next^0'=x_next^post29, pc_Drive_next^0'=pc_Drive_next^post29, n0^0'=n0^post29, executed_Drive^0'=executed_Drive^post29, y_next^0'=y_next^post29, pc_Plan^0'=pc_Plan^post29, __const_6^0'=__const_6^post29, pc_Drive^0'=pc_Drive^post29, is_aborted_next^0'=is_aborted_next^post29, x^0'=x^post29, __const_8^0'=__const_8^post29, y^0'=y^post29, pc_Loop^0'=pc_Loop^post29, n1^0'=n1^post29, (0 == 0 /\ -pc_Drive_next^post29+pc_Drive^post29 == 0 /\ -1+is_aborted_next^post29 <= 0 /\ y_next^post29-y^0 <= 0 /\ -x_next^post29+x^post29 == 0 /\ -is_aborted_next^post29 <= 0 /\ -pc_Plan_next^post29+pc_Plan^post29 == 0 /\ -y_next^post29+y^0 <= 0 /\ -__const_8^post29+__const_8^0 == 0 /\ 1-pc_Plan_next^post29 <= 0 /\ -3+pc_Drive_next^post29 <= 0 /\ 1-__const_8^0+pc_Plan_next^post29 <= 0 /\ is_aborted^post29-is_aborted_next^post29 == 0 /\ 1+pc_Drive_next^post29-__const_8^0 <= 0 /\ x_next^post29-x^0 <= 0 /\ -__const_7^0+pc_Loop^post29 == 0 /\ 1-pc_Drive_next^post29 <= 0 /\ -__const_6^post29+__const_6^0 == 0 /\ -y_next^post29+y^post29 == 0 /\ n0^0-n0^post29 == 0 /\ -__const_7^post29+__const_7^0 == 0 /\ -x_next^post29+x^0 <= 0 /\ -executed_Drive^post29+executed_Drive^0 == 0 /\ -n1^post29+n1^0 == 0 /\ 1-is_aborted^post29 <= 0), cost: 1 21: l5 -> l2 : is_aborted^0'=is_aborted^post21, pc_Plan_next^0'=pc_Plan_next^post21, __const_7^0'=__const_7^post21, x_next^0'=x_next^post21, pc_Drive_next^0'=pc_Drive_next^post21, n0^0'=n0^post21, executed_Drive^0'=executed_Drive^post21, y_next^0'=y_next^post21, pc_Plan^0'=pc_Plan^post21, __const_6^0'=__const_6^post21, pc_Drive^0'=pc_Drive^post21, is_aborted_next^0'=is_aborted_next^post21, x^0'=x^post21, __const_8^0'=__const_8^post21, y^0'=y^post21, pc_Loop^0'=pc_Loop^post21, n1^0'=n1^post21, (0 == 0 /\ -n1^post21+n1^0 == 0 /\ -1+x_next^post21-x^0 <= 0 /\ __const_6^0-__const_6^post21 == 0 /\ pc_Drive^post21-pc_Drive_next^post21 == 0 /\ 1-is_aborted^post21 <= 0 /\ y^post21-y_next^post21 == 0 /\ x^post21-x_next^post21 == 0 /\ is_aborted^post21-is_aborted_next^post21 == 0 /\ -1+is_aborted_next^post21 <= 0 /\ 1-y_next^post21+y^0 <= 0 /\ -4+pc_Drive_next^post21 <= 0 /\ 4-pc_Drive_next^post21 <= 0 /\ 1+pc_Drive_next^post21-__const_8^0 <= 0 /\ -is_aborted_next^post21 <= 0 /\ -__const_6^0+pc_Loop^post21 == 0 /\ -1+executed_Drive^post21 == 0 /\ 1-x_next^post21+x^0 <= 0 /\ 1-pc_Plan_next^post21 <= 0 /\ 1+pc_Plan_next^post21-__const_8^0 <= 0 /\ __const_7^0-__const_7^post21 == 0 /\ 1-pc_Drive_next^post21 <= 0 /\ n0^0-n0^post21 == 0 /\ -__const_8^post21+__const_8^0 == 0 /\ -pc_Plan_next^post21+pc_Plan^post21 == 0 /\ -1+y_next^post21-y^0 <= 0), cost: 1 22: l5 -> l2 : is_aborted^0'=is_aborted^post22, pc_Plan_next^0'=pc_Plan_next^post22, __const_7^0'=__const_7^post22, x_next^0'=x_next^post22, pc_Drive_next^0'=pc_Drive_next^post22, n0^0'=n0^post22, executed_Drive^0'=executed_Drive^post22, y_next^0'=y_next^post22, pc_Plan^0'=pc_Plan^post22, __const_6^0'=__const_6^post22, pc_Drive^0'=pc_Drive^post22, is_aborted_next^0'=is_aborted_next^post22, x^0'=x^post22, __const_8^0'=__const_8^post22, y^0'=y^post22, pc_Loop^0'=pc_Loop^post22, n1^0'=n1^post22, (0 == 0 /\ -x_next^post22+x^0 <= 0 /\ -1+is_aborted_next^post22 <= 0 /\ -__const_7^post22+__const_7^0 == 0 /\ 5-pc_Drive_next^post22 <= 0 /\ -is_aborted_next^post22 <= 0 /\ -n0^post22+n0^0 == 0 /\ -__const_6^0+pc_Loop^post22 == 0 /\ -__const_8^post22+__const_8^0 == 0 /\ -__const_6^post22+__const_6^0 == 0 /\ x_next^post22-x^0 <= 0 /\ 1-pc_Plan_next^post22 <= 0 /\ 1-__const_8^0+pc_Plan_next^post22 <= 0 /\ is_aborted^post22-is_aborted_next^post22 == 0 /\ -executed_Drive^post22+executed_Drive^0 == 0 /\ pc_Drive^post22-pc_Drive_next^post22 == 0 /\ -pc_Plan_next^post22+pc_Plan^post22 == 0 /\ y^post22-y_next^post22 == 0 /\ 1-pc_Drive_next^post22 <= 0 /\ y_next^post22-y^0 <= 0 /\ -x_next^post22+x^post22 == 0 /\ -y_next^post22+y^0 <= 0 /\ -n1^post22+n1^0 == 0 /\ 1-is_aborted^post22 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 1 23: l5 -> l2 : is_aborted^0'=is_aborted^post23, pc_Plan_next^0'=pc_Plan_next^post23, __const_7^0'=__const_7^post23, x_next^0'=x_next^post23, pc_Drive_next^0'=pc_Drive_next^post23, n0^0'=n0^post23, executed_Drive^0'=executed_Drive^post23, y_next^0'=y_next^post23, pc_Plan^0'=pc_Plan^post23, __const_6^0'=__const_6^post23, pc_Drive^0'=pc_Drive^post23, is_aborted_next^0'=is_aborted_next^post23, x^0'=x^post23, __const_8^0'=__const_8^post23, y^0'=y^post23, pc_Loop^0'=pc_Loop^post23, n1^0'=n1^post23, (0 == 0 /\ -y_next^post23+y^post23 == 0 /\ y_next^post23-y^0 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -is_aborted_next^post23+is_aborted^post23 == 0 /\ 1-is_aborted^post23 <= 0 /\ -y_next^post23+y^0 <= 0 /\ -1+is_aborted_next^post23 <= 0 /\ executed_Drive^0-executed_Drive^post23 == 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -is_aborted_next^post23 <= 0 /\ -n1^post23+n1^0 == 0 /\ -x^0+x_next^post23 <= 0 /\ pc_Loop^post23-__const_6^0 == 0 /\ pc_Drive^post23-pc_Drive_next^post23 == 0 /\ 1-pc_Plan_next^post23 <= 0 /\ 1+pc_Plan_next^post23-__const_8^0 <= 0 /\ 1-pc_Drive_next^post23 <= 0 /\ x^post23-x_next^post23 == 0 /\ __const_7^0-__const_7^post23 == 0 /\ -pc_Plan_next^post23+pc_Plan^post23 == 0 /\ x^0-x_next^post23 <= 0 /\ n0^0-n0^post23 == 0 /\ -__const_8^post23+__const_8^0 == 0 /\ -__const_6^post23+__const_6^0 == 0), cost: 1 36: l6 -> l1 : is_aborted^0'=is_aborted^post36, pc_Plan_next^0'=pc_Plan_next^post36, __const_7^0'=__const_7^post36, x_next^0'=x_next^post36, pc_Drive_next^0'=pc_Drive_next^post36, n0^0'=n0^post36, executed_Drive^0'=executed_Drive^post36, y_next^0'=y_next^post36, pc_Plan^0'=pc_Plan^post36, __const_6^0'=__const_6^post36, pc_Drive^0'=pc_Drive^post36, is_aborted_next^0'=is_aborted_next^post36, x^0'=x^post36, __const_8^0'=__const_8^post36, y^0'=y^post36, pc_Loop^0'=pc_Loop^post36, n1^0'=n1^post36, (-executed_Drive^post36+executed_Drive^0 == 0 /\ pc_Plan^0-pc_Plan^post36 == 0 /\ pc_Plan_next^0-pc_Plan_next^post36 == 0 /\ -pc_Drive^post36+pc_Drive^0 == 0 /\ -pc_Loop^post36+pc_Loop^0 == 0 /\ -n1^post36+n1^0 == 0 /\ n0^0-n0^post36 == 0 /\ -y_next^post36+y_next^0 == 0 /\ __const_8^0-__const_8^post36 == 0 /\ -is_aborted_next^post36+is_aborted_next^0 == 0 /\ __const_6^0-__const_6^post36 == 0 /\ -y^post36+y^0 == 0 /\ x^0-x^post36 == 0 /\ __const_7^0-__const_7^post36 == 0 /\ pc_Drive_next^0-pc_Drive_next^post36 == 0 /\ is_aborted^0-is_aborted^post36 == 0 /\ -x_next^post36+x_next^0 == 0), cost: 1 37: l7 -> l6 : is_aborted^0'=is_aborted^post37, pc_Plan_next^0'=pc_Plan_next^post37, __const_7^0'=__const_7^post37, x_next^0'=x_next^post37, pc_Drive_next^0'=pc_Drive_next^post37, n0^0'=n0^post37, executed_Drive^0'=executed_Drive^post37, y_next^0'=y_next^post37, pc_Plan^0'=pc_Plan^post37, __const_6^0'=__const_6^post37, pc_Drive^0'=pc_Drive^post37, is_aborted_next^0'=is_aborted_next^post37, x^0'=x^post37, __const_8^0'=__const_8^post37, y^0'=y^post37, pc_Loop^0'=pc_Loop^post37, n1^0'=n1^post37, (-__const_8^post37+__const_8^0 == 0 /\ x_next^0-x_next^post37 == 0 /\ is_aborted^0-is_aborted^post37 == 0 /\ __const_6^0-__const_6^post37 == 0 /\ pc_Drive_next^0-pc_Drive_next^post37 == 0 /\ n1^0-n1^post37 == 0 /\ is_aborted_next^0-is_aborted_next^post37 == 0 /\ -x^post37+x^0 == 0 /\ -executed_Drive^post37+executed_Drive^0 == 0 /\ n0^0-n0^post37 == 0 /\ -pc_Loop^post37+pc_Loop^0 == 0 /\ -pc_Drive^post37+pc_Drive^0 == 0 /\ y_next^0-y_next^post37 == 0 /\ pc_Plan_next^0-pc_Plan_next^post37 == 0 /\ -y^post37+y^0 == 0 /\ pc_Plan^0-pc_Plan^post37 == 0 /\ __const_7^0-__const_7^post37 == 0), cost: 1 Removed rules with unsatisfiable guard Start location: l7 30: l1 -> l4 : is_aborted^0'=is_aborted^post30, pc_Plan_next^0'=pc_Plan_next^post30, __const_7^0'=__const_7^post30, x_next^0'=x_next^post30, pc_Drive_next^0'=pc_Drive_next^post30, n0^0'=n0^post30, executed_Drive^0'=executed_Drive^post30, y_next^0'=y_next^post30, pc_Plan^0'=pc_Plan^post30, __const_6^0'=__const_6^post30, pc_Drive^0'=pc_Drive^post30, is_aborted_next^0'=is_aborted_next^post30, x^0'=x^post30, __const_8^0'=__const_8^post30, y^0'=y^post30, pc_Loop^0'=pc_Loop^post30, n1^0'=n1^post30, (0 == 0 /\ -2+pc_Loop^post30 == 0 /\ 1-x_next^post30+x^0 <= 0 /\ 1-pc_Drive_next^post30 <= 0 /\ 1-__const_8^0+pc_Drive_next^post30 <= 0 /\ 1+y^0-y_next^post30 <= 0 /\ 1-pc_Plan_next^post30 <= 0 /\ 1-__const_8^0+pc_Plan_next^post30 <= 0 /\ x^post30-x_next^post30 == 0 /\ -n0^post30+n0^0 == 0 /\ -3+pc_Plan^post30 <= 0 /\ pc_Drive^post30-pc_Drive_next^post30 == 0 /\ -n1^post30+n1^0 == 0 /\ -__const_6^post30+__const_6^0 == 0 /\ -1+x_next^post30-x^0 <= 0 /\ pc_Plan^post30-pc_Plan_next^post30 == 0 /\ y^post30-y_next^post30 == 0 /\ __const_7^0-__const_7^post30 == 0 /\ -1-y^0+y_next^post30 <= 0 /\ is_aborted^post30 <= 0 /\ -4+pc_Drive_next^post30 <= 0 /\ 4-pc_Drive_next^post30 <= 0 /\ -1+executed_Drive^post30 == 0 /\ -1+is_aborted_next^post30 <= 0 /\ 3-pc_Plan^post30 <= 0 /\ -is_aborted_next^post30+is_aborted^post30 == 0 /\ -is_aborted_next^post30 <= 0 /\ -__const_8^post30+__const_8^0 == 0), cost: 1 31: l1 -> l4 : is_aborted^0'=is_aborted^post31, pc_Plan_next^0'=pc_Plan_next^post31, __const_7^0'=__const_7^post31, x_next^0'=x_next^post31, pc_Drive_next^0'=pc_Drive_next^post31, n0^0'=n0^post31, executed_Drive^0'=executed_Drive^post31, y_next^0'=y_next^post31, pc_Plan^0'=pc_Plan^post31, __const_6^0'=__const_6^post31, pc_Drive^0'=pc_Drive^post31, is_aborted_next^0'=is_aborted_next^post31, x^0'=x^post31, __const_8^0'=__const_8^post31, y^0'=y^post31, pc_Loop^0'=pc_Loop^post31, n1^0'=n1^post31, (0 == 0 /\ is_aborted^post31 <= 0 /\ -pc_Drive_next^post31+pc_Drive^post31 == 0 /\ 5-pc_Drive_next^post31 <= 0 /\ y_next^post31-y^0 <= 0 /\ -1+is_aborted_next^post31 <= 0 /\ 3-pc_Plan^post31 <= 0 /\ -is_aborted_next^post31 <= 0 /\ __const_7^0-__const_7^post31 == 0 /\ -x_next^post31+x^post31 == 0 /\ -__const_8^post31+__const_8^0 == 0 /\ -y_next^post31+y^0 <= 0 /\ is_aborted^post31-is_aborted_next^post31 == 0 /\ 1+pc_Drive_next^post31-__const_8^0 <= 0 /\ 1-pc_Plan_next^post31 <= 0 /\ -3+pc_Plan^post31 <= 0 /\ -pc_Plan_next^post31+pc_Plan^post31 == 0 /\ -x^0+x_next^post31 <= 0 /\ 1-pc_Drive_next^post31 <= 0 /\ executed_Drive^post31 == 0 /\ -2+pc_Loop^post31 == 0 /\ -y_next^post31+y^post31 == 0 /\ 1+pc_Plan_next^post31-__const_8^0 <= 0 /\ n0^0-n0^post31 == 0 /\ -n1^post31+n1^0 == 0 /\ x^0-x_next^post31 <= 0 /\ -__const_6^post31+__const_6^0 == 0), cost: 1 32: l1 -> l4 : is_aborted^0'=is_aborted^post32, pc_Plan_next^0'=pc_Plan_next^post32, __const_7^0'=__const_7^post32, x_next^0'=x_next^post32, pc_Drive_next^0'=pc_Drive_next^post32, n0^0'=n0^post32, executed_Drive^0'=executed_Drive^post32, y_next^0'=y_next^post32, pc_Plan^0'=pc_Plan^post32, __const_6^0'=__const_6^post32, pc_Drive^0'=pc_Drive^post32, is_aborted_next^0'=is_aborted_next^post32, x^0'=x^post32, __const_8^0'=__const_8^post32, y^0'=y^post32, pc_Loop^0'=pc_Loop^post32, n1^0'=n1^post32, (0 == 0 /\ 1-pc_Drive_next^post32 <= 0 /\ -2+pc_Loop^post32 == 0 /\ executed_Drive^post32 == 0 /\ x_next^post32-x^0 <= 0 /\ 1+pc_Plan_next^post32-__const_8^0 <= 0 /\ is_aborted^post32 <= 0 /\ pc_Drive^post32-pc_Drive_next^post32 == 0 /\ -3+pc_Plan^post32 <= 0 /\ -n1^post32+n1^0 == 0 /\ -x_next^post32+x^0 <= 0 /\ __const_8^0-__const_8^post32 == 0 /\ n0^0-n0^post32 == 0 /\ y_next^post32-y^0 <= 0 /\ y^post32-y_next^post32 == 0 /\ is_aborted^post32-is_aborted_next^post32 == 0 /\ -1+is_aborted_next^post32 <= 0 /\ 3-pc_Plan^post32 <= 0 /\ 1-pc_Plan_next^post32 <= 0 /\ -y_next^post32+y^0 <= 0 /\ -3+pc_Drive_next^post32 <= 0 /\ __const_6^0-__const_6^post32 == 0 /\ -is_aborted_next^post32 <= 0 /\ __const_7^0-__const_7^post32 == 0 /\ -pc_Plan_next^post32+pc_Plan^post32 == 0 /\ 1+pc_Drive_next^post32-__const_8^0 <= 0 /\ -x_next^post32+x^post32 == 0), cost: 1 33: l1 -> l0 : is_aborted^0'=is_aborted^post33, pc_Plan_next^0'=pc_Plan_next^post33, __const_7^0'=__const_7^post33, x_next^0'=x_next^post33, pc_Drive_next^0'=pc_Drive_next^post33, n0^0'=n0^post33, executed_Drive^0'=executed_Drive^post33, y_next^0'=y_next^post33, pc_Plan^0'=pc_Plan^post33, __const_6^0'=__const_6^post33, pc_Drive^0'=pc_Drive^post33, is_aborted_next^0'=is_aborted_next^post33, x^0'=x^post33, __const_8^0'=__const_8^post33, y^0'=y^post33, pc_Loop^0'=pc_Loop^post33, n1^0'=n1^post33, (0 == 0 /\ -1+is_aborted_next^post33 <= 0 /\ 1+pc_Drive_next^post33-__const_8^0 <= 0 /\ -pc_Plan_next^post33+pc_Plan^post33 == 0 /\ -is_aborted_next^post33 <= 0 /\ -1+y_next^post33-y^0 <= 0 /\ -y_next^post33+y^post33 == 0 /\ -__const_8^post33+__const_8^0 == 0 /\ -4+pc_Drive_next^post33 <= 0 /\ 4-pc_Drive_next^post33 <= 0 /\ 1-x_next^post33+x^0 <= 0 /\ is_aborted^post33-is_aborted_next^post33 == 0 /\ 1-is_aborted^post33 <= 0 /\ 1+pc_Plan_next^post33-__const_8^0 <= 0 /\ -pc_Drive_next^post33+pc_Drive^post33 == 0 /\ -x_next^post33+x^post33 == 0 /\ n0^0-n0^post33 == 0 /\ 1-y_next^post33+y^0 <= 0 /\ -1+executed_Drive^post33 == 0 /\ -__const_7^0+pc_Loop^post33 == 0 /\ 1-pc_Plan_next^post33 <= 0 /\ -n1^post33+n1^0 == 0 /\ -1+x_next^post33-x^0 <= 0 /\ __const_7^0-__const_7^post33 == 0 /\ 1-pc_Drive_next^post33 <= 0 /\ -__const_6^post33+__const_6^0 == 0), cost: 1 34: l1 -> l0 : is_aborted^0'=is_aborted^post34, pc_Plan_next^0'=pc_Plan_next^post34, __const_7^0'=__const_7^post34, x_next^0'=x_next^post34, pc_Drive_next^0'=pc_Drive_next^post34, n0^0'=n0^post34, executed_Drive^0'=executed_Drive^post34, y_next^0'=y_next^post34, pc_Plan^0'=pc_Plan^post34, __const_6^0'=__const_6^post34, pc_Drive^0'=pc_Drive^post34, is_aborted_next^0'=is_aborted_next^post34, x^0'=x^post34, __const_8^0'=__const_8^post34, y^0'=y^post34, pc_Loop^0'=pc_Loop^post34, n1^0'=n1^post34, (0 == 0 /\ 1-pc_Plan_next^post34 <= 0 /\ 1-__const_8^0+pc_Plan_next^post34 <= 0 /\ x^post34-x_next^post34 == 0 /\ -y_next^post34+y^0 <= 0 /\ 1-pc_Drive_next^post34 <= 0 /\ 1-__const_8^0+pc_Drive_next^post34 <= 0 /\ y^post34-y_next^post34 == 0 /\ -n1^post34+n1^0 == 0 /\ y_next^post34-y^0 <= 0 /\ -__const_8^post34+__const_8^0 == 0 /\ executed_Drive^post34 == 0 /\ 5-pc_Drive_next^post34 <= 0 /\ pc_Drive^post34-pc_Drive_next^post34 == 0 /\ -__const_6^post34+__const_6^0 == 0 /\ -is_aborted_next^post34+is_aborted^post34 == 0 /\ 1-is_aborted^post34 <= 0 /\ x_next^post34-x^0 <= 0 /\ __const_7^0-__const_7^post34 == 0 /\ -n0^post34+n0^0 == 0 /\ -is_aborted_next^post34 <= 0 /\ pc_Plan^post34-pc_Plan_next^post34 == 0 /\ pc_Loop^post34-__const_7^0 == 0 /\ -x_next^post34+x^0 <= 0 /\ -1+is_aborted_next^post34 <= 0), cost: 1 35: l1 -> l0 : is_aborted^0'=is_aborted^post35, pc_Plan_next^0'=pc_Plan_next^post35, __const_7^0'=__const_7^post35, x_next^0'=x_next^post35, pc_Drive_next^0'=pc_Drive_next^post35, n0^0'=n0^post35, executed_Drive^0'=executed_Drive^post35, y_next^0'=y_next^post35, pc_Plan^0'=pc_Plan^post35, __const_6^0'=__const_6^post35, pc_Drive^0'=pc_Drive^post35, is_aborted_next^0'=is_aborted_next^post35, x^0'=x^post35, __const_8^0'=__const_8^post35, y^0'=y^post35, pc_Loop^0'=pc_Loop^post35, n1^0'=n1^post35, (0 == 0 /\ y^post35-y_next^post35 == 0 /\ -__const_6^post35+__const_6^0 == 0 /\ x^0-x_next^post35 <= 0 /\ 1+pc_Drive_next^post35-__const_8^0 <= 0 /\ -is_aborted_next^post35+is_aborted^post35 == 0 /\ -__const_7^0+pc_Loop^post35 == 0 /\ -3+pc_Drive_next^post35 <= 0 /\ y^0-y_next^post35 <= 0 /\ -pc_Plan_next^post35+pc_Plan^post35 == 0 /\ -1+is_aborted_next^post35 <= 0 /\ -x_next^post35+x^post35 == 0 /\ -is_aborted_next^post35 <= 0 /\ -x^0+x_next^post35 <= 0 /\ 1-is_aborted^post35 <= 0 /\ -n0^post35+n0^0 == 0 /\ 1+pc_Plan_next^post35-__const_8^0 <= 0 /\ -y^0+y_next^post35 <= 0 /\ executed_Drive^post35 == 0 /\ -n1^post35+n1^0 == 0 /\ 1-pc_Plan_next^post35 <= 0 /\ __const_7^0-__const_7^post35 == 0 /\ -__const_8^post35+__const_8^0 == 0 /\ 1-pc_Drive_next^post35 <= 0 /\ -pc_Drive_next^post35+pc_Drive^post35 == 0), cost: 1 6: l2 -> l3 : is_aborted^0'=is_aborted^post6, pc_Plan_next^0'=pc_Plan_next^post6, __const_7^0'=__const_7^post6, x_next^0'=x_next^post6, pc_Drive_next^0'=pc_Drive_next^post6, n0^0'=n0^post6, executed_Drive^0'=executed_Drive^post6, y_next^0'=y_next^post6, pc_Plan^0'=pc_Plan^post6, __const_6^0'=__const_6^post6, pc_Drive^0'=pc_Drive^post6, is_aborted_next^0'=is_aborted_next^post6, x^0'=x^post6, __const_8^0'=__const_8^post6, y^0'=y^post6, pc_Loop^0'=pc_Loop^post6, n1^0'=n1^post6, (0 == 0 /\ -__const_8^post6+__const_8^0 == 0 /\ -1+y_next^post6-y^0 <= 0 /\ -__const_7^0+pc_Drive^post6 <= 0 /\ 1-executed_Drive^post6 <= 0 /\ -1+executed_Drive^post6 <= 0 /\ -1+executed_Drive^post6 == 0 /\ -n1^post6+n1^0 == 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ 1-pc_Plan_next^post6 <= 0 /\ 1-x_next^post6+x^0 <= 0 /\ __const_6^0-__const_6^post6 == 0 /\ x^post6-x_next^post6 == 0 /\ __const_7^0-pc_Drive^post6 <= 0 /\ 1-pc_Drive_next^post6 <= 0 /\ 1-__const_8^0+pc_Drive_next^post6 <= 0 /\ pc_Plan^post6-pc_Plan_next^post6 == 0 /\ __const_7^0-__const_7^post6 == 0 /\ -n0^post6+n0^0 == 0 /\ y^post6-y_next^post6 == 0 /\ 1-y_next^post6+y^0 <= 0 /\ -4+pc_Loop^post6 == 0 /\ -1+x_next^post6-x^0 <= 0 /\ pc_Drive^post6-pc_Drive_next^post6 == 0 /\ -4+pc_Drive_next^post6 <= 0 /\ 4-pc_Drive_next^post6 <= 0 /\ -is_aborted_next^post6 <= 0 /\ -is_aborted_next^post6+is_aborted^post6 == 0 /\ -1+is_aborted_next^post6 <= 0), cost: 1 7: l2 -> l3 : is_aborted^0'=is_aborted^post7, pc_Plan_next^0'=pc_Plan_next^post7, __const_7^0'=__const_7^post7, x_next^0'=x_next^post7, pc_Drive_next^0'=pc_Drive_next^post7, n0^0'=n0^post7, executed_Drive^0'=executed_Drive^post7, y_next^0'=y_next^post7, pc_Plan^0'=pc_Plan^post7, __const_6^0'=__const_6^post7, pc_Drive^0'=pc_Drive^post7, is_aborted_next^0'=is_aborted_next^post7, x^0'=x^post7, __const_8^0'=__const_8^post7, y^0'=y^post7, pc_Loop^0'=pc_Loop^post7, n1^0'=n1^post7, (0 == 0 /\ -n0^post7+n0^0 == 0 /\ executed_Drive^0-executed_Drive^post7 == 0 /\ -is_aborted_next^post7+is_aborted^post7 == 0 /\ pc_Drive^post7-pc_Drive_next^post7 == 0 /\ 1+pc_Plan_next^post7-__const_8^0 <= 0 /\ y^post7-y_next^post7 == 0 /\ 1-pc_Drive_next^post7 <= 0 /\ 1-__const_8^0+pc_Drive_next^post7 <= 0 /\ -x_next^post7+x^0 <= 0 /\ -y^0+y_next^post7 <= 0 /\ 1-executed_Drive^0 <= 0 /\ -1+executed_Drive^0 <= 0 /\ x_next^post7-x^0 <= 0 /\ y^0-y_next^post7 <= 0 /\ -4+pc_Loop^post7 == 0 /\ __const_7^0-pc_Drive^post7 <= 0 /\ -pc_Plan_next^post7+pc_Plan^post7 == 0 /\ -is_aborted_next^post7 <= 0 /\ __const_7^0-__const_7^post7 == 0 /\ -n1^post7+n1^0 == 0 /\ -1+is_aborted_next^post7 <= 0 /\ 5-pc_Drive_next^post7 <= 0 /\ -__const_8^post7+__const_8^0 == 0 /\ -__const_6^post7+__const_6^0 == 0 /\ -__const_7^0+pc_Drive^post7 <= 0 /\ x^post7-x_next^post7 == 0 /\ 1-pc_Plan_next^post7 <= 0), cost: 1 8: l2 -> l3 : is_aborted^0'=is_aborted^post8, pc_Plan_next^0'=pc_Plan_next^post8, __const_7^0'=__const_7^post8, x_next^0'=x_next^post8, pc_Drive_next^0'=pc_Drive_next^post8, n0^0'=n0^post8, executed_Drive^0'=executed_Drive^post8, y_next^0'=y_next^post8, pc_Plan^0'=pc_Plan^post8, __const_6^0'=__const_6^post8, pc_Drive^0'=pc_Drive^post8, is_aborted_next^0'=is_aborted_next^post8, x^0'=x^post8, __const_8^0'=__const_8^post8, y^0'=y^post8, pc_Loop^0'=pc_Loop^post8, n1^0'=n1^post8, (0 == 0 /\ -__const_7^0+pc_Drive^post8 <= 0 /\ __const_8^0-__const_8^post8 == 0 /\ -x_next^post8+x^post8 == 0 /\ 1-executed_Drive^0 <= 0 /\ -1+executed_Drive^0 <= 0 /\ -n1^post8+n1^0 == 0 /\ 1+pc_Drive_next^post8-__const_8^0 <= 0 /\ 1-pc_Plan_next^post8 <= 0 /\ n0^0-n0^post8 == 0 /\ __const_7^0-pc_Drive^post8 <= 0 /\ __const_7^0-__const_7^post8 == 0 /\ 1-pc_Drive_next^post8 <= 0 /\ y^post8-y_next^post8 == 0 /\ __const_6^0-__const_6^post8 == 0 /\ 1+pc_Plan_next^post8-__const_8^0 <= 0 /\ -pc_Plan_next^post8+pc_Plan^post8 == 0 /\ -y_next^post8+y^0 <= 0 /\ -x_next^post8+x^0 <= 0 /\ -4+pc_Loop^post8 == 0 /\ -3+pc_Drive_next^post8 <= 0 /\ is_aborted^post8-is_aborted_next^post8 == 0 /\ -is_aborted_next^post8 <= 0 /\ y_next^post8-y^0 <= 0 /\ x_next^post8-x^0 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ executed_Drive^0-executed_Drive^post8 == 0 /\ pc_Drive^post8-pc_Drive_next^post8 == 0), cost: 1 11: l2 -> l3 : is_aborted^0'=is_aborted^post11, pc_Plan_next^0'=pc_Plan_next^post11, __const_7^0'=__const_7^post11, x_next^0'=x_next^post11, pc_Drive_next^0'=pc_Drive_next^post11, n0^0'=n0^post11, executed_Drive^0'=executed_Drive^post11, y_next^0'=y_next^post11, pc_Plan^0'=pc_Plan^post11, __const_6^0'=__const_6^post11, pc_Drive^0'=pc_Drive^post11, is_aborted_next^0'=is_aborted_next^post11, x^0'=x^post11, __const_8^0'=__const_8^post11, y^0'=y^post11, pc_Loop^0'=pc_Loop^post11, n1^0'=n1^post11, (0 == 0 /\ -3+pc_Drive_next^post11 <= 0 /\ -y_next^post11+y^0 <= 0 /\ -n1^post11+n1^0 == 0 /\ -4+pc_Loop^post11 == 0 /\ -__const_8^post11+__const_8^0 == 0 /\ 1+pc_Drive_next^post11-__const_8^0 <= 0 /\ y_next^post11-y^0 <= 0 /\ -is_aborted_next^post11+is_aborted^post11 == 0 /\ -is_aborted_next^post11 <= 0 /\ -y_next^post11+y^post11 == 0 /\ 1-is_aborted_next^post11 <= 0 /\ -1+is_aborted_next^post11 <= 0 /\ -pc_Drive_next^post11+pc_Drive^post11 == 0 /\ 2-pc_Drive^post11 <= 0 /\ 1+pc_Plan_next^post11-__const_8^0 <= 0 /\ -x^0+x_next^post11 <= 0 /\ -pc_Plan_next^post11+pc_Plan^post11 == 0 /\ x^post11-x_next^post11 == 0 /\ -__const_6^post11+__const_6^0 == 0 /\ 1-pc_Plan_next^post11 <= 0 /\ executed_Drive^post11 == 0 /\ __const_7^0-__const_7^post11 == 0 /\ x^0-x_next^post11 <= 0 /\ 1-pc_Drive_next^post11 <= 0 /\ n0^0-n0^post11 == 0 /\ -2+pc_Drive^post11 <= 0), cost: 1 12: l3 -> l0 : is_aborted^0'=is_aborted^post12, pc_Plan_next^0'=pc_Plan_next^post12, __const_7^0'=__const_7^post12, x_next^0'=x_next^post12, pc_Drive_next^0'=pc_Drive_next^post12, n0^0'=n0^post12, executed_Drive^0'=executed_Drive^post12, y_next^0'=y_next^post12, pc_Plan^0'=pc_Plan^post12, __const_6^0'=__const_6^post12, pc_Drive^0'=pc_Drive^post12, is_aborted_next^0'=is_aborted_next^post12, x^0'=x^post12, __const_8^0'=__const_8^post12, y^0'=y^post12, pc_Loop^0'=pc_Loop^post12, n1^0'=n1^post12, (0 == 0 /\ is_aborted^post12-is_aborted_next^post12 == 0 /\ 1+pc_Plan_next^post12-__const_8^0 <= 0 /\ -1+y_next^post12-y^0 <= 0 /\ -1+executed_Drive^post12 == 0 /\ -pc_Drive_next^post12+pc_Drive^post12 == 0 /\ __const_8^0-__const_8^post12 == 0 /\ 1+pc_Drive_next^post12-__const_8^0 <= 0 /\ n0^0-n0^post12 == 0 /\ -1+x_next^post12-x^0 <= 0 /\ -__const_7^0+pc_Loop^post12 == 0 /\ 1-pc_Drive_next^post12 <= 0 /\ 1-y_next^post12+y^0 <= 0 /\ __const_7^0-__const_7^post12 == 0 /\ -is_aborted_next^post12 <= 0 /\ x^post12-x_next^post12 == 0 /\ 1-is_aborted^post12 <= 0 /\ -y_next^post12+y^post12 == 0 /\ -n1^post12+n1^0 == 0 /\ -1+is_aborted_next^post12 <= 0 /\ 1-x_next^post12+x^0 <= 0 /\ __const_6^0-__const_6^post12 == 0 /\ -pc_Plan_next^post12+pc_Plan^post12 == 0 /\ 1-pc_Plan_next^post12 <= 0 /\ -4+pc_Drive_next^post12 <= 0 /\ 4-pc_Drive_next^post12 <= 0), cost: 1 13: l3 -> l0 : is_aborted^0'=is_aborted^post13, pc_Plan_next^0'=pc_Plan_next^post13, __const_7^0'=__const_7^post13, x_next^0'=x_next^post13, pc_Drive_next^0'=pc_Drive_next^post13, n0^0'=n0^post13, executed_Drive^0'=executed_Drive^post13, y_next^0'=y_next^post13, pc_Plan^0'=pc_Plan^post13, __const_6^0'=__const_6^post13, pc_Drive^0'=pc_Drive^post13, is_aborted_next^0'=is_aborted_next^post13, x^0'=x^post13, __const_8^0'=__const_8^post13, y^0'=y^post13, pc_Loop^0'=pc_Loop^post13, n1^0'=n1^post13, (0 == 0 /\ -__const_7^0+pc_Loop^post13 == 0 /\ __const_6^0-__const_6^post13 == 0 /\ 5-pc_Drive_next^post13 <= 0 /\ y^post13-y_next^post13 == 0 /\ -y_next^post13+y^0 <= 0 /\ -executed_Drive^post13+executed_Drive^0 == 0 /\ -n1^post13+n1^0 == 0 /\ -x_next^post13+x^0 <= 0 /\ -__const_8^post13+__const_8^0 == 0 /\ pc_Drive^post13-pc_Drive_next^post13 == 0 /\ is_aborted^post13-is_aborted_next^post13 == 0 /\ -is_aborted_next^post13 <= 0 /\ 1-is_aborted^post13 <= 0 /\ y_next^post13-y^0 <= 0 /\ -1+is_aborted_next^post13 <= 0 /\ x_next^post13-x^0 <= 0 /\ -pc_Plan_next^post13+pc_Plan^post13 == 0 /\ 1+pc_Plan_next^post13-__const_8^0 <= 0 /\ 1-pc_Drive_next^post13 <= 0 /\ 1-pc_Plan_next^post13 <= 0 /\ 1+pc_Drive_next^post13-__const_8^0 <= 0 /\ __const_7^0-__const_7^post13 == 0 /\ x^post13-x_next^post13 == 0 /\ n0^0-n0^post13 == 0), cost: 1 14: l3 -> l0 : is_aborted^0'=is_aborted^post14, pc_Plan_next^0'=pc_Plan_next^post14, __const_7^0'=__const_7^post14, x_next^0'=x_next^post14, pc_Drive_next^0'=pc_Drive_next^post14, n0^0'=n0^post14, executed_Drive^0'=executed_Drive^post14, y_next^0'=y_next^post14, pc_Plan^0'=pc_Plan^post14, __const_6^0'=__const_6^post14, pc_Drive^0'=pc_Drive^post14, is_aborted_next^0'=is_aborted_next^post14, x^0'=x^post14, __const_8^0'=__const_8^post14, y^0'=y^post14, pc_Loop^0'=pc_Loop^post14, n1^0'=n1^post14, (0 == 0 /\ -is_aborted_next^post14+is_aborted^post14 == 0 /\ 1+pc_Plan_next^post14-__const_8^0 <= 0 /\ y_next^post14-y^0 <= 0 /\ -__const_6^post14+__const_6^0 == 0 /\ -pc_Drive_next^post14+pc_Drive^post14 == 0 /\ -y_next^post14+y^post14 == 0 /\ 1-pc_Drive_next^post14 <= 0 /\ __const_7^0-__const_7^post14 == 0 /\ 1-__const_8^0+pc_Drive_next^post14 <= 0 /\ -y_next^post14+y^0 <= 0 /\ -3+pc_Drive_next^post14 <= 0 /\ pc_Loop^post14-__const_7^0 == 0 /\ -is_aborted_next^post14 <= 0 /\ -__const_8^post14+__const_8^0 == 0 /\ -n0^post14+n0^0 == 0 /\ 1-is_aborted^post14 <= 0 /\ -n1^post14+n1^0 == 0 /\ -1+is_aborted_next^post14 <= 0 /\ -x_next^post14+x^0 <= 0 /\ executed_Drive^0-executed_Drive^post14 == 0 /\ -x_next^post14+x^post14 == 0 /\ -pc_Plan_next^post14+pc_Plan^post14 == 0 /\ 1-pc_Plan_next^post14 <= 0 /\ x_next^post14-x^0 <= 0), cost: 1 15: l3 -> l0 : is_aborted^0'=is_aborted^post15, pc_Plan_next^0'=pc_Plan_next^post15, __const_7^0'=__const_7^post15, x_next^0'=x_next^post15, pc_Drive_next^0'=pc_Drive_next^post15, n0^0'=n0^post15, executed_Drive^0'=executed_Drive^post15, y_next^0'=y_next^post15, pc_Plan^0'=pc_Plan^post15, __const_6^0'=__const_6^post15, pc_Drive^0'=pc_Drive^post15, is_aborted_next^0'=is_aborted_next^post15, x^0'=x^post15, __const_8^0'=__const_8^post15, y^0'=y^post15, pc_Loop^0'=pc_Loop^post15, n1^0'=n1^post15, (0 == 0 /\ -__const_7^0+pc_Loop^post15 == 0 /\ -1-x^0+x_next^post15 <= 0 /\ 1-y_next^post15+y^0 <= 0 /\ n0^0-n0^post15 == 0 /\ 1+pc_Plan_next^post15-__const_8^0 <= 0 /\ -pc_Plan_next^post15+pc_Plan^post15 == 0 /\ __const_7^0-__const_7^post15 == 0 /\ -n1^post15+n1^0 == 0 /\ -4+pc_Drive_next^post15 <= 0 /\ 4-pc_Drive_next^post15 <= 0 /\ -__const_8^post15+__const_8^0 == 0 /\ -is_aborted_next^post15+is_aborted^post15 == 0 /\ -is_aborted_next^post15 <= 0 /\ n0^0-x^post15 <= 0 /\ -1+executed_Drive^post15 == 0 /\ -1+is_aborted_next^post15 <= 0 /\ -y_next^post15+y^post15 == 0 /\ 1-pc_Plan_next^post15 <= 0 /\ 1+x^0-x_next^post15 <= 0 /\ -1+y_next^post15-y^0 <= 0 /\ -y^post15+n1^0 <= 0 /\ 1-pc_Drive_next^post15 <= 0 /\ -__const_6^post15+__const_6^0 == 0 /\ 1+pc_Drive_next^post15-__const_8^0 <= 0 /\ is_aborted^post15 <= 0 /\ -pc_Drive_next^post15+pc_Drive^post15 == 0 /\ x^post15-x_next^post15 == 0), cost: 1 16: l3 -> l0 : is_aborted^0'=is_aborted^post16, pc_Plan_next^0'=pc_Plan_next^post16, __const_7^0'=__const_7^post16, x_next^0'=x_next^post16, pc_Drive_next^0'=pc_Drive_next^post16, n0^0'=n0^post16, executed_Drive^0'=executed_Drive^post16, y_next^0'=y_next^post16, pc_Plan^0'=pc_Plan^post16, __const_6^0'=__const_6^post16, pc_Drive^0'=pc_Drive^post16, is_aborted_next^0'=is_aborted_next^post16, x^0'=x^post16, __const_8^0'=__const_8^post16, y^0'=y^post16, pc_Loop^0'=pc_Loop^post16, n1^0'=n1^post16, (0 == 0 /\ is_aborted^post16 <= 0 /\ -y^post16+n1^0 <= 0 /\ -pc_Drive_next^post16+pc_Drive^post16 == 0 /\ y_next^post16-y^0 <= 0 /\ -x^post16+n0^0 <= 0 /\ 1-pc_Plan_next^post16 <= 0 /\ n0^0-n0^post16 == 0 /\ 1+pc_Drive_next^post16-__const_8^0 <= 0 /\ 1-pc_Drive_next^post16 <= 0 /\ __const_8^0-__const_8^post16 == 0 /\ -y_next^post16+y^post16 == 0 /\ -__const_7^0+pc_Loop^post16 == 0 /\ __const_7^0-__const_7^post16 == 0 /\ -y_next^post16+y^0 <= 0 /\ -pc_Plan_next^post16+pc_Plan^post16 == 0 /\ -is_aborted_next^post16 <= 0 /\ 1+pc_Plan_next^post16-__const_8^0 <= 0 /\ -n1^post16+n1^0 == 0 /\ -1+is_aborted_next^post16 <= 0 /\ is_aborted^post16-is_aborted_next^post16 == 0 /\ -x_next^post16+x^0 <= 0 /\ __const_6^0-__const_6^post16 == 0 /\ executed_Drive^0-executed_Drive^post16 == 0 /\ -x_next^post16+x^post16 == 0 /\ 5-pc_Drive_next^post16 <= 0 /\ x_next^post16-x^0 <= 0), cost: 1 17: l3 -> l0 : is_aborted^0'=is_aborted^post17, pc_Plan_next^0'=pc_Plan_next^post17, __const_7^0'=__const_7^post17, x_next^0'=x_next^post17, pc_Drive_next^0'=pc_Drive_next^post17, n0^0'=n0^post17, executed_Drive^0'=executed_Drive^post17, y_next^0'=y_next^post17, pc_Plan^0'=pc_Plan^post17, __const_6^0'=__const_6^post17, pc_Drive^0'=pc_Drive^post17, is_aborted_next^0'=is_aborted_next^post17, x^0'=x^post17, __const_8^0'=__const_8^post17, y^0'=y^post17, pc_Loop^0'=pc_Loop^post17, n1^0'=n1^post17, (0 == 0 /\ -n0^post17+n0^0 == 0 /\ -__const_7^0+pc_Loop^post17 == 0 /\ y^post17-y_next^post17 == 0 /\ -pc_Plan_next^post17+pc_Plan^post17 == 0 /\ 1+pc_Plan_next^post17-__const_8^0 <= 0 /\ -y_next^post17+y^0 <= 0 /\ pc_Drive^post17-pc_Drive_next^post17 == 0 /\ -x_next^post17+x^0 <= 0 /\ -__const_8^post17+__const_8^0 == 0 /\ -is_aborted_next^post17 <= 0 /\ -3+pc_Drive_next^post17 <= 0 /\ y_next^post17-y^0 <= 0 /\ -executed_Drive^post17+executed_Drive^0 == 0 /\ -1+is_aborted_next^post17 <= 0 /\ x_next^post17-x^0 <= 0 /\ 1-pc_Plan_next^post17 <= 0 /\ is_aborted^post17 <= 0 /\ __const_6^0-__const_6^post17 == 0 /\ -y^post17+n1^0 <= 0 /\ 1-pc_Drive_next^post17 <= 0 /\ -n1^post17+n1^0 == 0 /\ -x^post17+n0^0 <= 0 /\ is_aborted^post17-is_aborted_next^post17 == 0 /\ 1+pc_Drive_next^post17-__const_8^0 <= 0 /\ -__const_7^post17+__const_7^0 == 0 /\ x^post17-x_next^post17 == 0), cost: 1 18: l3 -> l4 : is_aborted^0'=is_aborted^post18, pc_Plan_next^0'=pc_Plan_next^post18, __const_7^0'=__const_7^post18, x_next^0'=x_next^post18, pc_Drive_next^0'=pc_Drive_next^post18, n0^0'=n0^post18, executed_Drive^0'=executed_Drive^post18, y_next^0'=y_next^post18, pc_Plan^0'=pc_Plan^post18, __const_6^0'=__const_6^post18, pc_Drive^0'=pc_Drive^post18, is_aborted_next^0'=is_aborted_next^post18, x^0'=x^post18, __const_8^0'=__const_8^post18, y^0'=y^post18, pc_Loop^0'=pc_Loop^post18, n1^0'=n1^post18, (0 == 0 /\ 1-n1^0 <= 0 /\ 1-x_next^post18+x^0 <= 0 /\ -pc_Plan_next^post18+pc_Plan^post18 == 0 /\ -__const_6^post18+__const_6^0 == 0 /\ -4+pc_Drive_next^post18 <= 0 /\ 4-pc_Drive_next^post18 <= 0 /\ -n0^post18+n0^0 == 0 /\ 1-n0^0 <= 0 /\ 1+y^post18-n1^0 <= 0 /\ 1-n0^0+x^post18 <= 0 /\ 1-executed_Drive^post18 <= 0 /\ -1+executed_Drive^post18 <= 0 /\ -1+executed_Drive^post18 == 0 /\ -1+y_next^post18-y^0 <= 0 /\ 1-pc_Plan_next^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post18 <= 0 /\ -x_next^post18+x^post18 == 0 /\ is_aborted^post18 <= 0 /\ -n1^post18+n1^0 == 0 /\ 1-pc_Drive_next^post18 <= 0 /\ -is_aborted_next^post18 <= 0 /\ -1+x_next^post18-x^0 <= 0 /\ -pc_Drive_next^post18+pc_Drive^post18 == 0 /\ -is_aborted_next^post18+is_aborted^post18 == 0 /\ -1+is_aborted_next^post18 <= 0 /\ -__const_8^post18+__const_8^0 == 0 /\ -2+pc_Loop^post18 == 0 /\ 1-y_next^post18+y^0 <= 0 /\ 1+pc_Drive_next^post18-__const_8^0 <= 0 /\ -__const_7^post18+__const_7^0 == 0 /\ -y_next^post18+y^post18 == 0), cost: 1 19: l3 -> l4 : is_aborted^0'=is_aborted^post19, pc_Plan_next^0'=pc_Plan_next^post19, __const_7^0'=__const_7^post19, x_next^0'=x_next^post19, pc_Drive_next^0'=pc_Drive_next^post19, n0^0'=n0^post19, executed_Drive^0'=executed_Drive^post19, y_next^0'=y_next^post19, pc_Plan^0'=pc_Plan^post19, __const_6^0'=__const_6^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=is_aborted_next^post19, x^0'=x^post19, __const_8^0'=__const_8^post19, y^0'=y^post19, pc_Loop^0'=pc_Loop^post19, n1^0'=n1^post19, (0 == 0 /\ 1-n1^0 <= 0 /\ -y_next^post19+y^post19 == 0 /\ -n1^post19+n1^0 == 0 /\ 1-executed_Drive^0 <= 0 /\ -1+executed_Drive^0 <= 0 /\ y_next^post19-y^0 <= 0 /\ 1-n0^0 <= 0 /\ x^post19-x_next^post19 == 0 /\ executed_Drive^0-executed_Drive^post19 == 0 /\ -__const_8^post19+__const_8^0 == 0 /\ 1+pc_Drive_next^post19-__const_8^0 <= 0 /\ -pc_Drive_next^post19+pc_Drive^post19 == 0 /\ -2+pc_Loop^post19 == 0 /\ 1-n0^0+x^post19 <= 0 /\ -y_next^post19+y^0 <= 0 /\ 5-pc_Drive_next^post19 <= 0 /\ -x^0+x_next^post19 <= 0 /\ -1+is_aborted_next^post19 <= 0 /\ 1+pc_Plan_next^post19-__const_8^0 <= 0 /\ 1-pc_Plan_next^post19 <= 0 /\ -is_aborted_next^post19+is_aborted^post19 == 0 /\ -is_aborted_next^post19 <= 0 /\ -__const_6^post19+__const_6^0 == 0 /\ -pc_Plan_next^post19+pc_Plan^post19 == 0 /\ __const_7^0-__const_7^post19 == 0 /\ x^0-x_next^post19 <= 0 /\ n0^0-n0^post19 == 0 /\ 1-pc_Drive_next^post19 <= 0 /\ 1+y^post19-n1^0 <= 0 /\ is_aborted^post19 <= 0), cost: 1 20: l3 -> l4 : is_aborted^0'=is_aborted^post20, pc_Plan_next^0'=pc_Plan_next^post20, __const_7^0'=__const_7^post20, x_next^0'=x_next^post20, pc_Drive_next^0'=pc_Drive_next^post20, n0^0'=n0^post20, executed_Drive^0'=executed_Drive^post20, y_next^0'=y_next^post20, pc_Plan^0'=pc_Plan^post20, __const_6^0'=__const_6^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=is_aborted_next^post20, x^0'=x^post20, __const_8^0'=__const_8^post20, y^0'=y^post20, pc_Loop^0'=pc_Loop^post20, n1^0'=n1^post20, (0 == 0 /\ is_aborted^post20 <= 0 /\ 1-n1^0 <= 0 /\ -pc_Plan_next^post20+pc_Plan^post20 == 0 /\ __const_7^0-__const_7^post20 == 0 /\ n0^0-n0^post20 == 0 /\ 1+y^post20-n1^0 <= 0 /\ 1-executed_Drive^0 <= 0 /\ -1+executed_Drive^0 <= 0 /\ 1+pc_Plan_next^post20-__const_8^0 <= 0 /\ 1-n0^0 <= 0 /\ -__const_8^post20+__const_8^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ 1-pc_Plan_next^post20 <= 0 /\ y_next^post20-y^0 <= 0 /\ 1-pc_Drive_next^post20 <= 0 /\ x^0-x_next^post20 <= 0 /\ -x_next^post20+x^post20 == 0 /\ executed_Drive^0-executed_Drive^post20 == 0 /\ y^post20-y_next^post20 == 0 /\ is_aborted^post20-is_aborted_next^post20 == 0 /\ -pc_Drive_next^post20+pc_Drive^post20 == 0 /\ 1-n0^0+x^post20 <= 0 /\ -y_next^post20+y^0 <= 0 /\ -2+pc_Loop^post20 == 0 /\ -x^0+x_next^post20 <= 0 /\ -1+is_aborted_next^post20 <= 0 /\ __const_6^0-__const_6^post20 == 0 /\ 1+pc_Drive_next^post20-__const_8^0 <= 0 /\ -is_aborted_next^post20 <= 0 /\ -n1^post20+n1^0 == 0), cost: 1 24: l4 -> l5 : is_aborted^0'=is_aborted^post24, pc_Plan_next^0'=pc_Plan_next^post24, __const_7^0'=__const_7^post24, x_next^0'=x_next^post24, pc_Drive_next^0'=pc_Drive_next^post24, n0^0'=n0^post24, executed_Drive^0'=executed_Drive^post24, y_next^0'=y_next^post24, pc_Plan^0'=pc_Plan^post24, __const_6^0'=__const_6^post24, pc_Drive^0'=pc_Drive^post24, is_aborted_next^0'=is_aborted_next^post24, x^0'=x^post24, __const_8^0'=__const_8^post24, y^0'=y^post24, pc_Loop^0'=pc_Loop^post24, n1^0'=n1^post24, (0 == 0 /\ is_aborted^post24 <= 0 /\ 1+pc_Drive_next^post24-__const_8^0 <= 0 /\ x^post24-x_next^post24 == 0 /\ -1+is_aborted_next^post24 <= 0 /\ n0^0-n0^post24 == 0 /\ -1-x^0+x_next^post24 <= 0 /\ -is_aborted_next^post24 <= 0 /\ -1+executed_Drive^post24 == 0 /\ -1+y_next^post24-y^0 <= 0 /\ -__const_8^post24+__const_8^0 == 0 /\ 1+pc_Plan_next^post24-__const_8^0 <= 0 /\ 1-pc_Plan_next^post24 <= 0 /\ __const_7^0-__const_7^post24 == 0 /\ is_aborted^post24-is_aborted_next^post24 == 0 /\ 1-pc_Drive_next^post24 <= 0 /\ y^post24-y_next^post24 == 0 /\ pc_Drive^post24-pc_Drive_next^post24 == 0 /\ 1+x^0-x_next^post24 <= 0 /\ -pc_Plan_next^post24+pc_Plan^post24 == 0 /\ 1-y_next^post24+y^0 <= 0 /\ -4+pc_Drive_next^post24 <= 0 /\ 4-pc_Drive_next^post24 <= 0 /\ -n1^post24+n1^0 == 0 /\ -3+pc_Loop^post24 == 0 /\ -__const_6^post24+__const_6^0 == 0), cost: 1 25: l4 -> l5 : is_aborted^0'=is_aborted^post25, pc_Plan_next^0'=pc_Plan_next^post25, __const_7^0'=__const_7^post25, x_next^0'=x_next^post25, pc_Drive_next^0'=pc_Drive_next^post25, n0^0'=n0^post25, executed_Drive^0'=executed_Drive^post25, y_next^0'=y_next^post25, pc_Plan^0'=pc_Plan^post25, __const_6^0'=__const_6^post25, pc_Drive^0'=pc_Drive^post25, is_aborted_next^0'=is_aborted_next^post25, x^0'=x^post25, __const_8^0'=__const_8^post25, y^0'=y^post25, pc_Loop^0'=pc_Loop^post25, n1^0'=n1^post25, (0 == 0 /\ y_next^post25-y^0 <= 0 /\ -y_next^post25+y^0 <= 0 /\ -1+is_aborted_next^post25 <= 0 /\ y^post25-y_next^post25 == 0 /\ is_aborted^post25 <= 0 /\ __const_6^0-__const_6^post25 == 0 /\ -n1^post25+n1^0 == 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -is_aborted_next^post25 <= 0 /\ 5-pc_Drive_next^post25 <= 0 /\ -x_next^post25+x^0 <= 0 /\ 1-pc_Plan_next^post25 <= 0 /\ pc_Drive^post25-pc_Drive_next^post25 == 0 /\ -3+pc_Loop^post25 == 0 /\ is_aborted^post25-is_aborted_next^post25 == 0 /\ -pc_Plan_next^post25+pc_Plan^post25 == 0 /\ -__const_8^post25+__const_8^0 == 0 /\ 1-pc_Drive_next^post25 <= 0 /\ x^post25-x_next^post25 == 0 /\ 1+pc_Plan_next^post25-__const_8^0 <= 0 /\ __const_7^0-__const_7^post25 == 0 /\ x_next^post25-x^0 <= 0 /\ n0^0-n0^post25 == 0 /\ -executed_Drive^post25+executed_Drive^0 == 0), cost: 1 26: l4 -> l5 : is_aborted^0'=is_aborted^post26, pc_Plan_next^0'=pc_Plan_next^post26, __const_7^0'=__const_7^post26, x_next^0'=x_next^post26, pc_Drive_next^0'=pc_Drive_next^post26, n0^0'=n0^post26, executed_Drive^0'=executed_Drive^post26, y_next^0'=y_next^post26, pc_Plan^0'=pc_Plan^post26, __const_6^0'=__const_6^post26, pc_Drive^0'=pc_Drive^post26, is_aborted_next^0'=is_aborted_next^post26, x^0'=x^post26, __const_8^0'=__const_8^post26, y^0'=y^post26, pc_Loop^0'=pc_Loop^post26, n1^0'=n1^post26, (0 == 0 /\ executed_Drive^0-executed_Drive^post26 == 0 /\ y^0-y_next^post26 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ 1-pc_Plan_next^post26 <= 0 /\ pc_Drive^post26-pc_Drive_next^post26 == 0 /\ -3+pc_Loop^post26 == 0 /\ 1-pc_Drive_next^post26 <= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ x^post26-x_next^post26 == 0 /\ __const_7^0-__const_7^post26 == 0 /\ -y^0+y_next^post26 <= 0 /\ -n1^post26+n1^0 == 0 /\ -__const_6^post26+__const_6^0 == 0 /\ y^post26-y_next^post26 == 0 /\ -x_next^post26+x^0 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ is_aborted^post26 <= 0 /\ -n0^post26+n0^0 == 0 /\ pc_Plan^post26-pc_Plan_next^post26 == 0 /\ -__const_8^post26+__const_8^0 == 0 /\ -is_aborted_next^post26+is_aborted^post26 == 0 /\ -1+is_aborted_next^post26 <= 0 /\ x_next^post26-x^0 <= 0 /\ -is_aborted_next^post26 <= 0), cost: 1 27: l4 -> l0 : is_aborted^0'=is_aborted^post27, pc_Plan_next^0'=pc_Plan_next^post27, __const_7^0'=__const_7^post27, x_next^0'=x_next^post27, pc_Drive_next^0'=pc_Drive_next^post27, n0^0'=n0^post27, executed_Drive^0'=executed_Drive^post27, y_next^0'=y_next^post27, pc_Plan^0'=pc_Plan^post27, __const_6^0'=__const_6^post27, pc_Drive^0'=pc_Drive^post27, is_aborted_next^0'=is_aborted_next^post27, x^0'=x^post27, __const_8^0'=__const_8^post27, y^0'=y^post27, pc_Loop^0'=pc_Loop^post27, n1^0'=n1^post27, (0 == 0 /\ x^post27-x_next^post27 == 0 /\ 1-is_aborted^post27 <= 0 /\ __const_7^0-__const_7^post27 == 0 /\ -1-x^0+x_next^post27 <= 0 /\ -1+is_aborted_next^post27 <= 0 /\ -4+pc_Drive_next^post27 <= 0 /\ 4-pc_Drive_next^post27 <= 0 /\ 1+pc_Plan_next^post27-__const_8^0 <= 0 /\ -is_aborted_next^post27 <= 0 /\ -pc_Plan_next^post27+pc_Plan^post27 == 0 /\ 1-y_next^post27+y^0 <= 0 /\ -__const_8^post27+__const_8^0 == 0 /\ pc_Drive^post27-pc_Drive_next^post27 == 0 /\ 1-pc_Plan_next^post27 <= 0 /\ -n1^post27+n1^0 == 0 /\ -1+executed_Drive^post27 == 0 /\ 1-pc_Drive_next^post27 <= 0 /\ 1+x^0-x_next^post27 <= 0 /\ -__const_7^0+pc_Loop^post27 == 0 /\ -y_next^post27+y^post27 == 0 /\ -__const_6^post27+__const_6^0 == 0 /\ -1+y_next^post27-y^0 <= 0 /\ n0^0-n0^post27 == 0 /\ 1+pc_Drive_next^post27-__const_8^0 <= 0 /\ -is_aborted_next^post27+is_aborted^post27 == 0), cost: 1 28: l4 -> l0 : is_aborted^0'=is_aborted^post28, pc_Plan_next^0'=pc_Plan_next^post28, __const_7^0'=__const_7^post28, x_next^0'=x_next^post28, pc_Drive_next^0'=pc_Drive_next^post28, n0^0'=n0^post28, executed_Drive^0'=executed_Drive^post28, y_next^0'=y_next^post28, pc_Plan^0'=pc_Plan^post28, __const_6^0'=__const_6^post28, pc_Drive^0'=pc_Drive^post28, is_aborted_next^0'=is_aborted_next^post28, x^0'=x^post28, __const_8^0'=__const_8^post28, y^0'=y^post28, pc_Loop^0'=pc_Loop^post28, n1^0'=n1^post28, (0 == 0 /\ 1-pc_Drive_next^post28 <= 0 /\ 1-pc_Plan_next^post28 <= 0 /\ is_aborted^post28-is_aborted_next^post28 == 0 /\ pc_Drive^post28-pc_Drive_next^post28 == 0 /\ __const_8^0-__const_8^post28 == 0 /\ -n1^post28+n1^0 == 0 /\ -x_next^post28+x^post28 == 0 /\ -__const_7^0+pc_Loop^post28 == 0 /\ -pc_Plan_next^post28+pc_Plan^post28 == 0 /\ -executed_Drive^post28+executed_Drive^0 == 0 /\ y^post28-y_next^post28 == 0 /\ y_next^post28-y^0 <= 0 /\ n0^0-n0^post28 == 0 /\ x_next^post28-x^0 <= 0 /\ __const_7^0-__const_7^post28 == 0 /\ 1-is_aborted^post28 <= 0 /\ 5-pc_Drive_next^post28 <= 0 /\ -y_next^post28+y^0 <= 0 /\ 1+pc_Plan_next^post28-__const_8^0 <= 0 /\ -1+is_aborted_next^post28 <= 0 /\ 1+pc_Drive_next^post28-__const_8^0 <= 0 /\ __const_6^0-__const_6^post28 == 0 /\ -x_next^post28+x^0 <= 0 /\ -is_aborted_next^post28 <= 0), cost: 1 29: l4 -> l0 : is_aborted^0'=is_aborted^post29, pc_Plan_next^0'=pc_Plan_next^post29, __const_7^0'=__const_7^post29, x_next^0'=x_next^post29, pc_Drive_next^0'=pc_Drive_next^post29, n0^0'=n0^post29, executed_Drive^0'=executed_Drive^post29, y_next^0'=y_next^post29, pc_Plan^0'=pc_Plan^post29, __const_6^0'=__const_6^post29, pc_Drive^0'=pc_Drive^post29, is_aborted_next^0'=is_aborted_next^post29, x^0'=x^post29, __const_8^0'=__const_8^post29, y^0'=y^post29, pc_Loop^0'=pc_Loop^post29, n1^0'=n1^post29, (0 == 0 /\ -pc_Drive_next^post29+pc_Drive^post29 == 0 /\ -1+is_aborted_next^post29 <= 0 /\ y_next^post29-y^0 <= 0 /\ -x_next^post29+x^post29 == 0 /\ -is_aborted_next^post29 <= 0 /\ -pc_Plan_next^post29+pc_Plan^post29 == 0 /\ -y_next^post29+y^0 <= 0 /\ -__const_8^post29+__const_8^0 == 0 /\ 1-pc_Plan_next^post29 <= 0 /\ -3+pc_Drive_next^post29 <= 0 /\ 1-__const_8^0+pc_Plan_next^post29 <= 0 /\ is_aborted^post29-is_aborted_next^post29 == 0 /\ 1+pc_Drive_next^post29-__const_8^0 <= 0 /\ x_next^post29-x^0 <= 0 /\ -__const_7^0+pc_Loop^post29 == 0 /\ 1-pc_Drive_next^post29 <= 0 /\ -__const_6^post29+__const_6^0 == 0 /\ -y_next^post29+y^post29 == 0 /\ n0^0-n0^post29 == 0 /\ -__const_7^post29+__const_7^0 == 0 /\ -x_next^post29+x^0 <= 0 /\ -executed_Drive^post29+executed_Drive^0 == 0 /\ -n1^post29+n1^0 == 0 /\ 1-is_aborted^post29 <= 0), cost: 1 21: l5 -> l2 : is_aborted^0'=is_aborted^post21, pc_Plan_next^0'=pc_Plan_next^post21, __const_7^0'=__const_7^post21, x_next^0'=x_next^post21, pc_Drive_next^0'=pc_Drive_next^post21, n0^0'=n0^post21, executed_Drive^0'=executed_Drive^post21, y_next^0'=y_next^post21, pc_Plan^0'=pc_Plan^post21, __const_6^0'=__const_6^post21, pc_Drive^0'=pc_Drive^post21, is_aborted_next^0'=is_aborted_next^post21, x^0'=x^post21, __const_8^0'=__const_8^post21, y^0'=y^post21, pc_Loop^0'=pc_Loop^post21, n1^0'=n1^post21, (0 == 0 /\ -n1^post21+n1^0 == 0 /\ -1+x_next^post21-x^0 <= 0 /\ __const_6^0-__const_6^post21 == 0 /\ pc_Drive^post21-pc_Drive_next^post21 == 0 /\ 1-is_aborted^post21 <= 0 /\ y^post21-y_next^post21 == 0 /\ x^post21-x_next^post21 == 0 /\ is_aborted^post21-is_aborted_next^post21 == 0 /\ -1+is_aborted_next^post21 <= 0 /\ 1-y_next^post21+y^0 <= 0 /\ -4+pc_Drive_next^post21 <= 0 /\ 4-pc_Drive_next^post21 <= 0 /\ 1+pc_Drive_next^post21-__const_8^0 <= 0 /\ -is_aborted_next^post21 <= 0 /\ -__const_6^0+pc_Loop^post21 == 0 /\ -1+executed_Drive^post21 == 0 /\ 1-x_next^post21+x^0 <= 0 /\ 1-pc_Plan_next^post21 <= 0 /\ 1+pc_Plan_next^post21-__const_8^0 <= 0 /\ __const_7^0-__const_7^post21 == 0 /\ 1-pc_Drive_next^post21 <= 0 /\ n0^0-n0^post21 == 0 /\ -__const_8^post21+__const_8^0 == 0 /\ -pc_Plan_next^post21+pc_Plan^post21 == 0 /\ -1+y_next^post21-y^0 <= 0), cost: 1 22: l5 -> l2 : is_aborted^0'=is_aborted^post22, pc_Plan_next^0'=pc_Plan_next^post22, __const_7^0'=__const_7^post22, x_next^0'=x_next^post22, pc_Drive_next^0'=pc_Drive_next^post22, n0^0'=n0^post22, executed_Drive^0'=executed_Drive^post22, y_next^0'=y_next^post22, pc_Plan^0'=pc_Plan^post22, __const_6^0'=__const_6^post22, pc_Drive^0'=pc_Drive^post22, is_aborted_next^0'=is_aborted_next^post22, x^0'=x^post22, __const_8^0'=__const_8^post22, y^0'=y^post22, pc_Loop^0'=pc_Loop^post22, n1^0'=n1^post22, (0 == 0 /\ -x_next^post22+x^0 <= 0 /\ -1+is_aborted_next^post22 <= 0 /\ -__const_7^post22+__const_7^0 == 0 /\ 5-pc_Drive_next^post22 <= 0 /\ -is_aborted_next^post22 <= 0 /\ -n0^post22+n0^0 == 0 /\ -__const_6^0+pc_Loop^post22 == 0 /\ -__const_8^post22+__const_8^0 == 0 /\ -__const_6^post22+__const_6^0 == 0 /\ x_next^post22-x^0 <= 0 /\ 1-pc_Plan_next^post22 <= 0 /\ 1-__const_8^0+pc_Plan_next^post22 <= 0 /\ is_aborted^post22-is_aborted_next^post22 == 0 /\ -executed_Drive^post22+executed_Drive^0 == 0 /\ pc_Drive^post22-pc_Drive_next^post22 == 0 /\ -pc_Plan_next^post22+pc_Plan^post22 == 0 /\ y^post22-y_next^post22 == 0 /\ 1-pc_Drive_next^post22 <= 0 /\ y_next^post22-y^0 <= 0 /\ -x_next^post22+x^post22 == 0 /\ -y_next^post22+y^0 <= 0 /\ -n1^post22+n1^0 == 0 /\ 1-is_aborted^post22 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 1 23: l5 -> l2 : is_aborted^0'=is_aborted^post23, pc_Plan_next^0'=pc_Plan_next^post23, __const_7^0'=__const_7^post23, x_next^0'=x_next^post23, pc_Drive_next^0'=pc_Drive_next^post23, n0^0'=n0^post23, executed_Drive^0'=executed_Drive^post23, y_next^0'=y_next^post23, pc_Plan^0'=pc_Plan^post23, __const_6^0'=__const_6^post23, pc_Drive^0'=pc_Drive^post23, is_aborted_next^0'=is_aborted_next^post23, x^0'=x^post23, __const_8^0'=__const_8^post23, y^0'=y^post23, pc_Loop^0'=pc_Loop^post23, n1^0'=n1^post23, (0 == 0 /\ -y_next^post23+y^post23 == 0 /\ y_next^post23-y^0 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -is_aborted_next^post23+is_aborted^post23 == 0 /\ 1-is_aborted^post23 <= 0 /\ -y_next^post23+y^0 <= 0 /\ -1+is_aborted_next^post23 <= 0 /\ executed_Drive^0-executed_Drive^post23 == 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -is_aborted_next^post23 <= 0 /\ -n1^post23+n1^0 == 0 /\ -x^0+x_next^post23 <= 0 /\ pc_Loop^post23-__const_6^0 == 0 /\ pc_Drive^post23-pc_Drive_next^post23 == 0 /\ 1-pc_Plan_next^post23 <= 0 /\ 1+pc_Plan_next^post23-__const_8^0 <= 0 /\ 1-pc_Drive_next^post23 <= 0 /\ x^post23-x_next^post23 == 0 /\ __const_7^0-__const_7^post23 == 0 /\ -pc_Plan_next^post23+pc_Plan^post23 == 0 /\ x^0-x_next^post23 <= 0 /\ n0^0-n0^post23 == 0 /\ -__const_8^post23+__const_8^0 == 0 /\ -__const_6^post23+__const_6^0 == 0), cost: 1 36: l6 -> l1 : is_aborted^0'=is_aborted^post36, pc_Plan_next^0'=pc_Plan_next^post36, __const_7^0'=__const_7^post36, x_next^0'=x_next^post36, pc_Drive_next^0'=pc_Drive_next^post36, n0^0'=n0^post36, executed_Drive^0'=executed_Drive^post36, y_next^0'=y_next^post36, pc_Plan^0'=pc_Plan^post36, __const_6^0'=__const_6^post36, pc_Drive^0'=pc_Drive^post36, is_aborted_next^0'=is_aborted_next^post36, x^0'=x^post36, __const_8^0'=__const_8^post36, y^0'=y^post36, pc_Loop^0'=pc_Loop^post36, n1^0'=n1^post36, (-executed_Drive^post36+executed_Drive^0 == 0 /\ pc_Plan^0-pc_Plan^post36 == 0 /\ pc_Plan_next^0-pc_Plan_next^post36 == 0 /\ -pc_Drive^post36+pc_Drive^0 == 0 /\ -pc_Loop^post36+pc_Loop^0 == 0 /\ -n1^post36+n1^0 == 0 /\ n0^0-n0^post36 == 0 /\ -y_next^post36+y_next^0 == 0 /\ __const_8^0-__const_8^post36 == 0 /\ -is_aborted_next^post36+is_aborted_next^0 == 0 /\ __const_6^0-__const_6^post36 == 0 /\ -y^post36+y^0 == 0 /\ x^0-x^post36 == 0 /\ __const_7^0-__const_7^post36 == 0 /\ pc_Drive_next^0-pc_Drive_next^post36 == 0 /\ is_aborted^0-is_aborted^post36 == 0 /\ -x_next^post36+x_next^0 == 0), cost: 1 37: l7 -> l6 : is_aborted^0'=is_aborted^post37, pc_Plan_next^0'=pc_Plan_next^post37, __const_7^0'=__const_7^post37, x_next^0'=x_next^post37, pc_Drive_next^0'=pc_Drive_next^post37, n0^0'=n0^post37, executed_Drive^0'=executed_Drive^post37, y_next^0'=y_next^post37, pc_Plan^0'=pc_Plan^post37, __const_6^0'=__const_6^post37, pc_Drive^0'=pc_Drive^post37, is_aborted_next^0'=is_aborted_next^post37, x^0'=x^post37, __const_8^0'=__const_8^post37, y^0'=y^post37, pc_Loop^0'=pc_Loop^post37, n1^0'=n1^post37, (-__const_8^post37+__const_8^0 == 0 /\ x_next^0-x_next^post37 == 0 /\ is_aborted^0-is_aborted^post37 == 0 /\ __const_6^0-__const_6^post37 == 0 /\ pc_Drive_next^0-pc_Drive_next^post37 == 0 /\ n1^0-n1^post37 == 0 /\ is_aborted_next^0-is_aborted_next^post37 == 0 /\ -x^post37+x^0 == 0 /\ -executed_Drive^post37+executed_Drive^0 == 0 /\ n0^0-n0^post37 == 0 /\ -pc_Loop^post37+pc_Loop^0 == 0 /\ -pc_Drive^post37+pc_Drive^0 == 0 /\ y_next^0-y_next^post37 == 0 /\ pc_Plan_next^0-pc_Plan_next^post37 == 0 /\ -y^post37+y^0 == 0 /\ pc_Plan^0-pc_Plan^post37 == 0 /\ __const_7^0-__const_7^post37 == 0), cost: 1 Removed unreachable rules and leafs Start location: l7 30: l1 -> l4 : is_aborted^0'=is_aborted^post30, pc_Plan_next^0'=pc_Plan_next^post30, __const_7^0'=__const_7^post30, x_next^0'=x_next^post30, pc_Drive_next^0'=pc_Drive_next^post30, n0^0'=n0^post30, executed_Drive^0'=executed_Drive^post30, y_next^0'=y_next^post30, pc_Plan^0'=pc_Plan^post30, __const_6^0'=__const_6^post30, pc_Drive^0'=pc_Drive^post30, is_aborted_next^0'=is_aborted_next^post30, x^0'=x^post30, __const_8^0'=__const_8^post30, y^0'=y^post30, pc_Loop^0'=pc_Loop^post30, n1^0'=n1^post30, (0 == 0 /\ -2+pc_Loop^post30 == 0 /\ 1-x_next^post30+x^0 <= 0 /\ 1-pc_Drive_next^post30 <= 0 /\ 1-__const_8^0+pc_Drive_next^post30 <= 0 /\ 1+y^0-y_next^post30 <= 0 /\ 1-pc_Plan_next^post30 <= 0 /\ 1-__const_8^0+pc_Plan_next^post30 <= 0 /\ x^post30-x_next^post30 == 0 /\ -n0^post30+n0^0 == 0 /\ -3+pc_Plan^post30 <= 0 /\ pc_Drive^post30-pc_Drive_next^post30 == 0 /\ -n1^post30+n1^0 == 0 /\ -__const_6^post30+__const_6^0 == 0 /\ -1+x_next^post30-x^0 <= 0 /\ pc_Plan^post30-pc_Plan_next^post30 == 0 /\ y^post30-y_next^post30 == 0 /\ __const_7^0-__const_7^post30 == 0 /\ -1-y^0+y_next^post30 <= 0 /\ is_aborted^post30 <= 0 /\ -4+pc_Drive_next^post30 <= 0 /\ 4-pc_Drive_next^post30 <= 0 /\ -1+executed_Drive^post30 == 0 /\ -1+is_aborted_next^post30 <= 0 /\ 3-pc_Plan^post30 <= 0 /\ -is_aborted_next^post30+is_aborted^post30 == 0 /\ -is_aborted_next^post30 <= 0 /\ -__const_8^post30+__const_8^0 == 0), cost: 1 31: l1 -> l4 : is_aborted^0'=is_aborted^post31, pc_Plan_next^0'=pc_Plan_next^post31, __const_7^0'=__const_7^post31, x_next^0'=x_next^post31, pc_Drive_next^0'=pc_Drive_next^post31, n0^0'=n0^post31, executed_Drive^0'=executed_Drive^post31, y_next^0'=y_next^post31, pc_Plan^0'=pc_Plan^post31, __const_6^0'=__const_6^post31, pc_Drive^0'=pc_Drive^post31, is_aborted_next^0'=is_aborted_next^post31, x^0'=x^post31, __const_8^0'=__const_8^post31, y^0'=y^post31, pc_Loop^0'=pc_Loop^post31, n1^0'=n1^post31, (0 == 0 /\ is_aborted^post31 <= 0 /\ -pc_Drive_next^post31+pc_Drive^post31 == 0 /\ 5-pc_Drive_next^post31 <= 0 /\ y_next^post31-y^0 <= 0 /\ -1+is_aborted_next^post31 <= 0 /\ 3-pc_Plan^post31 <= 0 /\ -is_aborted_next^post31 <= 0 /\ __const_7^0-__const_7^post31 == 0 /\ -x_next^post31+x^post31 == 0 /\ -__const_8^post31+__const_8^0 == 0 /\ -y_next^post31+y^0 <= 0 /\ is_aborted^post31-is_aborted_next^post31 == 0 /\ 1+pc_Drive_next^post31-__const_8^0 <= 0 /\ 1-pc_Plan_next^post31 <= 0 /\ -3+pc_Plan^post31 <= 0 /\ -pc_Plan_next^post31+pc_Plan^post31 == 0 /\ -x^0+x_next^post31 <= 0 /\ 1-pc_Drive_next^post31 <= 0 /\ executed_Drive^post31 == 0 /\ -2+pc_Loop^post31 == 0 /\ -y_next^post31+y^post31 == 0 /\ 1+pc_Plan_next^post31-__const_8^0 <= 0 /\ n0^0-n0^post31 == 0 /\ -n1^post31+n1^0 == 0 /\ x^0-x_next^post31 <= 0 /\ -__const_6^post31+__const_6^0 == 0), cost: 1 32: l1 -> l4 : is_aborted^0'=is_aborted^post32, pc_Plan_next^0'=pc_Plan_next^post32, __const_7^0'=__const_7^post32, x_next^0'=x_next^post32, pc_Drive_next^0'=pc_Drive_next^post32, n0^0'=n0^post32, executed_Drive^0'=executed_Drive^post32, y_next^0'=y_next^post32, pc_Plan^0'=pc_Plan^post32, __const_6^0'=__const_6^post32, pc_Drive^0'=pc_Drive^post32, is_aborted_next^0'=is_aborted_next^post32, x^0'=x^post32, __const_8^0'=__const_8^post32, y^0'=y^post32, pc_Loop^0'=pc_Loop^post32, n1^0'=n1^post32, (0 == 0 /\ 1-pc_Drive_next^post32 <= 0 /\ -2+pc_Loop^post32 == 0 /\ executed_Drive^post32 == 0 /\ x_next^post32-x^0 <= 0 /\ 1+pc_Plan_next^post32-__const_8^0 <= 0 /\ is_aborted^post32 <= 0 /\ pc_Drive^post32-pc_Drive_next^post32 == 0 /\ -3+pc_Plan^post32 <= 0 /\ -n1^post32+n1^0 == 0 /\ -x_next^post32+x^0 <= 0 /\ __const_8^0-__const_8^post32 == 0 /\ n0^0-n0^post32 == 0 /\ y_next^post32-y^0 <= 0 /\ y^post32-y_next^post32 == 0 /\ is_aborted^post32-is_aborted_next^post32 == 0 /\ -1+is_aborted_next^post32 <= 0 /\ 3-pc_Plan^post32 <= 0 /\ 1-pc_Plan_next^post32 <= 0 /\ -y_next^post32+y^0 <= 0 /\ -3+pc_Drive_next^post32 <= 0 /\ __const_6^0-__const_6^post32 == 0 /\ -is_aborted_next^post32 <= 0 /\ __const_7^0-__const_7^post32 == 0 /\ -pc_Plan_next^post32+pc_Plan^post32 == 0 /\ 1+pc_Drive_next^post32-__const_8^0 <= 0 /\ -x_next^post32+x^post32 == 0), cost: 1 6: l2 -> l3 : is_aborted^0'=is_aborted^post6, pc_Plan_next^0'=pc_Plan_next^post6, __const_7^0'=__const_7^post6, x_next^0'=x_next^post6, pc_Drive_next^0'=pc_Drive_next^post6, n0^0'=n0^post6, executed_Drive^0'=executed_Drive^post6, y_next^0'=y_next^post6, pc_Plan^0'=pc_Plan^post6, __const_6^0'=__const_6^post6, pc_Drive^0'=pc_Drive^post6, is_aborted_next^0'=is_aborted_next^post6, x^0'=x^post6, __const_8^0'=__const_8^post6, y^0'=y^post6, pc_Loop^0'=pc_Loop^post6, n1^0'=n1^post6, (0 == 0 /\ -__const_8^post6+__const_8^0 == 0 /\ -1+y_next^post6-y^0 <= 0 /\ -__const_7^0+pc_Drive^post6 <= 0 /\ 1-executed_Drive^post6 <= 0 /\ -1+executed_Drive^post6 <= 0 /\ -1+executed_Drive^post6 == 0 /\ -n1^post6+n1^0 == 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ 1-pc_Plan_next^post6 <= 0 /\ 1-x_next^post6+x^0 <= 0 /\ __const_6^0-__const_6^post6 == 0 /\ x^post6-x_next^post6 == 0 /\ __const_7^0-pc_Drive^post6 <= 0 /\ 1-pc_Drive_next^post6 <= 0 /\ 1-__const_8^0+pc_Drive_next^post6 <= 0 /\ pc_Plan^post6-pc_Plan_next^post6 == 0 /\ __const_7^0-__const_7^post6 == 0 /\ -n0^post6+n0^0 == 0 /\ y^post6-y_next^post6 == 0 /\ 1-y_next^post6+y^0 <= 0 /\ -4+pc_Loop^post6 == 0 /\ -1+x_next^post6-x^0 <= 0 /\ pc_Drive^post6-pc_Drive_next^post6 == 0 /\ -4+pc_Drive_next^post6 <= 0 /\ 4-pc_Drive_next^post6 <= 0 /\ -is_aborted_next^post6 <= 0 /\ -is_aborted_next^post6+is_aborted^post6 == 0 /\ -1+is_aborted_next^post6 <= 0), cost: 1 7: l2 -> l3 : is_aborted^0'=is_aborted^post7, pc_Plan_next^0'=pc_Plan_next^post7, __const_7^0'=__const_7^post7, x_next^0'=x_next^post7, pc_Drive_next^0'=pc_Drive_next^post7, n0^0'=n0^post7, executed_Drive^0'=executed_Drive^post7, y_next^0'=y_next^post7, pc_Plan^0'=pc_Plan^post7, __const_6^0'=__const_6^post7, pc_Drive^0'=pc_Drive^post7, is_aborted_next^0'=is_aborted_next^post7, x^0'=x^post7, __const_8^0'=__const_8^post7, y^0'=y^post7, pc_Loop^0'=pc_Loop^post7, n1^0'=n1^post7, (0 == 0 /\ -n0^post7+n0^0 == 0 /\ executed_Drive^0-executed_Drive^post7 == 0 /\ -is_aborted_next^post7+is_aborted^post7 == 0 /\ pc_Drive^post7-pc_Drive_next^post7 == 0 /\ 1+pc_Plan_next^post7-__const_8^0 <= 0 /\ y^post7-y_next^post7 == 0 /\ 1-pc_Drive_next^post7 <= 0 /\ 1-__const_8^0+pc_Drive_next^post7 <= 0 /\ -x_next^post7+x^0 <= 0 /\ -y^0+y_next^post7 <= 0 /\ 1-executed_Drive^0 <= 0 /\ -1+executed_Drive^0 <= 0 /\ x_next^post7-x^0 <= 0 /\ y^0-y_next^post7 <= 0 /\ -4+pc_Loop^post7 == 0 /\ __const_7^0-pc_Drive^post7 <= 0 /\ -pc_Plan_next^post7+pc_Plan^post7 == 0 /\ -is_aborted_next^post7 <= 0 /\ __const_7^0-__const_7^post7 == 0 /\ -n1^post7+n1^0 == 0 /\ -1+is_aborted_next^post7 <= 0 /\ 5-pc_Drive_next^post7 <= 0 /\ -__const_8^post7+__const_8^0 == 0 /\ -__const_6^post7+__const_6^0 == 0 /\ -__const_7^0+pc_Drive^post7 <= 0 /\ x^post7-x_next^post7 == 0 /\ 1-pc_Plan_next^post7 <= 0), cost: 1 8: l2 -> l3 : is_aborted^0'=is_aborted^post8, pc_Plan_next^0'=pc_Plan_next^post8, __const_7^0'=__const_7^post8, x_next^0'=x_next^post8, pc_Drive_next^0'=pc_Drive_next^post8, n0^0'=n0^post8, executed_Drive^0'=executed_Drive^post8, y_next^0'=y_next^post8, pc_Plan^0'=pc_Plan^post8, __const_6^0'=__const_6^post8, pc_Drive^0'=pc_Drive^post8, is_aborted_next^0'=is_aborted_next^post8, x^0'=x^post8, __const_8^0'=__const_8^post8, y^0'=y^post8, pc_Loop^0'=pc_Loop^post8, n1^0'=n1^post8, (0 == 0 /\ -__const_7^0+pc_Drive^post8 <= 0 /\ __const_8^0-__const_8^post8 == 0 /\ -x_next^post8+x^post8 == 0 /\ 1-executed_Drive^0 <= 0 /\ -1+executed_Drive^0 <= 0 /\ -n1^post8+n1^0 == 0 /\ 1+pc_Drive_next^post8-__const_8^0 <= 0 /\ 1-pc_Plan_next^post8 <= 0 /\ n0^0-n0^post8 == 0 /\ __const_7^0-pc_Drive^post8 <= 0 /\ __const_7^0-__const_7^post8 == 0 /\ 1-pc_Drive_next^post8 <= 0 /\ y^post8-y_next^post8 == 0 /\ __const_6^0-__const_6^post8 == 0 /\ 1+pc_Plan_next^post8-__const_8^0 <= 0 /\ -pc_Plan_next^post8+pc_Plan^post8 == 0 /\ -y_next^post8+y^0 <= 0 /\ -x_next^post8+x^0 <= 0 /\ -4+pc_Loop^post8 == 0 /\ -3+pc_Drive_next^post8 <= 0 /\ is_aborted^post8-is_aborted_next^post8 == 0 /\ -is_aborted_next^post8 <= 0 /\ y_next^post8-y^0 <= 0 /\ x_next^post8-x^0 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ executed_Drive^0-executed_Drive^post8 == 0 /\ pc_Drive^post8-pc_Drive_next^post8 == 0), cost: 1 11: l2 -> l3 : is_aborted^0'=is_aborted^post11, pc_Plan_next^0'=pc_Plan_next^post11, __const_7^0'=__const_7^post11, x_next^0'=x_next^post11, pc_Drive_next^0'=pc_Drive_next^post11, n0^0'=n0^post11, executed_Drive^0'=executed_Drive^post11, y_next^0'=y_next^post11, pc_Plan^0'=pc_Plan^post11, __const_6^0'=__const_6^post11, pc_Drive^0'=pc_Drive^post11, is_aborted_next^0'=is_aborted_next^post11, x^0'=x^post11, __const_8^0'=__const_8^post11, y^0'=y^post11, pc_Loop^0'=pc_Loop^post11, n1^0'=n1^post11, (0 == 0 /\ -3+pc_Drive_next^post11 <= 0 /\ -y_next^post11+y^0 <= 0 /\ -n1^post11+n1^0 == 0 /\ -4+pc_Loop^post11 == 0 /\ -__const_8^post11+__const_8^0 == 0 /\ 1+pc_Drive_next^post11-__const_8^0 <= 0 /\ y_next^post11-y^0 <= 0 /\ -is_aborted_next^post11+is_aborted^post11 == 0 /\ -is_aborted_next^post11 <= 0 /\ -y_next^post11+y^post11 == 0 /\ 1-is_aborted_next^post11 <= 0 /\ -1+is_aborted_next^post11 <= 0 /\ -pc_Drive_next^post11+pc_Drive^post11 == 0 /\ 2-pc_Drive^post11 <= 0 /\ 1+pc_Plan_next^post11-__const_8^0 <= 0 /\ -x^0+x_next^post11 <= 0 /\ -pc_Plan_next^post11+pc_Plan^post11 == 0 /\ x^post11-x_next^post11 == 0 /\ -__const_6^post11+__const_6^0 == 0 /\ 1-pc_Plan_next^post11 <= 0 /\ executed_Drive^post11 == 0 /\ __const_7^0-__const_7^post11 == 0 /\ x^0-x_next^post11 <= 0 /\ 1-pc_Drive_next^post11 <= 0 /\ n0^0-n0^post11 == 0 /\ -2+pc_Drive^post11 <= 0), cost: 1 18: l3 -> l4 : is_aborted^0'=is_aborted^post18, pc_Plan_next^0'=pc_Plan_next^post18, __const_7^0'=__const_7^post18, x_next^0'=x_next^post18, pc_Drive_next^0'=pc_Drive_next^post18, n0^0'=n0^post18, executed_Drive^0'=executed_Drive^post18, y_next^0'=y_next^post18, pc_Plan^0'=pc_Plan^post18, __const_6^0'=__const_6^post18, pc_Drive^0'=pc_Drive^post18, is_aborted_next^0'=is_aborted_next^post18, x^0'=x^post18, __const_8^0'=__const_8^post18, y^0'=y^post18, pc_Loop^0'=pc_Loop^post18, n1^0'=n1^post18, (0 == 0 /\ 1-n1^0 <= 0 /\ 1-x_next^post18+x^0 <= 0 /\ -pc_Plan_next^post18+pc_Plan^post18 == 0 /\ -__const_6^post18+__const_6^0 == 0 /\ -4+pc_Drive_next^post18 <= 0 /\ 4-pc_Drive_next^post18 <= 0 /\ -n0^post18+n0^0 == 0 /\ 1-n0^0 <= 0 /\ 1+y^post18-n1^0 <= 0 /\ 1-n0^0+x^post18 <= 0 /\ 1-executed_Drive^post18 <= 0 /\ -1+executed_Drive^post18 <= 0 /\ -1+executed_Drive^post18 == 0 /\ -1+y_next^post18-y^0 <= 0 /\ 1-pc_Plan_next^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post18 <= 0 /\ -x_next^post18+x^post18 == 0 /\ is_aborted^post18 <= 0 /\ -n1^post18+n1^0 == 0 /\ 1-pc_Drive_next^post18 <= 0 /\ -is_aborted_next^post18 <= 0 /\ -1+x_next^post18-x^0 <= 0 /\ -pc_Drive_next^post18+pc_Drive^post18 == 0 /\ -is_aborted_next^post18+is_aborted^post18 == 0 /\ -1+is_aborted_next^post18 <= 0 /\ -__const_8^post18+__const_8^0 == 0 /\ -2+pc_Loop^post18 == 0 /\ 1-y_next^post18+y^0 <= 0 /\ 1+pc_Drive_next^post18-__const_8^0 <= 0 /\ -__const_7^post18+__const_7^0 == 0 /\ -y_next^post18+y^post18 == 0), cost: 1 19: l3 -> l4 : is_aborted^0'=is_aborted^post19, pc_Plan_next^0'=pc_Plan_next^post19, __const_7^0'=__const_7^post19, x_next^0'=x_next^post19, pc_Drive_next^0'=pc_Drive_next^post19, n0^0'=n0^post19, executed_Drive^0'=executed_Drive^post19, y_next^0'=y_next^post19, pc_Plan^0'=pc_Plan^post19, __const_6^0'=__const_6^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=is_aborted_next^post19, x^0'=x^post19, __const_8^0'=__const_8^post19, y^0'=y^post19, pc_Loop^0'=pc_Loop^post19, n1^0'=n1^post19, (0 == 0 /\ 1-n1^0 <= 0 /\ -y_next^post19+y^post19 == 0 /\ -n1^post19+n1^0 == 0 /\ 1-executed_Drive^0 <= 0 /\ -1+executed_Drive^0 <= 0 /\ y_next^post19-y^0 <= 0 /\ 1-n0^0 <= 0 /\ x^post19-x_next^post19 == 0 /\ executed_Drive^0-executed_Drive^post19 == 0 /\ -__const_8^post19+__const_8^0 == 0 /\ 1+pc_Drive_next^post19-__const_8^0 <= 0 /\ -pc_Drive_next^post19+pc_Drive^post19 == 0 /\ -2+pc_Loop^post19 == 0 /\ 1-n0^0+x^post19 <= 0 /\ -y_next^post19+y^0 <= 0 /\ 5-pc_Drive_next^post19 <= 0 /\ -x^0+x_next^post19 <= 0 /\ -1+is_aborted_next^post19 <= 0 /\ 1+pc_Plan_next^post19-__const_8^0 <= 0 /\ 1-pc_Plan_next^post19 <= 0 /\ -is_aborted_next^post19+is_aborted^post19 == 0 /\ -is_aborted_next^post19 <= 0 /\ -__const_6^post19+__const_6^0 == 0 /\ -pc_Plan_next^post19+pc_Plan^post19 == 0 /\ __const_7^0-__const_7^post19 == 0 /\ x^0-x_next^post19 <= 0 /\ n0^0-n0^post19 == 0 /\ 1-pc_Drive_next^post19 <= 0 /\ 1+y^post19-n1^0 <= 0 /\ is_aborted^post19 <= 0), cost: 1 20: l3 -> l4 : is_aborted^0'=is_aborted^post20, pc_Plan_next^0'=pc_Plan_next^post20, __const_7^0'=__const_7^post20, x_next^0'=x_next^post20, pc_Drive_next^0'=pc_Drive_next^post20, n0^0'=n0^post20, executed_Drive^0'=executed_Drive^post20, y_next^0'=y_next^post20, pc_Plan^0'=pc_Plan^post20, __const_6^0'=__const_6^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=is_aborted_next^post20, x^0'=x^post20, __const_8^0'=__const_8^post20, y^0'=y^post20, pc_Loop^0'=pc_Loop^post20, n1^0'=n1^post20, (0 == 0 /\ is_aborted^post20 <= 0 /\ 1-n1^0 <= 0 /\ -pc_Plan_next^post20+pc_Plan^post20 == 0 /\ __const_7^0-__const_7^post20 == 0 /\ n0^0-n0^post20 == 0 /\ 1+y^post20-n1^0 <= 0 /\ 1-executed_Drive^0 <= 0 /\ -1+executed_Drive^0 <= 0 /\ 1+pc_Plan_next^post20-__const_8^0 <= 0 /\ 1-n0^0 <= 0 /\ -__const_8^post20+__const_8^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ 1-pc_Plan_next^post20 <= 0 /\ y_next^post20-y^0 <= 0 /\ 1-pc_Drive_next^post20 <= 0 /\ x^0-x_next^post20 <= 0 /\ -x_next^post20+x^post20 == 0 /\ executed_Drive^0-executed_Drive^post20 == 0 /\ y^post20-y_next^post20 == 0 /\ is_aborted^post20-is_aborted_next^post20 == 0 /\ -pc_Drive_next^post20+pc_Drive^post20 == 0 /\ 1-n0^0+x^post20 <= 0 /\ -y_next^post20+y^0 <= 0 /\ -2+pc_Loop^post20 == 0 /\ -x^0+x_next^post20 <= 0 /\ -1+is_aborted_next^post20 <= 0 /\ __const_6^0-__const_6^post20 == 0 /\ 1+pc_Drive_next^post20-__const_8^0 <= 0 /\ -is_aborted_next^post20 <= 0 /\ -n1^post20+n1^0 == 0), cost: 1 24: l4 -> l5 : is_aborted^0'=is_aborted^post24, pc_Plan_next^0'=pc_Plan_next^post24, __const_7^0'=__const_7^post24, x_next^0'=x_next^post24, pc_Drive_next^0'=pc_Drive_next^post24, n0^0'=n0^post24, executed_Drive^0'=executed_Drive^post24, y_next^0'=y_next^post24, pc_Plan^0'=pc_Plan^post24, __const_6^0'=__const_6^post24, pc_Drive^0'=pc_Drive^post24, is_aborted_next^0'=is_aborted_next^post24, x^0'=x^post24, __const_8^0'=__const_8^post24, y^0'=y^post24, pc_Loop^0'=pc_Loop^post24, n1^0'=n1^post24, (0 == 0 /\ is_aborted^post24 <= 0 /\ 1+pc_Drive_next^post24-__const_8^0 <= 0 /\ x^post24-x_next^post24 == 0 /\ -1+is_aborted_next^post24 <= 0 /\ n0^0-n0^post24 == 0 /\ -1-x^0+x_next^post24 <= 0 /\ -is_aborted_next^post24 <= 0 /\ -1+executed_Drive^post24 == 0 /\ -1+y_next^post24-y^0 <= 0 /\ -__const_8^post24+__const_8^0 == 0 /\ 1+pc_Plan_next^post24-__const_8^0 <= 0 /\ 1-pc_Plan_next^post24 <= 0 /\ __const_7^0-__const_7^post24 == 0 /\ is_aborted^post24-is_aborted_next^post24 == 0 /\ 1-pc_Drive_next^post24 <= 0 /\ y^post24-y_next^post24 == 0 /\ pc_Drive^post24-pc_Drive_next^post24 == 0 /\ 1+x^0-x_next^post24 <= 0 /\ -pc_Plan_next^post24+pc_Plan^post24 == 0 /\ 1-y_next^post24+y^0 <= 0 /\ -4+pc_Drive_next^post24 <= 0 /\ 4-pc_Drive_next^post24 <= 0 /\ -n1^post24+n1^0 == 0 /\ -3+pc_Loop^post24 == 0 /\ -__const_6^post24+__const_6^0 == 0), cost: 1 25: l4 -> l5 : is_aborted^0'=is_aborted^post25, pc_Plan_next^0'=pc_Plan_next^post25, __const_7^0'=__const_7^post25, x_next^0'=x_next^post25, pc_Drive_next^0'=pc_Drive_next^post25, n0^0'=n0^post25, executed_Drive^0'=executed_Drive^post25, y_next^0'=y_next^post25, pc_Plan^0'=pc_Plan^post25, __const_6^0'=__const_6^post25, pc_Drive^0'=pc_Drive^post25, is_aborted_next^0'=is_aborted_next^post25, x^0'=x^post25, __const_8^0'=__const_8^post25, y^0'=y^post25, pc_Loop^0'=pc_Loop^post25, n1^0'=n1^post25, (0 == 0 /\ y_next^post25-y^0 <= 0 /\ -y_next^post25+y^0 <= 0 /\ -1+is_aborted_next^post25 <= 0 /\ y^post25-y_next^post25 == 0 /\ is_aborted^post25 <= 0 /\ __const_6^0-__const_6^post25 == 0 /\ -n1^post25+n1^0 == 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -is_aborted_next^post25 <= 0 /\ 5-pc_Drive_next^post25 <= 0 /\ -x_next^post25+x^0 <= 0 /\ 1-pc_Plan_next^post25 <= 0 /\ pc_Drive^post25-pc_Drive_next^post25 == 0 /\ -3+pc_Loop^post25 == 0 /\ is_aborted^post25-is_aborted_next^post25 == 0 /\ -pc_Plan_next^post25+pc_Plan^post25 == 0 /\ -__const_8^post25+__const_8^0 == 0 /\ 1-pc_Drive_next^post25 <= 0 /\ x^post25-x_next^post25 == 0 /\ 1+pc_Plan_next^post25-__const_8^0 <= 0 /\ __const_7^0-__const_7^post25 == 0 /\ x_next^post25-x^0 <= 0 /\ n0^0-n0^post25 == 0 /\ -executed_Drive^post25+executed_Drive^0 == 0), cost: 1 26: l4 -> l5 : is_aborted^0'=is_aborted^post26, pc_Plan_next^0'=pc_Plan_next^post26, __const_7^0'=__const_7^post26, x_next^0'=x_next^post26, pc_Drive_next^0'=pc_Drive_next^post26, n0^0'=n0^post26, executed_Drive^0'=executed_Drive^post26, y_next^0'=y_next^post26, pc_Plan^0'=pc_Plan^post26, __const_6^0'=__const_6^post26, pc_Drive^0'=pc_Drive^post26, is_aborted_next^0'=is_aborted_next^post26, x^0'=x^post26, __const_8^0'=__const_8^post26, y^0'=y^post26, pc_Loop^0'=pc_Loop^post26, n1^0'=n1^post26, (0 == 0 /\ executed_Drive^0-executed_Drive^post26 == 0 /\ y^0-y_next^post26 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ 1-pc_Plan_next^post26 <= 0 /\ pc_Drive^post26-pc_Drive_next^post26 == 0 /\ -3+pc_Loop^post26 == 0 /\ 1-pc_Drive_next^post26 <= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ x^post26-x_next^post26 == 0 /\ __const_7^0-__const_7^post26 == 0 /\ -y^0+y_next^post26 <= 0 /\ -n1^post26+n1^0 == 0 /\ -__const_6^post26+__const_6^0 == 0 /\ y^post26-y_next^post26 == 0 /\ -x_next^post26+x^0 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ is_aborted^post26 <= 0 /\ -n0^post26+n0^0 == 0 /\ pc_Plan^post26-pc_Plan_next^post26 == 0 /\ -__const_8^post26+__const_8^0 == 0 /\ -is_aborted_next^post26+is_aborted^post26 == 0 /\ -1+is_aborted_next^post26 <= 0 /\ x_next^post26-x^0 <= 0 /\ -is_aborted_next^post26 <= 0), cost: 1 21: l5 -> l2 : is_aborted^0'=is_aborted^post21, pc_Plan_next^0'=pc_Plan_next^post21, __const_7^0'=__const_7^post21, x_next^0'=x_next^post21, pc_Drive_next^0'=pc_Drive_next^post21, n0^0'=n0^post21, executed_Drive^0'=executed_Drive^post21, y_next^0'=y_next^post21, pc_Plan^0'=pc_Plan^post21, __const_6^0'=__const_6^post21, pc_Drive^0'=pc_Drive^post21, is_aborted_next^0'=is_aborted_next^post21, x^0'=x^post21, __const_8^0'=__const_8^post21, y^0'=y^post21, pc_Loop^0'=pc_Loop^post21, n1^0'=n1^post21, (0 == 0 /\ -n1^post21+n1^0 == 0 /\ -1+x_next^post21-x^0 <= 0 /\ __const_6^0-__const_6^post21 == 0 /\ pc_Drive^post21-pc_Drive_next^post21 == 0 /\ 1-is_aborted^post21 <= 0 /\ y^post21-y_next^post21 == 0 /\ x^post21-x_next^post21 == 0 /\ is_aborted^post21-is_aborted_next^post21 == 0 /\ -1+is_aborted_next^post21 <= 0 /\ 1-y_next^post21+y^0 <= 0 /\ -4+pc_Drive_next^post21 <= 0 /\ 4-pc_Drive_next^post21 <= 0 /\ 1+pc_Drive_next^post21-__const_8^0 <= 0 /\ -is_aborted_next^post21 <= 0 /\ -__const_6^0+pc_Loop^post21 == 0 /\ -1+executed_Drive^post21 == 0 /\ 1-x_next^post21+x^0 <= 0 /\ 1-pc_Plan_next^post21 <= 0 /\ 1+pc_Plan_next^post21-__const_8^0 <= 0 /\ __const_7^0-__const_7^post21 == 0 /\ 1-pc_Drive_next^post21 <= 0 /\ n0^0-n0^post21 == 0 /\ -__const_8^post21+__const_8^0 == 0 /\ -pc_Plan_next^post21+pc_Plan^post21 == 0 /\ -1+y_next^post21-y^0 <= 0), cost: 1 22: l5 -> l2 : is_aborted^0'=is_aborted^post22, pc_Plan_next^0'=pc_Plan_next^post22, __const_7^0'=__const_7^post22, x_next^0'=x_next^post22, pc_Drive_next^0'=pc_Drive_next^post22, n0^0'=n0^post22, executed_Drive^0'=executed_Drive^post22, y_next^0'=y_next^post22, pc_Plan^0'=pc_Plan^post22, __const_6^0'=__const_6^post22, pc_Drive^0'=pc_Drive^post22, is_aborted_next^0'=is_aborted_next^post22, x^0'=x^post22, __const_8^0'=__const_8^post22, y^0'=y^post22, pc_Loop^0'=pc_Loop^post22, n1^0'=n1^post22, (0 == 0 /\ -x_next^post22+x^0 <= 0 /\ -1+is_aborted_next^post22 <= 0 /\ -__const_7^post22+__const_7^0 == 0 /\ 5-pc_Drive_next^post22 <= 0 /\ -is_aborted_next^post22 <= 0 /\ -n0^post22+n0^0 == 0 /\ -__const_6^0+pc_Loop^post22 == 0 /\ -__const_8^post22+__const_8^0 == 0 /\ -__const_6^post22+__const_6^0 == 0 /\ x_next^post22-x^0 <= 0 /\ 1-pc_Plan_next^post22 <= 0 /\ 1-__const_8^0+pc_Plan_next^post22 <= 0 /\ is_aborted^post22-is_aborted_next^post22 == 0 /\ -executed_Drive^post22+executed_Drive^0 == 0 /\ pc_Drive^post22-pc_Drive_next^post22 == 0 /\ -pc_Plan_next^post22+pc_Plan^post22 == 0 /\ y^post22-y_next^post22 == 0 /\ 1-pc_Drive_next^post22 <= 0 /\ y_next^post22-y^0 <= 0 /\ -x_next^post22+x^post22 == 0 /\ -y_next^post22+y^0 <= 0 /\ -n1^post22+n1^0 == 0 /\ 1-is_aborted^post22 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 1 23: l5 -> l2 : is_aborted^0'=is_aborted^post23, pc_Plan_next^0'=pc_Plan_next^post23, __const_7^0'=__const_7^post23, x_next^0'=x_next^post23, pc_Drive_next^0'=pc_Drive_next^post23, n0^0'=n0^post23, executed_Drive^0'=executed_Drive^post23, y_next^0'=y_next^post23, pc_Plan^0'=pc_Plan^post23, __const_6^0'=__const_6^post23, pc_Drive^0'=pc_Drive^post23, is_aborted_next^0'=is_aborted_next^post23, x^0'=x^post23, __const_8^0'=__const_8^post23, y^0'=y^post23, pc_Loop^0'=pc_Loop^post23, n1^0'=n1^post23, (0 == 0 /\ -y_next^post23+y^post23 == 0 /\ y_next^post23-y^0 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -is_aborted_next^post23+is_aborted^post23 == 0 /\ 1-is_aborted^post23 <= 0 /\ -y_next^post23+y^0 <= 0 /\ -1+is_aborted_next^post23 <= 0 /\ executed_Drive^0-executed_Drive^post23 == 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -is_aborted_next^post23 <= 0 /\ -n1^post23+n1^0 == 0 /\ -x^0+x_next^post23 <= 0 /\ pc_Loop^post23-__const_6^0 == 0 /\ pc_Drive^post23-pc_Drive_next^post23 == 0 /\ 1-pc_Plan_next^post23 <= 0 /\ 1+pc_Plan_next^post23-__const_8^0 <= 0 /\ 1-pc_Drive_next^post23 <= 0 /\ x^post23-x_next^post23 == 0 /\ __const_7^0-__const_7^post23 == 0 /\ -pc_Plan_next^post23+pc_Plan^post23 == 0 /\ x^0-x_next^post23 <= 0 /\ n0^0-n0^post23 == 0 /\ -__const_8^post23+__const_8^0 == 0 /\ -__const_6^post23+__const_6^0 == 0), cost: 1 36: l6 -> l1 : is_aborted^0'=is_aborted^post36, pc_Plan_next^0'=pc_Plan_next^post36, __const_7^0'=__const_7^post36, x_next^0'=x_next^post36, pc_Drive_next^0'=pc_Drive_next^post36, n0^0'=n0^post36, executed_Drive^0'=executed_Drive^post36, y_next^0'=y_next^post36, pc_Plan^0'=pc_Plan^post36, __const_6^0'=__const_6^post36, pc_Drive^0'=pc_Drive^post36, is_aborted_next^0'=is_aborted_next^post36, x^0'=x^post36, __const_8^0'=__const_8^post36, y^0'=y^post36, pc_Loop^0'=pc_Loop^post36, n1^0'=n1^post36, (-executed_Drive^post36+executed_Drive^0 == 0 /\ pc_Plan^0-pc_Plan^post36 == 0 /\ pc_Plan_next^0-pc_Plan_next^post36 == 0 /\ -pc_Drive^post36+pc_Drive^0 == 0 /\ -pc_Loop^post36+pc_Loop^0 == 0 /\ -n1^post36+n1^0 == 0 /\ n0^0-n0^post36 == 0 /\ -y_next^post36+y_next^0 == 0 /\ __const_8^0-__const_8^post36 == 0 /\ -is_aborted_next^post36+is_aborted_next^0 == 0 /\ __const_6^0-__const_6^post36 == 0 /\ -y^post36+y^0 == 0 /\ x^0-x^post36 == 0 /\ __const_7^0-__const_7^post36 == 0 /\ pc_Drive_next^0-pc_Drive_next^post36 == 0 /\ is_aborted^0-is_aborted^post36 == 0 /\ -x_next^post36+x_next^0 == 0), cost: 1 37: l7 -> l6 : is_aborted^0'=is_aborted^post37, pc_Plan_next^0'=pc_Plan_next^post37, __const_7^0'=__const_7^post37, x_next^0'=x_next^post37, pc_Drive_next^0'=pc_Drive_next^post37, n0^0'=n0^post37, executed_Drive^0'=executed_Drive^post37, y_next^0'=y_next^post37, pc_Plan^0'=pc_Plan^post37, __const_6^0'=__const_6^post37, pc_Drive^0'=pc_Drive^post37, is_aborted_next^0'=is_aborted_next^post37, x^0'=x^post37, __const_8^0'=__const_8^post37, y^0'=y^post37, pc_Loop^0'=pc_Loop^post37, n1^0'=n1^post37, (-__const_8^post37+__const_8^0 == 0 /\ x_next^0-x_next^post37 == 0 /\ is_aborted^0-is_aborted^post37 == 0 /\ __const_6^0-__const_6^post37 == 0 /\ pc_Drive_next^0-pc_Drive_next^post37 == 0 /\ n1^0-n1^post37 == 0 /\ is_aborted_next^0-is_aborted_next^post37 == 0 /\ -x^post37+x^0 == 0 /\ -executed_Drive^post37+executed_Drive^0 == 0 /\ n0^0-n0^post37 == 0 /\ -pc_Loop^post37+pc_Loop^0 == 0 /\ -pc_Drive^post37+pc_Drive^0 == 0 /\ y_next^0-y_next^post37 == 0 /\ pc_Plan_next^0-pc_Plan_next^post37 == 0 /\ -y^post37+y^0 == 0 /\ pc_Plan^0-pc_Plan^post37 == 0 /\ __const_7^0-__const_7^post37 == 0), cost: 1 Applied preprocessing Original rule: l2 -> l3 : is_aborted^0'=is_aborted^post6, pc_Plan_next^0'=pc_Plan_next^post6, __const_7^0'=__const_7^post6, x_next^0'=x_next^post6, pc_Drive_next^0'=pc_Drive_next^post6, n0^0'=n0^post6, executed_Drive^0'=executed_Drive^post6, y_next^0'=y_next^post6, pc_Plan^0'=pc_Plan^post6, __const_6^0'=__const_6^post6, pc_Drive^0'=pc_Drive^post6, is_aborted_next^0'=is_aborted_next^post6, x^0'=x^post6, __const_8^0'=__const_8^post6, y^0'=y^post6, pc_Loop^0'=pc_Loop^post6, n1^0'=n1^post6, (0 == 0 /\ -__const_8^post6+__const_8^0 == 0 /\ -1+y_next^post6-y^0 <= 0 /\ -__const_7^0+pc_Drive^post6 <= 0 /\ 1-executed_Drive^post6 <= 0 /\ -1+executed_Drive^post6 <= 0 /\ -1+executed_Drive^post6 == 0 /\ -n1^post6+n1^0 == 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ 1-pc_Plan_next^post6 <= 0 /\ 1-x_next^post6+x^0 <= 0 /\ __const_6^0-__const_6^post6 == 0 /\ x^post6-x_next^post6 == 0 /\ __const_7^0-pc_Drive^post6 <= 0 /\ 1-pc_Drive_next^post6 <= 0 /\ 1-__const_8^0+pc_Drive_next^post6 <= 0 /\ pc_Plan^post6-pc_Plan_next^post6 == 0 /\ __const_7^0-__const_7^post6 == 0 /\ -n0^post6+n0^0 == 0 /\ y^post6-y_next^post6 == 0 /\ 1-y_next^post6+y^0 <= 0 /\ -4+pc_Loop^post6 == 0 /\ -1+x_next^post6-x^0 <= 0 /\ pc_Drive^post6-pc_Drive_next^post6 == 0 /\ -4+pc_Drive_next^post6 <= 0 /\ 4-pc_Drive_next^post6 <= 0 /\ -is_aborted_next^post6 <= 0 /\ -is_aborted_next^post6+is_aborted^post6 == 0 /\ -1+is_aborted_next^post6 <= 0), cost: 1 New rule: l2 -> l3 : is_aborted^0'=is_aborted^post6, pc_Plan_next^0'=pc_Plan_next^post6, x_next^0'=1+x^0, pc_Drive_next^0'=__const_7^0, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan_next^post6, pc_Drive^0'=__const_7^0, is_aborted_next^0'=is_aborted^post6, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=4, (-4+__const_7^0 == 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ is_aborted^post6 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 1 Applied preprocessing Original rule: l2 -> l3 : is_aborted^0'=is_aborted^post7, pc_Plan_next^0'=pc_Plan_next^post7, __const_7^0'=__const_7^post7, x_next^0'=x_next^post7, pc_Drive_next^0'=pc_Drive_next^post7, n0^0'=n0^post7, executed_Drive^0'=executed_Drive^post7, y_next^0'=y_next^post7, pc_Plan^0'=pc_Plan^post7, __const_6^0'=__const_6^post7, pc_Drive^0'=pc_Drive^post7, is_aborted_next^0'=is_aborted_next^post7, x^0'=x^post7, __const_8^0'=__const_8^post7, y^0'=y^post7, pc_Loop^0'=pc_Loop^post7, n1^0'=n1^post7, (0 == 0 /\ -n0^post7+n0^0 == 0 /\ executed_Drive^0-executed_Drive^post7 == 0 /\ -is_aborted_next^post7+is_aborted^post7 == 0 /\ pc_Drive^post7-pc_Drive_next^post7 == 0 /\ 1+pc_Plan_next^post7-__const_8^0 <= 0 /\ y^post7-y_next^post7 == 0 /\ 1-pc_Drive_next^post7 <= 0 /\ 1-__const_8^0+pc_Drive_next^post7 <= 0 /\ -x_next^post7+x^0 <= 0 /\ -y^0+y_next^post7 <= 0 /\ 1-executed_Drive^0 <= 0 /\ -1+executed_Drive^0 <= 0 /\ x_next^post7-x^0 <= 0 /\ y^0-y_next^post7 <= 0 /\ -4+pc_Loop^post7 == 0 /\ __const_7^0-pc_Drive^post7 <= 0 /\ -pc_Plan_next^post7+pc_Plan^post7 == 0 /\ -is_aborted_next^post7 <= 0 /\ __const_7^0-__const_7^post7 == 0 /\ -n1^post7+n1^0 == 0 /\ -1+is_aborted_next^post7 <= 0 /\ 5-pc_Drive_next^post7 <= 0 /\ -__const_8^post7+__const_8^0 == 0 /\ -__const_6^post7+__const_6^0 == 0 /\ -__const_7^0+pc_Drive^post7 <= 0 /\ x^post7-x_next^post7 == 0 /\ 1-pc_Plan_next^post7 <= 0), cost: 1 New rule: l2 -> l3 : is_aborted^0'=is_aborted^post7, pc_Plan_next^0'=pc_Plan^post7, x_next^0'=x^0, pc_Drive_next^0'=__const_7^0, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post7, pc_Drive^0'=__const_7^0, is_aborted_next^0'=is_aborted^post7, pc_Loop^0'=4, (-5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 1 Applied preprocessing Original rule: l2 -> l3 : is_aborted^0'=is_aborted^post8, pc_Plan_next^0'=pc_Plan_next^post8, __const_7^0'=__const_7^post8, x_next^0'=x_next^post8, pc_Drive_next^0'=pc_Drive_next^post8, n0^0'=n0^post8, executed_Drive^0'=executed_Drive^post8, y_next^0'=y_next^post8, pc_Plan^0'=pc_Plan^post8, __const_6^0'=__const_6^post8, pc_Drive^0'=pc_Drive^post8, is_aborted_next^0'=is_aborted_next^post8, x^0'=x^post8, __const_8^0'=__const_8^post8, y^0'=y^post8, pc_Loop^0'=pc_Loop^post8, n1^0'=n1^post8, (0 == 0 /\ -__const_7^0+pc_Drive^post8 <= 0 /\ __const_8^0-__const_8^post8 == 0 /\ -x_next^post8+x^post8 == 0 /\ 1-executed_Drive^0 <= 0 /\ -1+executed_Drive^0 <= 0 /\ -n1^post8+n1^0 == 0 /\ 1+pc_Drive_next^post8-__const_8^0 <= 0 /\ 1-pc_Plan_next^post8 <= 0 /\ n0^0-n0^post8 == 0 /\ __const_7^0-pc_Drive^post8 <= 0 /\ __const_7^0-__const_7^post8 == 0 /\ 1-pc_Drive_next^post8 <= 0 /\ y^post8-y_next^post8 == 0 /\ __const_6^0-__const_6^post8 == 0 /\ 1+pc_Plan_next^post8-__const_8^0 <= 0 /\ -pc_Plan_next^post8+pc_Plan^post8 == 0 /\ -y_next^post8+y^0 <= 0 /\ -x_next^post8+x^0 <= 0 /\ -4+pc_Loop^post8 == 0 /\ -3+pc_Drive_next^post8 <= 0 /\ is_aborted^post8-is_aborted_next^post8 == 0 /\ -is_aborted_next^post8 <= 0 /\ y_next^post8-y^0 <= 0 /\ x_next^post8-x^0 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ executed_Drive^0-executed_Drive^post8 == 0 /\ pc_Drive^post8-pc_Drive_next^post8 == 0), cost: 1 New rule: l2 -> l3 : is_aborted^0'=is_aborted_next^post8, pc_Plan_next^0'=pc_Plan^post8, x_next^0'=x^0, pc_Drive_next^0'=__const_7^0, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post8, pc_Drive^0'=__const_7^0, is_aborted_next^0'=is_aborted_next^post8, pc_Loop^0'=4, (-1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 Applied preprocessing Original rule: l2 -> l3 : is_aborted^0'=is_aborted^post11, pc_Plan_next^0'=pc_Plan_next^post11, __const_7^0'=__const_7^post11, x_next^0'=x_next^post11, pc_Drive_next^0'=pc_Drive_next^post11, n0^0'=n0^post11, executed_Drive^0'=executed_Drive^post11, y_next^0'=y_next^post11, pc_Plan^0'=pc_Plan^post11, __const_6^0'=__const_6^post11, pc_Drive^0'=pc_Drive^post11, is_aborted_next^0'=is_aborted_next^post11, x^0'=x^post11, __const_8^0'=__const_8^post11, y^0'=y^post11, pc_Loop^0'=pc_Loop^post11, n1^0'=n1^post11, (0 == 0 /\ -3+pc_Drive_next^post11 <= 0 /\ -y_next^post11+y^0 <= 0 /\ -n1^post11+n1^0 == 0 /\ -4+pc_Loop^post11 == 0 /\ -__const_8^post11+__const_8^0 == 0 /\ 1+pc_Drive_next^post11-__const_8^0 <= 0 /\ y_next^post11-y^0 <= 0 /\ -is_aborted_next^post11+is_aborted^post11 == 0 /\ -is_aborted_next^post11 <= 0 /\ -y_next^post11+y^post11 == 0 /\ 1-is_aborted_next^post11 <= 0 /\ -1+is_aborted_next^post11 <= 0 /\ -pc_Drive_next^post11+pc_Drive^post11 == 0 /\ 2-pc_Drive^post11 <= 0 /\ 1+pc_Plan_next^post11-__const_8^0 <= 0 /\ -x^0+x_next^post11 <= 0 /\ -pc_Plan_next^post11+pc_Plan^post11 == 0 /\ x^post11-x_next^post11 == 0 /\ -__const_6^post11+__const_6^0 == 0 /\ 1-pc_Plan_next^post11 <= 0 /\ executed_Drive^post11 == 0 /\ __const_7^0-__const_7^post11 == 0 /\ x^0-x_next^post11 <= 0 /\ 1-pc_Drive_next^post11 <= 0 /\ n0^0-n0^post11 == 0 /\ -2+pc_Drive^post11 <= 0), cost: 1 New rule: l2 -> l3 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post11, x_next^0'=x^0, pc_Drive_next^0'=2, executed_Drive^0'=0, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post11, pc_Drive^0'=2, is_aborted_next^0'=1, pc_Loop^0'=4, (-1+pc_Plan^post11 >= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ -3+__const_8^0 >= 0), cost: 1 Applied preprocessing Original rule: l3 -> l4 : is_aborted^0'=is_aborted^post18, pc_Plan_next^0'=pc_Plan_next^post18, __const_7^0'=__const_7^post18, x_next^0'=x_next^post18, pc_Drive_next^0'=pc_Drive_next^post18, n0^0'=n0^post18, executed_Drive^0'=executed_Drive^post18, y_next^0'=y_next^post18, pc_Plan^0'=pc_Plan^post18, __const_6^0'=__const_6^post18, pc_Drive^0'=pc_Drive^post18, is_aborted_next^0'=is_aborted_next^post18, x^0'=x^post18, __const_8^0'=__const_8^post18, y^0'=y^post18, pc_Loop^0'=pc_Loop^post18, n1^0'=n1^post18, (0 == 0 /\ 1-n1^0 <= 0 /\ 1-x_next^post18+x^0 <= 0 /\ -pc_Plan_next^post18+pc_Plan^post18 == 0 /\ -__const_6^post18+__const_6^0 == 0 /\ -4+pc_Drive_next^post18 <= 0 /\ 4-pc_Drive_next^post18 <= 0 /\ -n0^post18+n0^0 == 0 /\ 1-n0^0 <= 0 /\ 1+y^post18-n1^0 <= 0 /\ 1-n0^0+x^post18 <= 0 /\ 1-executed_Drive^post18 <= 0 /\ -1+executed_Drive^post18 <= 0 /\ -1+executed_Drive^post18 == 0 /\ -1+y_next^post18-y^0 <= 0 /\ 1-pc_Plan_next^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post18 <= 0 /\ -x_next^post18+x^post18 == 0 /\ is_aborted^post18 <= 0 /\ -n1^post18+n1^0 == 0 /\ 1-pc_Drive_next^post18 <= 0 /\ -is_aborted_next^post18 <= 0 /\ -1+x_next^post18-x^0 <= 0 /\ -pc_Drive_next^post18+pc_Drive^post18 == 0 /\ -is_aborted_next^post18+is_aborted^post18 == 0 /\ -1+is_aborted_next^post18 <= 0 /\ -__const_8^post18+__const_8^0 == 0 /\ -2+pc_Loop^post18 == 0 /\ 1-y_next^post18+y^0 <= 0 /\ 1+pc_Drive_next^post18-__const_8^0 <= 0 /\ -__const_7^post18+__const_7^0 == 0 /\ -y_next^post18+y^post18 == 0), cost: 1 New rule: l3 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 5-__const_8^0 <= 0), cost: 1 Applied preprocessing Original rule: l3 -> l4 : is_aborted^0'=is_aborted^post19, pc_Plan_next^0'=pc_Plan_next^post19, __const_7^0'=__const_7^post19, x_next^0'=x_next^post19, pc_Drive_next^0'=pc_Drive_next^post19, n0^0'=n0^post19, executed_Drive^0'=executed_Drive^post19, y_next^0'=y_next^post19, pc_Plan^0'=pc_Plan^post19, __const_6^0'=__const_6^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=is_aborted_next^post19, x^0'=x^post19, __const_8^0'=__const_8^post19, y^0'=y^post19, pc_Loop^0'=pc_Loop^post19, n1^0'=n1^post19, (0 == 0 /\ 1-n1^0 <= 0 /\ -y_next^post19+y^post19 == 0 /\ -n1^post19+n1^0 == 0 /\ 1-executed_Drive^0 <= 0 /\ -1+executed_Drive^0 <= 0 /\ y_next^post19-y^0 <= 0 /\ 1-n0^0 <= 0 /\ x^post19-x_next^post19 == 0 /\ executed_Drive^0-executed_Drive^post19 == 0 /\ -__const_8^post19+__const_8^0 == 0 /\ 1+pc_Drive_next^post19-__const_8^0 <= 0 /\ -pc_Drive_next^post19+pc_Drive^post19 == 0 /\ -2+pc_Loop^post19 == 0 /\ 1-n0^0+x^post19 <= 0 /\ -y_next^post19+y^0 <= 0 /\ 5-pc_Drive_next^post19 <= 0 /\ -x^0+x_next^post19 <= 0 /\ -1+is_aborted_next^post19 <= 0 /\ 1+pc_Plan_next^post19-__const_8^0 <= 0 /\ 1-pc_Plan_next^post19 <= 0 /\ -is_aborted_next^post19+is_aborted^post19 == 0 /\ -is_aborted_next^post19 <= 0 /\ -__const_6^post19+__const_6^0 == 0 /\ -pc_Plan_next^post19+pc_Plan^post19 == 0 /\ __const_7^0-__const_7^post19 == 0 /\ x^0-x_next^post19 <= 0 /\ n0^0-n0^post19 == 0 /\ 1-pc_Drive_next^post19 <= 0 /\ 1+y^post19-n1^0 <= 0 /\ is_aborted^post19 <= 0), cost: 1 New rule: l3 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0), cost: 1 Applied preprocessing Original rule: l3 -> l4 : is_aborted^0'=is_aborted^post20, pc_Plan_next^0'=pc_Plan_next^post20, __const_7^0'=__const_7^post20, x_next^0'=x_next^post20, pc_Drive_next^0'=pc_Drive_next^post20, n0^0'=n0^post20, executed_Drive^0'=executed_Drive^post20, y_next^0'=y_next^post20, pc_Plan^0'=pc_Plan^post20, __const_6^0'=__const_6^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=is_aborted_next^post20, x^0'=x^post20, __const_8^0'=__const_8^post20, y^0'=y^post20, pc_Loop^0'=pc_Loop^post20, n1^0'=n1^post20, (0 == 0 /\ is_aborted^post20 <= 0 /\ 1-n1^0 <= 0 /\ -pc_Plan_next^post20+pc_Plan^post20 == 0 /\ __const_7^0-__const_7^post20 == 0 /\ n0^0-n0^post20 == 0 /\ 1+y^post20-n1^0 <= 0 /\ 1-executed_Drive^0 <= 0 /\ -1+executed_Drive^0 <= 0 /\ 1+pc_Plan_next^post20-__const_8^0 <= 0 /\ 1-n0^0 <= 0 /\ -__const_8^post20+__const_8^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ 1-pc_Plan_next^post20 <= 0 /\ y_next^post20-y^0 <= 0 /\ 1-pc_Drive_next^post20 <= 0 /\ x^0-x_next^post20 <= 0 /\ -x_next^post20+x^post20 == 0 /\ executed_Drive^0-executed_Drive^post20 == 0 /\ y^post20-y_next^post20 == 0 /\ is_aborted^post20-is_aborted_next^post20 == 0 /\ -pc_Drive_next^post20+pc_Drive^post20 == 0 /\ 1-n0^0+x^post20 <= 0 /\ -y_next^post20+y^0 <= 0 /\ -2+pc_Loop^post20 == 0 /\ -x^0+x_next^post20 <= 0 /\ -1+is_aborted_next^post20 <= 0 /\ __const_6^0-__const_6^post20 == 0 /\ 1+pc_Drive_next^post20-__const_8^0 <= 0 /\ -is_aborted_next^post20 <= 0 /\ -n1^post20+n1^0 == 0), cost: 1 New rule: l3 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 1 Applied preprocessing Original rule: l5 -> l2 : is_aborted^0'=is_aborted^post21, pc_Plan_next^0'=pc_Plan_next^post21, __const_7^0'=__const_7^post21, x_next^0'=x_next^post21, pc_Drive_next^0'=pc_Drive_next^post21, n0^0'=n0^post21, executed_Drive^0'=executed_Drive^post21, y_next^0'=y_next^post21, pc_Plan^0'=pc_Plan^post21, __const_6^0'=__const_6^post21, pc_Drive^0'=pc_Drive^post21, is_aborted_next^0'=is_aborted_next^post21, x^0'=x^post21, __const_8^0'=__const_8^post21, y^0'=y^post21, pc_Loop^0'=pc_Loop^post21, n1^0'=n1^post21, (0 == 0 /\ -n1^post21+n1^0 == 0 /\ -1+x_next^post21-x^0 <= 0 /\ __const_6^0-__const_6^post21 == 0 /\ pc_Drive^post21-pc_Drive_next^post21 == 0 /\ 1-is_aborted^post21 <= 0 /\ y^post21-y_next^post21 == 0 /\ x^post21-x_next^post21 == 0 /\ is_aborted^post21-is_aborted_next^post21 == 0 /\ -1+is_aborted_next^post21 <= 0 /\ 1-y_next^post21+y^0 <= 0 /\ -4+pc_Drive_next^post21 <= 0 /\ 4-pc_Drive_next^post21 <= 0 /\ 1+pc_Drive_next^post21-__const_8^0 <= 0 /\ -is_aborted_next^post21 <= 0 /\ -__const_6^0+pc_Loop^post21 == 0 /\ -1+executed_Drive^post21 == 0 /\ 1-x_next^post21+x^0 <= 0 /\ 1-pc_Plan_next^post21 <= 0 /\ 1+pc_Plan_next^post21-__const_8^0 <= 0 /\ __const_7^0-__const_7^post21 == 0 /\ 1-pc_Drive_next^post21 <= 0 /\ n0^0-n0^post21 == 0 /\ -__const_8^post21+__const_8^0 == 0 /\ -pc_Plan_next^post21+pc_Plan^post21 == 0 /\ -1+y_next^post21-y^0 <= 0), cost: 1 New rule: l5 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 5-__const_8^0 <= 0), cost: 1 Applied preprocessing Original rule: l5 -> l2 : is_aborted^0'=is_aborted^post22, pc_Plan_next^0'=pc_Plan_next^post22, __const_7^0'=__const_7^post22, x_next^0'=x_next^post22, pc_Drive_next^0'=pc_Drive_next^post22, n0^0'=n0^post22, executed_Drive^0'=executed_Drive^post22, y_next^0'=y_next^post22, pc_Plan^0'=pc_Plan^post22, __const_6^0'=__const_6^post22, pc_Drive^0'=pc_Drive^post22, is_aborted_next^0'=is_aborted_next^post22, x^0'=x^post22, __const_8^0'=__const_8^post22, y^0'=y^post22, pc_Loop^0'=pc_Loop^post22, n1^0'=n1^post22, (0 == 0 /\ -x_next^post22+x^0 <= 0 /\ -1+is_aborted_next^post22 <= 0 /\ -__const_7^post22+__const_7^0 == 0 /\ 5-pc_Drive_next^post22 <= 0 /\ -is_aborted_next^post22 <= 0 /\ -n0^post22+n0^0 == 0 /\ -__const_6^0+pc_Loop^post22 == 0 /\ -__const_8^post22+__const_8^0 == 0 /\ -__const_6^post22+__const_6^0 == 0 /\ x_next^post22-x^0 <= 0 /\ 1-pc_Plan_next^post22 <= 0 /\ 1-__const_8^0+pc_Plan_next^post22 <= 0 /\ is_aborted^post22-is_aborted_next^post22 == 0 /\ -executed_Drive^post22+executed_Drive^0 == 0 /\ pc_Drive^post22-pc_Drive_next^post22 == 0 /\ -pc_Plan_next^post22+pc_Plan^post22 == 0 /\ y^post22-y_next^post22 == 0 /\ 1-pc_Drive_next^post22 <= 0 /\ y_next^post22-y^0 <= 0 /\ -x_next^post22+x^post22 == 0 /\ -y_next^post22+y^0 <= 0 /\ -n1^post22+n1^0 == 0 /\ 1-is_aborted^post22 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 1 New rule: l5 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 1 Applied preprocessing Original rule: l5 -> l2 : is_aborted^0'=is_aborted^post23, pc_Plan_next^0'=pc_Plan_next^post23, __const_7^0'=__const_7^post23, x_next^0'=x_next^post23, pc_Drive_next^0'=pc_Drive_next^post23, n0^0'=n0^post23, executed_Drive^0'=executed_Drive^post23, y_next^0'=y_next^post23, pc_Plan^0'=pc_Plan^post23, __const_6^0'=__const_6^post23, pc_Drive^0'=pc_Drive^post23, is_aborted_next^0'=is_aborted_next^post23, x^0'=x^post23, __const_8^0'=__const_8^post23, y^0'=y^post23, pc_Loop^0'=pc_Loop^post23, n1^0'=n1^post23, (0 == 0 /\ -y_next^post23+y^post23 == 0 /\ y_next^post23-y^0 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -is_aborted_next^post23+is_aborted^post23 == 0 /\ 1-is_aborted^post23 <= 0 /\ -y_next^post23+y^0 <= 0 /\ -1+is_aborted_next^post23 <= 0 /\ executed_Drive^0-executed_Drive^post23 == 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -is_aborted_next^post23 <= 0 /\ -n1^post23+n1^0 == 0 /\ -x^0+x_next^post23 <= 0 /\ pc_Loop^post23-__const_6^0 == 0 /\ pc_Drive^post23-pc_Drive_next^post23 == 0 /\ 1-pc_Plan_next^post23 <= 0 /\ 1+pc_Plan_next^post23-__const_8^0 <= 0 /\ 1-pc_Drive_next^post23 <= 0 /\ x^post23-x_next^post23 == 0 /\ __const_7^0-__const_7^post23 == 0 /\ -pc_Plan_next^post23+pc_Plan^post23 == 0 /\ x^0-x_next^post23 <= 0 /\ n0^0-n0^post23 == 0 /\ -__const_8^post23+__const_8^0 == 0 /\ -__const_6^post23+__const_6^0 == 0), cost: 1 New rule: l5 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 1 Applied preprocessing Original rule: l4 -> l5 : is_aborted^0'=is_aborted^post24, pc_Plan_next^0'=pc_Plan_next^post24, __const_7^0'=__const_7^post24, x_next^0'=x_next^post24, pc_Drive_next^0'=pc_Drive_next^post24, n0^0'=n0^post24, executed_Drive^0'=executed_Drive^post24, y_next^0'=y_next^post24, pc_Plan^0'=pc_Plan^post24, __const_6^0'=__const_6^post24, pc_Drive^0'=pc_Drive^post24, is_aborted_next^0'=is_aborted_next^post24, x^0'=x^post24, __const_8^0'=__const_8^post24, y^0'=y^post24, pc_Loop^0'=pc_Loop^post24, n1^0'=n1^post24, (0 == 0 /\ is_aborted^post24 <= 0 /\ 1+pc_Drive_next^post24-__const_8^0 <= 0 /\ x^post24-x_next^post24 == 0 /\ -1+is_aborted_next^post24 <= 0 /\ n0^0-n0^post24 == 0 /\ -1-x^0+x_next^post24 <= 0 /\ -is_aborted_next^post24 <= 0 /\ -1+executed_Drive^post24 == 0 /\ -1+y_next^post24-y^0 <= 0 /\ -__const_8^post24+__const_8^0 == 0 /\ 1+pc_Plan_next^post24-__const_8^0 <= 0 /\ 1-pc_Plan_next^post24 <= 0 /\ __const_7^0-__const_7^post24 == 0 /\ is_aborted^post24-is_aborted_next^post24 == 0 /\ 1-pc_Drive_next^post24 <= 0 /\ y^post24-y_next^post24 == 0 /\ pc_Drive^post24-pc_Drive_next^post24 == 0 /\ 1+x^0-x_next^post24 <= 0 /\ -pc_Plan_next^post24+pc_Plan^post24 == 0 /\ 1-y_next^post24+y^0 <= 0 /\ -4+pc_Drive_next^post24 <= 0 /\ 4-pc_Drive_next^post24 <= 0 /\ -n1^post24+n1^0 == 0 /\ -3+pc_Loop^post24 == 0 /\ -__const_6^post24+__const_6^0 == 0), cost: 1 New rule: l4 -> l5 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post24, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post24, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=3, (1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 1 Applied preprocessing Original rule: l4 -> l5 : is_aborted^0'=is_aborted^post25, pc_Plan_next^0'=pc_Plan_next^post25, __const_7^0'=__const_7^post25, x_next^0'=x_next^post25, pc_Drive_next^0'=pc_Drive_next^post25, n0^0'=n0^post25, executed_Drive^0'=executed_Drive^post25, y_next^0'=y_next^post25, pc_Plan^0'=pc_Plan^post25, __const_6^0'=__const_6^post25, pc_Drive^0'=pc_Drive^post25, is_aborted_next^0'=is_aborted_next^post25, x^0'=x^post25, __const_8^0'=__const_8^post25, y^0'=y^post25, pc_Loop^0'=pc_Loop^post25, n1^0'=n1^post25, (0 == 0 /\ y_next^post25-y^0 <= 0 /\ -y_next^post25+y^0 <= 0 /\ -1+is_aborted_next^post25 <= 0 /\ y^post25-y_next^post25 == 0 /\ is_aborted^post25 <= 0 /\ __const_6^0-__const_6^post25 == 0 /\ -n1^post25+n1^0 == 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -is_aborted_next^post25 <= 0 /\ 5-pc_Drive_next^post25 <= 0 /\ -x_next^post25+x^0 <= 0 /\ 1-pc_Plan_next^post25 <= 0 /\ pc_Drive^post25-pc_Drive_next^post25 == 0 /\ -3+pc_Loop^post25 == 0 /\ is_aborted^post25-is_aborted_next^post25 == 0 /\ -pc_Plan_next^post25+pc_Plan^post25 == 0 /\ -__const_8^post25+__const_8^0 == 0 /\ 1-pc_Drive_next^post25 <= 0 /\ x^post25-x_next^post25 == 0 /\ 1+pc_Plan_next^post25-__const_8^0 <= 0 /\ __const_7^0-__const_7^post25 == 0 /\ x_next^post25-x^0 <= 0 /\ n0^0-n0^post25 == 0 /\ -executed_Drive^post25+executed_Drive^0 == 0), cost: 1 New rule: l4 -> l5 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post25, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post25, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post25, pc_Drive^0'=pc_Drive_next^post25, is_aborted_next^0'=0, pc_Loop^0'=3, (-1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0), cost: 1 Applied preprocessing Original rule: l4 -> l5 : is_aborted^0'=is_aborted^post26, pc_Plan_next^0'=pc_Plan_next^post26, __const_7^0'=__const_7^post26, x_next^0'=x_next^post26, pc_Drive_next^0'=pc_Drive_next^post26, n0^0'=n0^post26, executed_Drive^0'=executed_Drive^post26, y_next^0'=y_next^post26, pc_Plan^0'=pc_Plan^post26, __const_6^0'=__const_6^post26, pc_Drive^0'=pc_Drive^post26, is_aborted_next^0'=is_aborted_next^post26, x^0'=x^post26, __const_8^0'=__const_8^post26, y^0'=y^post26, pc_Loop^0'=pc_Loop^post26, n1^0'=n1^post26, (0 == 0 /\ executed_Drive^0-executed_Drive^post26 == 0 /\ y^0-y_next^post26 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ 1-pc_Plan_next^post26 <= 0 /\ pc_Drive^post26-pc_Drive_next^post26 == 0 /\ -3+pc_Loop^post26 == 0 /\ 1-pc_Drive_next^post26 <= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ x^post26-x_next^post26 == 0 /\ __const_7^0-__const_7^post26 == 0 /\ -y^0+y_next^post26 <= 0 /\ -n1^post26+n1^0 == 0 /\ -__const_6^post26+__const_6^0 == 0 /\ y^post26-y_next^post26 == 0 /\ -x_next^post26+x^0 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ is_aborted^post26 <= 0 /\ -n0^post26+n0^0 == 0 /\ pc_Plan^post26-pc_Plan_next^post26 == 0 /\ -__const_8^post26+__const_8^0 == 0 /\ -is_aborted_next^post26+is_aborted^post26 == 0 /\ -1+is_aborted_next^post26 <= 0 /\ x_next^post26-x^0 <= 0 /\ -is_aborted_next^post26 <= 0), cost: 1 New rule: l4 -> l5 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan_next^post26, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post26, y_next^0'=y^0, pc_Plan^0'=pc_Plan_next^post26, pc_Drive^0'=pc_Drive_next^post26, is_aborted_next^0'=0, pc_Loop^0'=3, (1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ -3+pc_Drive_next^post26 <= 0), cost: 1 Applied preprocessing Original rule: l1 -> l4 : is_aborted^0'=is_aborted^post30, pc_Plan_next^0'=pc_Plan_next^post30, __const_7^0'=__const_7^post30, x_next^0'=x_next^post30, pc_Drive_next^0'=pc_Drive_next^post30, n0^0'=n0^post30, executed_Drive^0'=executed_Drive^post30, y_next^0'=y_next^post30, pc_Plan^0'=pc_Plan^post30, __const_6^0'=__const_6^post30, pc_Drive^0'=pc_Drive^post30, is_aborted_next^0'=is_aborted_next^post30, x^0'=x^post30, __const_8^0'=__const_8^post30, y^0'=y^post30, pc_Loop^0'=pc_Loop^post30, n1^0'=n1^post30, (0 == 0 /\ -2+pc_Loop^post30 == 0 /\ 1-x_next^post30+x^0 <= 0 /\ 1-pc_Drive_next^post30 <= 0 /\ 1-__const_8^0+pc_Drive_next^post30 <= 0 /\ 1+y^0-y_next^post30 <= 0 /\ 1-pc_Plan_next^post30 <= 0 /\ 1-__const_8^0+pc_Plan_next^post30 <= 0 /\ x^post30-x_next^post30 == 0 /\ -n0^post30+n0^0 == 0 /\ -3+pc_Plan^post30 <= 0 /\ pc_Drive^post30-pc_Drive_next^post30 == 0 /\ -n1^post30+n1^0 == 0 /\ -__const_6^post30+__const_6^0 == 0 /\ -1+x_next^post30-x^0 <= 0 /\ pc_Plan^post30-pc_Plan_next^post30 == 0 /\ y^post30-y_next^post30 == 0 /\ __const_7^0-__const_7^post30 == 0 /\ -1-y^0+y_next^post30 <= 0 /\ is_aborted^post30 <= 0 /\ -4+pc_Drive_next^post30 <= 0 /\ 4-pc_Drive_next^post30 <= 0 /\ -1+executed_Drive^post30 == 0 /\ -1+is_aborted_next^post30 <= 0 /\ 3-pc_Plan^post30 <= 0 /\ -is_aborted_next^post30+is_aborted^post30 == 0 /\ -is_aborted_next^post30 <= 0 /\ -__const_8^post30+__const_8^0 == 0), cost: 1 New rule: l1 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=3, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=3, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, -5+__const_8^0 >= 0, cost: 1 Applied preprocessing Original rule: l1 -> l4 : is_aborted^0'=is_aborted^post31, pc_Plan_next^0'=pc_Plan_next^post31, __const_7^0'=__const_7^post31, x_next^0'=x_next^post31, pc_Drive_next^0'=pc_Drive_next^post31, n0^0'=n0^post31, executed_Drive^0'=executed_Drive^post31, y_next^0'=y_next^post31, pc_Plan^0'=pc_Plan^post31, __const_6^0'=__const_6^post31, pc_Drive^0'=pc_Drive^post31, is_aborted_next^0'=is_aborted_next^post31, x^0'=x^post31, __const_8^0'=__const_8^post31, y^0'=y^post31, pc_Loop^0'=pc_Loop^post31, n1^0'=n1^post31, (0 == 0 /\ is_aborted^post31 <= 0 /\ -pc_Drive_next^post31+pc_Drive^post31 == 0 /\ 5-pc_Drive_next^post31 <= 0 /\ y_next^post31-y^0 <= 0 /\ -1+is_aborted_next^post31 <= 0 /\ 3-pc_Plan^post31 <= 0 /\ -is_aborted_next^post31 <= 0 /\ __const_7^0-__const_7^post31 == 0 /\ -x_next^post31+x^post31 == 0 /\ -__const_8^post31+__const_8^0 == 0 /\ -y_next^post31+y^0 <= 0 /\ is_aborted^post31-is_aborted_next^post31 == 0 /\ 1+pc_Drive_next^post31-__const_8^0 <= 0 /\ 1-pc_Plan_next^post31 <= 0 /\ -3+pc_Plan^post31 <= 0 /\ -pc_Plan_next^post31+pc_Plan^post31 == 0 /\ -x^0+x_next^post31 <= 0 /\ 1-pc_Drive_next^post31 <= 0 /\ executed_Drive^post31 == 0 /\ -2+pc_Loop^post31 == 0 /\ -y_next^post31+y^post31 == 0 /\ 1+pc_Plan_next^post31-__const_8^0 <= 0 /\ n0^0-n0^post31 == 0 /\ -n1^post31+n1^0 == 0 /\ x^0-x_next^post31 <= 0 /\ -__const_6^post31+__const_6^0 == 0), cost: 1 New rule: l1 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=3, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post31, executed_Drive^0'=0, y_next^0'=y^0, pc_Plan^0'=3, pc_Drive^0'=pc_Drive^post31, is_aborted_next^0'=0, pc_Loop^0'=2, (-5+pc_Drive^post31 >= 0 /\ 1+pc_Drive^post31-__const_8^0 <= 0), cost: 1 Applied preprocessing Original rule: l1 -> l4 : is_aborted^0'=is_aborted^post32, pc_Plan_next^0'=pc_Plan_next^post32, __const_7^0'=__const_7^post32, x_next^0'=x_next^post32, pc_Drive_next^0'=pc_Drive_next^post32, n0^0'=n0^post32, executed_Drive^0'=executed_Drive^post32, y_next^0'=y_next^post32, pc_Plan^0'=pc_Plan^post32, __const_6^0'=__const_6^post32, pc_Drive^0'=pc_Drive^post32, is_aborted_next^0'=is_aborted_next^post32, x^0'=x^post32, __const_8^0'=__const_8^post32, y^0'=y^post32, pc_Loop^0'=pc_Loop^post32, n1^0'=n1^post32, (0 == 0 /\ 1-pc_Drive_next^post32 <= 0 /\ -2+pc_Loop^post32 == 0 /\ executed_Drive^post32 == 0 /\ x_next^post32-x^0 <= 0 /\ 1+pc_Plan_next^post32-__const_8^0 <= 0 /\ is_aborted^post32 <= 0 /\ pc_Drive^post32-pc_Drive_next^post32 == 0 /\ -3+pc_Plan^post32 <= 0 /\ -n1^post32+n1^0 == 0 /\ -x_next^post32+x^0 <= 0 /\ __const_8^0-__const_8^post32 == 0 /\ n0^0-n0^post32 == 0 /\ y_next^post32-y^0 <= 0 /\ y^post32-y_next^post32 == 0 /\ is_aborted^post32-is_aborted_next^post32 == 0 /\ -1+is_aborted_next^post32 <= 0 /\ 3-pc_Plan^post32 <= 0 /\ 1-pc_Plan_next^post32 <= 0 /\ -y_next^post32+y^0 <= 0 /\ -3+pc_Drive_next^post32 <= 0 /\ __const_6^0-__const_6^post32 == 0 /\ -is_aborted_next^post32 <= 0 /\ __const_7^0-__const_7^post32 == 0 /\ -pc_Plan_next^post32+pc_Plan^post32 == 0 /\ 1+pc_Drive_next^post32-__const_8^0 <= 0 /\ -x_next^post32+x^post32 == 0), cost: 1 New rule: l1 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=3, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post32, executed_Drive^0'=0, y_next^0'=y^0, pc_Plan^0'=3, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+pc_Drive_next^post32 >= 0 /\ -4+__const_8^0 >= 0 /\ -3+pc_Drive_next^post32 <= 0), cost: 1 Applied preprocessing Original rule: l6 -> l1 : is_aborted^0'=is_aborted^post36, pc_Plan_next^0'=pc_Plan_next^post36, __const_7^0'=__const_7^post36, x_next^0'=x_next^post36, pc_Drive_next^0'=pc_Drive_next^post36, n0^0'=n0^post36, executed_Drive^0'=executed_Drive^post36, y_next^0'=y_next^post36, pc_Plan^0'=pc_Plan^post36, __const_6^0'=__const_6^post36, pc_Drive^0'=pc_Drive^post36, is_aborted_next^0'=is_aborted_next^post36, x^0'=x^post36, __const_8^0'=__const_8^post36, y^0'=y^post36, pc_Loop^0'=pc_Loop^post36, n1^0'=n1^post36, (-executed_Drive^post36+executed_Drive^0 == 0 /\ pc_Plan^0-pc_Plan^post36 == 0 /\ pc_Plan_next^0-pc_Plan_next^post36 == 0 /\ -pc_Drive^post36+pc_Drive^0 == 0 /\ -pc_Loop^post36+pc_Loop^0 == 0 /\ -n1^post36+n1^0 == 0 /\ n0^0-n0^post36 == 0 /\ -y_next^post36+y_next^0 == 0 /\ __const_8^0-__const_8^post36 == 0 /\ -is_aborted_next^post36+is_aborted_next^0 == 0 /\ __const_6^0-__const_6^post36 == 0 /\ -y^post36+y^0 == 0 /\ x^0-x^post36 == 0 /\ __const_7^0-__const_7^post36 == 0 /\ pc_Drive_next^0-pc_Drive_next^post36 == 0 /\ is_aborted^0-is_aborted^post36 == 0 /\ -x_next^post36+x_next^0 == 0), cost: 1 New rule: l6 -> l1 : TRUE, cost: 1 Applied preprocessing Original rule: l7 -> l6 : is_aborted^0'=is_aborted^post37, pc_Plan_next^0'=pc_Plan_next^post37, __const_7^0'=__const_7^post37, x_next^0'=x_next^post37, pc_Drive_next^0'=pc_Drive_next^post37, n0^0'=n0^post37, executed_Drive^0'=executed_Drive^post37, y_next^0'=y_next^post37, pc_Plan^0'=pc_Plan^post37, __const_6^0'=__const_6^post37, pc_Drive^0'=pc_Drive^post37, is_aborted_next^0'=is_aborted_next^post37, x^0'=x^post37, __const_8^0'=__const_8^post37, y^0'=y^post37, pc_Loop^0'=pc_Loop^post37, n1^0'=n1^post37, (-__const_8^post37+__const_8^0 == 0 /\ x_next^0-x_next^post37 == 0 /\ is_aborted^0-is_aborted^post37 == 0 /\ __const_6^0-__const_6^post37 == 0 /\ pc_Drive_next^0-pc_Drive_next^post37 == 0 /\ n1^0-n1^post37 == 0 /\ is_aborted_next^0-is_aborted_next^post37 == 0 /\ -x^post37+x^0 == 0 /\ -executed_Drive^post37+executed_Drive^0 == 0 /\ n0^0-n0^post37 == 0 /\ -pc_Loop^post37+pc_Loop^0 == 0 /\ -pc_Drive^post37+pc_Drive^0 == 0 /\ y_next^0-y_next^post37 == 0 /\ pc_Plan_next^0-pc_Plan_next^post37 == 0 /\ -y^post37+y^0 == 0 /\ pc_Plan^0-pc_Plan^post37 == 0 /\ __const_7^0-__const_7^post37 == 0), cost: 1 New rule: l7 -> l6 : TRUE, cost: 1 Simplified rules Start location: l7 51: l1 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=3, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=3, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, -5+__const_8^0 >= 0, cost: 1 52: l1 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=3, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post31, executed_Drive^0'=0, y_next^0'=y^0, pc_Plan^0'=3, pc_Drive^0'=pc_Drive^post31, is_aborted_next^0'=0, pc_Loop^0'=2, (-5+pc_Drive^post31 >= 0 /\ 1+pc_Drive^post31-__const_8^0 <= 0), cost: 1 53: l1 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=3, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post32, executed_Drive^0'=0, y_next^0'=y^0, pc_Plan^0'=3, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+pc_Drive_next^post32 >= 0 /\ -4+__const_8^0 >= 0 /\ -3+pc_Drive_next^post32 <= 0), cost: 1 38: l2 -> l3 : is_aborted^0'=is_aborted^post6, pc_Plan_next^0'=pc_Plan_next^post6, x_next^0'=1+x^0, pc_Drive_next^0'=__const_7^0, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan_next^post6, pc_Drive^0'=__const_7^0, is_aborted_next^0'=is_aborted^post6, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=4, (-4+__const_7^0 == 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ is_aborted^post6 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 1 39: l2 -> l3 : is_aborted^0'=is_aborted^post7, pc_Plan_next^0'=pc_Plan^post7, x_next^0'=x^0, pc_Drive_next^0'=__const_7^0, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post7, pc_Drive^0'=__const_7^0, is_aborted_next^0'=is_aborted^post7, pc_Loop^0'=4, (-5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 1 40: l2 -> l3 : is_aborted^0'=is_aborted_next^post8, pc_Plan_next^0'=pc_Plan^post8, x_next^0'=x^0, pc_Drive_next^0'=__const_7^0, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post8, pc_Drive^0'=__const_7^0, is_aborted_next^0'=is_aborted_next^post8, pc_Loop^0'=4, (-1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 41: l2 -> l3 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post11, x_next^0'=x^0, pc_Drive_next^0'=2, executed_Drive^0'=0, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post11, pc_Drive^0'=2, is_aborted_next^0'=1, pc_Loop^0'=4, (-1+pc_Plan^post11 >= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ -3+__const_8^0 >= 0), cost: 1 42: l3 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 5-__const_8^0 <= 0), cost: 1 43: l3 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0), cost: 1 44: l3 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 1 48: l4 -> l5 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post24, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post24, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=3, (1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 1 49: l4 -> l5 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post25, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post25, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post25, pc_Drive^0'=pc_Drive_next^post25, is_aborted_next^0'=0, pc_Loop^0'=3, (-1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0), cost: 1 50: l4 -> l5 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan_next^post26, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post26, y_next^0'=y^0, pc_Plan^0'=pc_Plan_next^post26, pc_Drive^0'=pc_Drive_next^post26, is_aborted_next^0'=0, pc_Loop^0'=3, (1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ -3+pc_Drive_next^post26 <= 0), cost: 1 45: l5 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 5-__const_8^0 <= 0), cost: 1 46: l5 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 1 47: l5 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 1 54: l6 -> l1 : TRUE, cost: 1 55: l7 -> l6 : TRUE, cost: 1 Eliminating location l6 by chaining: Applied chaining First rule: l7 -> l6 : TRUE, cost: 1 Second rule: l6 -> l1 : TRUE, cost: 1 New rule: l7 -> l1 : TRUE, cost: 2 Applied deletion Removed the following rules: 54 55 Eliminated locations on linear paths Start location: l7 51: l1 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=3, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=3, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, -5+__const_8^0 >= 0, cost: 1 52: l1 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=3, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post31, executed_Drive^0'=0, y_next^0'=y^0, pc_Plan^0'=3, pc_Drive^0'=pc_Drive^post31, is_aborted_next^0'=0, pc_Loop^0'=2, (-5+pc_Drive^post31 >= 0 /\ 1+pc_Drive^post31-__const_8^0 <= 0), cost: 1 53: l1 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=3, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post32, executed_Drive^0'=0, y_next^0'=y^0, pc_Plan^0'=3, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+pc_Drive_next^post32 >= 0 /\ -4+__const_8^0 >= 0 /\ -3+pc_Drive_next^post32 <= 0), cost: 1 38: l2 -> l3 : is_aborted^0'=is_aborted^post6, pc_Plan_next^0'=pc_Plan_next^post6, x_next^0'=1+x^0, pc_Drive_next^0'=__const_7^0, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan_next^post6, pc_Drive^0'=__const_7^0, is_aborted_next^0'=is_aborted^post6, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=4, (-4+__const_7^0 == 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ is_aborted^post6 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 1 39: l2 -> l3 : is_aborted^0'=is_aborted^post7, pc_Plan_next^0'=pc_Plan^post7, x_next^0'=x^0, pc_Drive_next^0'=__const_7^0, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post7, pc_Drive^0'=__const_7^0, is_aborted_next^0'=is_aborted^post7, pc_Loop^0'=4, (-5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 1 40: l2 -> l3 : is_aborted^0'=is_aborted_next^post8, pc_Plan_next^0'=pc_Plan^post8, x_next^0'=x^0, pc_Drive_next^0'=__const_7^0, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post8, pc_Drive^0'=__const_7^0, is_aborted_next^0'=is_aborted_next^post8, pc_Loop^0'=4, (-1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 41: l2 -> l3 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post11, x_next^0'=x^0, pc_Drive_next^0'=2, executed_Drive^0'=0, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post11, pc_Drive^0'=2, is_aborted_next^0'=1, pc_Loop^0'=4, (-1+pc_Plan^post11 >= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ -3+__const_8^0 >= 0), cost: 1 42: l3 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 5-__const_8^0 <= 0), cost: 1 43: l3 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0), cost: 1 44: l3 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 1 48: l4 -> l5 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post24, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post24, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=3, (1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 1 49: l4 -> l5 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post25, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post25, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post25, pc_Drive^0'=pc_Drive_next^post25, is_aborted_next^0'=0, pc_Loop^0'=3, (-1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0), cost: 1 50: l4 -> l5 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan_next^post26, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post26, y_next^0'=y^0, pc_Plan^0'=pc_Plan_next^post26, pc_Drive^0'=pc_Drive_next^post26, is_aborted_next^0'=0, pc_Loop^0'=3, (1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ -3+pc_Drive_next^post26 <= 0), cost: 1 45: l5 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 5-__const_8^0 <= 0), cost: 1 46: l5 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 1 47: l5 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 1 56: l7 -> l1 : TRUE, cost: 2 Eliminating location l1 by chaining: Applied chaining First rule: l7 -> l1 : TRUE, cost: 2 Second rule: l1 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=3, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=3, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, -5+__const_8^0 >= 0, cost: 1 New rule: l7 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=3, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=3, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, -5+__const_8^0 >= 0, cost: 3 Applied chaining First rule: l7 -> l1 : TRUE, cost: 2 Second rule: l1 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=3, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post31, executed_Drive^0'=0, y_next^0'=y^0, pc_Plan^0'=3, pc_Drive^0'=pc_Drive^post31, is_aborted_next^0'=0, pc_Loop^0'=2, (-5+pc_Drive^post31 >= 0 /\ 1+pc_Drive^post31-__const_8^0 <= 0), cost: 1 New rule: l7 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=3, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post31, executed_Drive^0'=0, y_next^0'=y^0, pc_Plan^0'=3, pc_Drive^0'=pc_Drive^post31, is_aborted_next^0'=0, pc_Loop^0'=2, (-5+pc_Drive^post31 >= 0 /\ 1+pc_Drive^post31-__const_8^0 <= 0), cost: 3 Applied chaining First rule: l7 -> l1 : TRUE, cost: 2 Second rule: l1 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=3, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post32, executed_Drive^0'=0, y_next^0'=y^0, pc_Plan^0'=3, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+pc_Drive_next^post32 >= 0 /\ -4+__const_8^0 >= 0 /\ -3+pc_Drive_next^post32 <= 0), cost: 1 New rule: l7 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=3, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post32, executed_Drive^0'=0, y_next^0'=y^0, pc_Plan^0'=3, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+pc_Drive_next^post32 >= 0 /\ -4+__const_8^0 >= 0 /\ -3+pc_Drive_next^post32 <= 0), cost: 3 Applied deletion Removed the following rules: 51 52 53 56 Eliminating location l5 by chaining: Applied chaining First rule: l4 -> l5 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post24, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post24, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=3, (1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 1 Second rule: l5 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 5-__const_8^0 <= 0), cost: 1 New rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 2 Applied chaining First rule: l4 -> l5 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post24, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post24, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=3, (1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 1 Second rule: l5 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 1 New rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive_next^post22, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Applied simplification Original rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive_next^post22, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 New rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive_next^post22, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Applied chaining First rule: l4 -> l5 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post24, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post24, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=3, (1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 1 Second rule: l5 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 1 New rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive_next^post23, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 2 Applied simplification Original rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive_next^post23, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 2 New rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive_next^post23, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 2 Applied chaining First rule: l4 -> l5 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post25, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post25, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post25, pc_Drive^0'=pc_Drive_next^post25, is_aborted_next^0'=0, pc_Loop^0'=3, (-1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0), cost: 1 Second rule: l5 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 5-__const_8^0 <= 0), cost: 1 New rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 5-__const_8^0 <= 0), cost: 2 Applied simplification Original rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 5-__const_8^0 <= 0), cost: 2 New rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0), cost: 2 Applied chaining First rule: l4 -> l5 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post25, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post25, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post25, pc_Drive^0'=pc_Drive_next^post25, is_aborted_next^0'=0, pc_Loop^0'=3, (-1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0), cost: 1 Second rule: l5 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 1 New rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Applied chaining First rule: l4 -> l5 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post25, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post25, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post25, pc_Drive^0'=pc_Drive_next^post25, is_aborted_next^0'=0, pc_Loop^0'=3, (-1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0), cost: 1 Second rule: l5 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 1 New rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 2 Applied simplification Original rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 2 New rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 2 Applied chaining First rule: l4 -> l5 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan_next^post26, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post26, y_next^0'=y^0, pc_Plan^0'=pc_Plan_next^post26, pc_Drive^0'=pc_Drive_next^post26, is_aborted_next^0'=0, pc_Loop^0'=3, (1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ -3+pc_Drive_next^post26 <= 0), cost: 1 Second rule: l5 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 5-__const_8^0 <= 0), cost: 1 New rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 5-__const_8^0 <= 0), cost: 2 Applied simplification Original rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 5-__const_8^0 <= 0), cost: 2 New rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 5-__const_8^0 <= 0), cost: 2 Applied chaining First rule: l4 -> l5 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan_next^post26, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post26, y_next^0'=y^0, pc_Plan^0'=pc_Plan_next^post26, pc_Drive^0'=pc_Drive_next^post26, is_aborted_next^0'=0, pc_Loop^0'=3, (1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ -3+pc_Drive_next^post26 <= 0), cost: 1 Second rule: l5 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 1 New rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Applied simplification Original rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 New rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Applied chaining First rule: l4 -> l5 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan_next^post26, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post26, y_next^0'=y^0, pc_Plan^0'=pc_Plan_next^post26, pc_Drive^0'=pc_Drive_next^post26, is_aborted_next^0'=0, pc_Loop^0'=3, (1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ -3+pc_Drive_next^post26 <= 0), cost: 1 Second rule: l5 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 1 New rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 2 Applied deletion Removed the following rules: 45 46 47 48 49 50 Eliminating location l3 by chaining: Applied chaining First rule: l2 -> l3 : is_aborted^0'=is_aborted^post6, pc_Plan_next^0'=pc_Plan_next^post6, x_next^0'=1+x^0, pc_Drive_next^0'=__const_7^0, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan_next^post6, pc_Drive^0'=__const_7^0, is_aborted_next^0'=is_aborted^post6, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=4, (-4+__const_7^0 == 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ is_aborted^post6 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 1 Second rule: l3 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 5-__const_8^0 <= 0), cost: 1 New rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ is_aborted^post6 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 2 Applied simplification Original rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ is_aborted^post6 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 2 New rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ is_aborted^post6 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 2 Applied chaining First rule: l2 -> l3 : is_aborted^0'=is_aborted^post6, pc_Plan_next^0'=pc_Plan_next^post6, x_next^0'=1+x^0, pc_Drive_next^0'=__const_7^0, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan_next^post6, pc_Drive^0'=__const_7^0, is_aborted_next^0'=is_aborted^post6, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=4, (-4+__const_7^0 == 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ is_aborted^post6 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 1 Second rule: l3 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0), cost: 1 New rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 2 Applied simplification Original rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 2 New rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -1+is_aborted^post6 <= 0), cost: 2 Applied chaining First rule: l2 -> l3 : is_aborted^0'=is_aborted^post6, pc_Plan_next^0'=pc_Plan_next^post6, x_next^0'=1+x^0, pc_Drive_next^0'=__const_7^0, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan_next^post6, pc_Drive^0'=__const_7^0, is_aborted_next^0'=is_aborted^post6, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=4, (-4+__const_7^0 == 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ is_aborted^post6 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 1 Second rule: l3 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 1 New rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 2 Applied simplification Original rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 2 New rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 2 Applied chaining First rule: l2 -> l3 : is_aborted^0'=is_aborted^post7, pc_Plan_next^0'=pc_Plan^post7, x_next^0'=x^0, pc_Drive_next^0'=__const_7^0, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post7, pc_Drive^0'=__const_7^0, is_aborted_next^0'=is_aborted^post7, pc_Loop^0'=4, (-5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 1 Second rule: l3 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 5-__const_8^0 <= 0), cost: 1 New rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0), cost: 2 Applied simplification Original rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0), cost: 2 New rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 2 Applied chaining First rule: l2 -> l3 : is_aborted^0'=is_aborted^post7, pc_Plan_next^0'=pc_Plan^post7, x_next^0'=x^0, pc_Drive_next^0'=__const_7^0, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post7, pc_Drive^0'=__const_7^0, is_aborted_next^0'=is_aborted^post7, pc_Loop^0'=4, (-5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 1 Second rule: l3 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0), cost: 1 New rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 2 Applied chaining First rule: l2 -> l3 : is_aborted^0'=is_aborted^post7, pc_Plan_next^0'=pc_Plan^post7, x_next^0'=x^0, pc_Drive_next^0'=__const_7^0, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post7, pc_Drive^0'=__const_7^0, is_aborted_next^0'=is_aborted^post7, pc_Loop^0'=4, (-5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 1 Second rule: l3 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 1 New rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 2 Applied simplification Original rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 2 New rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 2 Applied chaining First rule: l2 -> l3 : is_aborted^0'=is_aborted_next^post8, pc_Plan_next^0'=pc_Plan^post8, x_next^0'=x^0, pc_Drive_next^0'=__const_7^0, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post8, pc_Drive^0'=__const_7^0, is_aborted_next^0'=is_aborted_next^post8, pc_Loop^0'=4, (-1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 Second rule: l3 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 5-__const_8^0 <= 0), cost: 1 New rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 Applied simplification Original rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 New rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 Applied chaining First rule: l2 -> l3 : is_aborted^0'=is_aborted_next^post8, pc_Plan_next^0'=pc_Plan^post8, x_next^0'=x^0, pc_Drive_next^0'=__const_7^0, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post8, pc_Drive^0'=__const_7^0, is_aborted_next^0'=is_aborted_next^post8, pc_Loop^0'=4, (-1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 Second rule: l3 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0), cost: 1 New rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 Applied simplification Original rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 New rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 Applied chaining First rule: l2 -> l3 : is_aborted^0'=is_aborted_next^post8, pc_Plan_next^0'=pc_Plan^post8, x_next^0'=x^0, pc_Drive_next^0'=__const_7^0, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post8, pc_Drive^0'=__const_7^0, is_aborted_next^0'=is_aborted_next^post8, pc_Loop^0'=4, (-1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 Second rule: l3 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 1 New rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 Applied chaining First rule: l2 -> l3 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post11, x_next^0'=x^0, pc_Drive_next^0'=2, executed_Drive^0'=0, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post11, pc_Drive^0'=2, is_aborted_next^0'=1, pc_Loop^0'=4, (-1+pc_Plan^post11 >= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ -3+__const_8^0 >= 0), cost: 1 Second rule: l3 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 5-__const_8^0 <= 0), cost: 1 New rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ -3+__const_8^0 >= 0 /\ 5-__const_8^0 <= 0), cost: 2 Applied simplification Original rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ -3+__const_8^0 >= 0 /\ 5-__const_8^0 <= 0), cost: 2 New rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0), cost: 2 Applied deletion Removed the following rules: 38 39 40 41 42 43 44 Eliminated locations on tree-shaped paths Start location: l7 69: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ is_aborted^post6 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 2 70: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -1+is_aborted^post6 <= 0), cost: 2 71: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 2 72: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 2 73: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 2 74: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 2 75: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 76: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 77: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 78: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0), cost: 2 60: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 2 61: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive_next^post22, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 62: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive_next^post23, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 2 63: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0), cost: 2 64: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 65: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 2 66: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 5-__const_8^0 <= 0), cost: 2 67: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 68: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 2 57: l7 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=3, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=3, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, -5+__const_8^0 >= 0, cost: 3 58: l7 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=3, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post31, executed_Drive^0'=0, y_next^0'=y^0, pc_Plan^0'=3, pc_Drive^0'=pc_Drive^post31, is_aborted_next^0'=0, pc_Loop^0'=2, (-5+pc_Drive^post31 >= 0 /\ 1+pc_Drive^post31-__const_8^0 <= 0), cost: 3 59: l7 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=3, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post32, executed_Drive^0'=0, y_next^0'=y^0, pc_Plan^0'=3, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+pc_Drive_next^post32 >= 0 /\ -4+__const_8^0 >= 0 /\ -3+pc_Drive_next^post32 <= 0), cost: 3 Eliminating location l2 by chaining: Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ is_aborted^post6 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=4+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=4+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=4+x^0, y^0'=4+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 5-n0^0+x^0 <= 0 /\ 5+y^0-n1^0 <= 0 /\ is_aborted^post6 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -1+is_aborted^post6 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=3+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=3+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=3+x^0, y^0'=3+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ 4-n0^0+x^0 <= 0 /\ 4+y^0-n1^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=3+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=3+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=3+x^0, y^0'=3+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ 4-n0^0+x^0 <= 0 /\ 4+y^0-n1^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=3+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=3+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=3+x^0, y^0'=3+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ 4-n0^0+x^0 <= 0 /\ 4+y^0-n1^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=3+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=3+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=3+x^0, y^0'=3+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ 4-n0^0+x^0 <= 0 /\ 4+y^0-n1^0 <= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=3+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=3+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=3+x^0, y^0'=3+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ 4-n0^0+x^0 <= 0 /\ 4+y^0-n1^0 <= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=3+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=3+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=3+x^0, y^0'=3+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ 4-n0^0+x^0 <= 0 /\ 4+y^0-n1^0 <= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=3+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=3+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=3+x^0, y^0'=3+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -1+n0^0 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ 4-n0^0+x^0 <= 0 /\ 4+y^0-n1^0 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=3+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=3+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=3+x^0, y^0'=3+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -1+n0^0 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ 4-n0^0+x^0 <= 0 /\ 4+y^0-n1^0 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=3+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=3+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=3+x^0, y^0'=3+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -1+n0^0 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ 4-n0^0+x^0 <= 0 /\ 4+y^0-n1^0 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ -1+n0^0 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ 1-n0^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ 1-n0^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -1+n0^0 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=3+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=3+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=3+x^0, y^0'=3+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+n0^0 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ 4-n0^0+x^0 <= 0 /\ 4+y^0-n1^0 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=3+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=3+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=3+x^0, y^0'=3+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+n0^0 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ 4-n0^0+x^0 <= 0 /\ 4+y^0-n1^0 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=3+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=3+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=3+x^0, y^0'=3+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+n0^0 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ 4-n0^0+x^0 <= 0 /\ 4+y^0-n1^0 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ -1+n0^0 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ 1-n0^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ 1-n0^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+n0^0 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=3+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=3+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=3+x^0, y^0'=3+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 4-n0^0+x^0 <= 0 /\ 4+y^0-n1^0 <= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive_next^post22, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ is_aborted^post6 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=3+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=3+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=3+x^0, y^0'=3+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ is_aborted^post6 >= 0 /\ 4-n0^0+x^0 <= 0 /\ 4+y^0-n1^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=3+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=3+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=3+x^0, y^0'=3+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ is_aborted^post6 >= 0 /\ 4-n0^0+x^0 <= 0 /\ 4+y^0-n1^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=3+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=3+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=3+x^0, y^0'=3+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ is_aborted^post6 >= 0 /\ 4-n0^0+x^0 <= 0 /\ 4+y^0-n1^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive_next^post22, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -1+is_aborted^post6 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive_next^post22, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive_next^post22, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive_next^post22, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+__const_7^0 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+__const_7^0 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+__const_7^0 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive_next^post22, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-n0^0 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-n0^0 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive_next^post22, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive_next^post22, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive_next^post22, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-n0^0 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-n0^0 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive_next^post22, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive_next^post23, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ is_aborted^post6 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=3+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=3+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=3+x^0, y^0'=3+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ is_aborted^post6 >= 0 /\ 4-n0^0+x^0 <= 0 /\ 4+y^0-n1^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive_next^post23, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -1+is_aborted^post6 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive_next^post23, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive_next^post23, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive_next^post23, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive_next^post23, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-n0^0 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-n0^0 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive_next^post23, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive_next^post23, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive_next^post23, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ 1-n0^0 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ 1-n0^0 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive_next^post23, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ is_aborted^post6 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=3+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=3+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=3+x^0, y^0'=3+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ is_aborted^post6 >= 0 /\ 4-n0^0+x^0 <= 0 /\ 4+y^0-n1^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=3+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=3+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=3+x^0, y^0'=3+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ is_aborted^post6 >= 0 /\ 4-n0^0+x^0 <= 0 /\ 4+y^0-n1^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=3+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=3+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=3+x^0, y^0'=3+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ is_aborted^post6 >= 0 /\ 4-n0^0+x^0 <= 0 /\ 4+y^0-n1^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -1+is_aborted^post6 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0 <= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0 <= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ 1-n0^0 <= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ 1-n0^0 <= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0 <= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0 <= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ 1-n0^0 <= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ 1-n0^0 <= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ is_aborted^post6 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ is_aborted^post6 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ is_aborted^post6 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ is_aborted^post6 >= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -1+is_aborted^post6 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ is_aborted^post6 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ is_aborted^post6 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ is_aborted^post6 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ is_aborted^post6 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -1+is_aborted^post6 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 5-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 5-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 5-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ is_aborted^post6 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=3+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=3+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=3+x^0, y^0'=3+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ is_aborted^post6 >= 0 /\ 4-n0^0+x^0 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 4+y^0-n1^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 5-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -1+is_aborted^post6 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 5-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -3+pc_Drive^post20 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 5-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 5-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 5-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 5-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 5-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 5-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (0 == 0 /\ -1+n1^0 >= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post21, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post21, pc_Drive^0'=4, is_aborted_next^0'=1, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=__const_6^0, (1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 5-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ is_aborted^post6 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -1+is_aborted^post6 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+__const_7^0 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post22, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post22, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post22, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ is_aborted^post6 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ -1+pc_Plan^post23 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -1+is_aborted^post6 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 Applied chaining First rule: l4 -> l2 : is_aborted^0'=1, pc_Plan_next^0'=pc_Plan^post23, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post23, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post23, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=__const_6^0, (-3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 2 Second rule: l2 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0), cost: 2 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 5-__const_8^0 <= 0), cost: 4 Applied simplification Original rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 5-__const_8^0 <= 0), cost: 4 New rule: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 5-__const_8^0 <= 0), cost: 4 Applied deletion Removed the following rules: 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 Eliminated locations on tree-shaped paths Start location: l7 79: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=4+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=4+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=4+x^0, y^0'=4+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 5-n0^0+x^0 <= 0 /\ 5+y^0-n1^0 <= 0 /\ is_aborted^post6 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 80: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=3+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=3+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=3+x^0, y^0'=3+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ 4-n0^0+x^0 <= 0 /\ 4+y^0-n1^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 81: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=3+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=3+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=3+x^0, y^0'=3+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ 4-n0^0+x^0 <= 0 /\ 4+y^0-n1^0 <= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 82: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=3+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=3+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=3+x^0, y^0'=3+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -1+n0^0 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ 4-n0^0+x^0 <= 0 /\ 4+y^0-n1^0 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0), cost: 4 83: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ -1+n0^0 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0), cost: 4 84: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -1+n0^0 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 85: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=3+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=3+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=3+x^0, y^0'=3+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+n0^0 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ 4-n0^0+x^0 <= 0 /\ 4+y^0-n1^0 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 86: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ -1+n0^0 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 87: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+n0^0 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 88: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=3+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=3+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=3+x^0, y^0'=3+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 4-n0^0+x^0 <= 0 /\ 4+y^0-n1^0 <= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 4 89: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=3+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=3+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=3+x^0, y^0'=3+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ is_aborted^post6 >= 0 /\ 4-n0^0+x^0 <= 0 /\ 4+y^0-n1^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 90: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 91: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 92: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 93: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+__const_7^0 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 94: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 95: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 96: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 97: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 98: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 99: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=3+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=3+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=3+x^0, y^0'=3+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ is_aborted^post6 >= 0 /\ 4-n0^0+x^0 <= 0 /\ 4+y^0-n1^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 100: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 101: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 102: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0), cost: 4 103: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0), cost: 4 104: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 105: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 106: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 107: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 108: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post24-__const_8^0 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan^post24 >= 0 /\ 5-__const_8^0 <= 0), cost: 4 109: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=3+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=3+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=3+x^0, y^0'=3+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ is_aborted^post6 >= 0 /\ 4-n0^0+x^0 <= 0 /\ 4+y^0-n1^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 110: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 111: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 112: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 4 113: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 4 114: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 115: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 116: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 117: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 118: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0), cost: 4 119: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ is_aborted^post6 >= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 120: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 121: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 122: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 123: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 124: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 125: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 126: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 127: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 128: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 129: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ is_aborted^post6 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 130: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 131: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 132: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 4 133: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 4 134: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 135: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 136: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 137: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 138: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0 /\ 2-n0^0+x^0 <= 0 /\ -1+pc_Plan^post25 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post25 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post25-__const_8^0 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 4 139: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=3+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=3+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=3+x^0, y^0'=3+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ is_aborted^post6 >= 0 /\ 4-n0^0+x^0 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 4+y^0-n1^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 140: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 141: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=2+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -3+pc_Drive^post20 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 142: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 4 143: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0), cost: 4 144: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 145: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 146: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 147: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 148: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan^post21 <= 0 /\ -1+pc_Plan^post21 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ 5-__const_8^0 <= 0), cost: 4 149: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 150: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 151: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 152: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 153: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -5+__const_7^0 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 154: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 155: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 156: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 157: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 158: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post22 >= 0 /\ 1-__const_8^0+pc_Plan^post22 <= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ 1+pc_Drive_next^post22-__const_8^0 <= 0), cost: 4 159: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=2+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=2+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=2+x^0, y^0'=2+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ -1+pc_Plan^post23 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 3-n0^0+x^0 <= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 160: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post19, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted^post6 <= 0), cost: 4 161: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=1+x^0, pc_Drive_next^0'=pc_Drive^post20, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -4+__const_7^0 == 0 /\ -1+pc_Plan^post20 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-__const_8^0+pc_Plan_next^post6 <= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Plan_next^post6 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted^post6 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted^post6 <= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 162: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -5+__const_7^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -1+is_aborted^post7 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 4 163: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0), cost: 4 164: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -5+__const_7^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ -1+is_aborted^post7 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post7 >= 0 /\ -3+pc_Drive^post20 <= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ is_aborted^post7 >= 0 /\ 1+pc_Plan^post7-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0), cost: 4 165: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -3+__const_7^0 <= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 5-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 166: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post19, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post19, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post19, pc_Drive^0'=pc_Drive^post19, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-__const_8^0+pc_Drive^post19 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post19-__const_8^0 <= 0 /\ -1+pc_Plan^post19 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -5+pc_Drive^post19 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 167: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post20, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post20, y_next^0'=y^0, pc_Plan^0'=pc_Plan^post20, pc_Drive^0'=pc_Drive^post20, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ 1+pc_Drive^post20-__const_8^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post8 >= 0 /\ -1+executed_Drive^0 == 0 /\ 1-n0^0+x^0 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 1-__const_8^0+pc_Drive_next^post26 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ 1+pc_Drive_next^post23-__const_8^0 <= 0 /\ -3+__const_7^0 <= 0 /\ -1+pc_Drive^post20 >= 0 /\ is_aborted_next^post8 >= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -3+pc_Drive^post20 <= 0 /\ -1+__const_7^0 >= 0 /\ 1+__const_7^0-__const_8^0 <= 0 /\ 1+pc_Plan^post8-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 1+pc_Plan^post20-__const_8^0 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 4 168: l4 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=pc_Plan^post18, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=pc_Plan^post18, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, (-1+n1^0 >= 0 /\ -1+pc_Plan^post18 >= 0 /\ 1-__const_8^0+pc_Plan^post18 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-__const_8^0+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0 /\ -1+pc_Drive_next^post26 >= 0 /\ 2-n0^0+x^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan^post23 >= 0 /\ 1+pc_Plan^post23-__const_8^0 <= 0 /\ -3+pc_Drive_next^post26 <= 0 /\ 1+pc_Plan^post11-__const_8^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 5-__const_8^0 <= 0), cost: 4 57: l7 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=3, x_next^0'=1+x^0, pc_Drive_next^0'=4, executed_Drive^0'=1, y_next^0'=1+y^0, pc_Plan^0'=3, pc_Drive^0'=4, is_aborted_next^0'=0, x^0'=1+x^0, y^0'=1+y^0, pc_Loop^0'=2, -5+__const_8^0 >= 0, cost: 3 58: l7 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=3, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive^post31, executed_Drive^0'=0, y_next^0'=y^0, pc_Plan^0'=3, pc_Drive^0'=pc_Drive^post31, is_aborted_next^0'=0, pc_Loop^0'=2, (-5+pc_Drive^post31 >= 0 /\ 1+pc_Drive^post31-__const_8^0 <= 0), cost: 3 59: l7 -> l4 : is_aborted^0'=0, pc_Plan_next^0'=3, x_next^0'=x^0, pc_Drive_next^0'=pc_Drive_next^post32, executed_Drive^0'=0, y_next^0'=y^0, pc_Plan^0'=3, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, (-1+pc_Drive_next^post32 >= 0 /\ -4+__const_8^0 >= 0 /\ -3+pc_Drive_next^post32 <= 0), cost: 3 Computing asymptotic complexity Proved nontermination of rule 315 via SMT. Proved the following lower bound Complexity: Nonterm Cpx degree: Nonterm Solved cost: NONTERM Rule cost: NONTERM Rule guard: (0 >= 0 /\ -1+n1^0 >= 0 /\ -5+__const_7^0 >= 0 /\ -1-__const_7^0+__const_8^0 >= 0 /\ -1+n0^0 >= 0 /\ -2+n0^0-x^0 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -1+pc_Plan^post19 >= 0 /\ -5+pc_Drive^post19 >= 0 /\ -1+n28 >= 0 /\ -1+__const_8^0-pc_Drive^post19 >= 0 /\ -1-pc_Plan^post19+__const_8^0 >= 0 /\ -5+__const_8^0 >= 0) /export/starexec/sandbox/solver/bin/starexec_run_loat_nonterm_proofout: line 4: 3510 Aborted (core dumped) ./loat-static --plain --timeout $TO --mode non_termination $1 2> /dev/null