NO Initial ITS Start location: l7 Program variables: executed_drive^0 is_aborted^0 is_aborted_next^0 n0^0 n1^0 pc_drive^0 pc_drive_next^0 pc_loop^0 pc_plan^0 pc_plan_next^0 x^0 x_next^0 y^0 y_next^0 0: l0 -> l1 : executed_drive^0'=executed_drive^post1, is_aborted^0'=is_aborted^post1, is_aborted_next^0'=is_aborted_next^post1, n0^0'=n0^post1, n1^0'=n1^post1, pc_drive^0'=pc_drive^post1, pc_drive_next^0'=pc_drive_next^post1, pc_loop^0'=pc_loop^post1, pc_plan^0'=pc_plan^post1, pc_plan_next^0'=pc_plan_next^post1, x^0'=x^post1, x_next^0'=x_next^post1, y^0'=y^post1, y_next^0'=y_next^post1, (0 == 0 /\ 1-y_next^post1+y^0 <= 0 /\ n0^0-n0^post1 == 0 /\ 1-x_next^post1+x^0 <= 0 /\ pc_drive^post1-pc_drive_next^post1 == 0 /\ n1^0-n1^post1 == 0 /\ -7+pc_plan_next^post1 <= 0 /\ 2-pc_plan^post1 <= 0 /\ -1+executed_drive^post1 == 0 /\ -4+pc_drive_next^post1 <= 0 /\ 4-pc_drive_next^post1 <= 0 /\ -7+pc_drive_next^post1 <= 0 /\ -x_next^post1+x^post1 == 0 /\ y^post1-y_next^post1 == 0 /\ -1+y_next^post1-y^0 <= 0 /\ 3-pc_plan_next^post1 <= 0 /\ -is_aborted_next^post1 <= 0 /\ 1-is_aborted_next^post1 <= 0 /\ -1+is_aborted_next^post1 <= 0 /\ -1+pc_loop^post1 == 0 /\ -1+x_next^post1-x^0 <= 0 /\ -is_aborted_next^post1+is_aborted^post1 == 0 /\ -2+pc_plan^post1 <= 0 /\ pc_plan^post1-pc_plan_next^post1 == 0 /\ 1-pc_plan_next^post1 <= 0 /\ 1-pc_drive_next^post1 <= 0), cost: 1 1: l0 -> l1 : executed_drive^0'=executed_drive^post2, is_aborted^0'=is_aborted^post2, is_aborted_next^0'=is_aborted_next^post2, n0^0'=n0^post2, n1^0'=n1^post2, pc_drive^0'=pc_drive^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=pc_loop^post2, pc_plan^0'=pc_plan^post2, pc_plan_next^0'=pc_plan_next^post2, x^0'=x^post2, x_next^0'=x_next^post2, y^0'=y^post2, y_next^0'=y_next^post2, (0 == 0 /\ is_aborted^post2-is_aborted_next^post2 == 0 /\ -7+pc_plan_next^post2 <= 0 /\ x^post2-x_next^post2 == 0 /\ -7+pc_drive_next^post2 <= 0 /\ 5-pc_drive_next^post2 <= 0 /\ -n1^post2+n1^0 == 0 /\ 2-pc_plan^post2 <= 0 /\ -is_aborted_next^post2 <= 0 /\ 1-is_aborted_next^post2 <= 0 /\ -1+is_aborted_next^post2 <= 0 /\ -1+pc_loop^post2 == 0 /\ x_next^post2-x^0 <= 0 /\ y_next^post2-y^0 <= 0 /\ 1-pc_plan_next^post2 <= 0 /\ pc_drive^post2-pc_drive_next^post2 == 0 /\ -x_next^post2+x^0 <= 0 /\ -y_next^post2+y^0 <= 0 /\ 1-pc_drive_next^post2 <= 0 /\ 3-pc_plan_next^post2 <= 0 /\ -2+pc_plan^post2 <= 0 /\ executed_drive^0-executed_drive^post2 == 0 /\ -y_next^post2+y^post2 == 0 /\ n0^0-n0^post2 == 0 /\ pc_plan^post2-pc_plan_next^post2 == 0), cost: 1 2: l0 -> l1 : executed_drive^0'=executed_drive^post3, is_aborted^0'=is_aborted^post3, is_aborted_next^0'=is_aborted_next^post3, n0^0'=n0^post3, n1^0'=n1^post3, pc_drive^0'=pc_drive^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=pc_loop^post3, pc_plan^0'=pc_plan^post3, pc_plan_next^0'=pc_plan_next^post3, x^0'=x^post3, x_next^0'=x_next^post3, y^0'=y^post3, y_next^0'=y_next^post3, (0 == 0 /\ -x_next^post3+x^post3 == 0 /\ 1-pc_plan_next^post3 <= 0 /\ 1-is_aborted_next^post3 <= 0 /\ -1+is_aborted_next^post3 <= 0 /\ -is_aborted_next^post3 <= 0 /\ 2-pc_plan^post3 <= 0 /\ 1-pc_drive_next^post3 <= 0 /\ y_next^post3-y^0 <= 0 /\ -is_aborted_next^post3+is_aborted^post3 == 0 /\ 3-pc_plan_next^post3 <= 0 /\ pc_drive^post3-pc_drive_next^post3 == 0 /\ n1^0-n1^post3 == 0 /\ -y_next^post3+y^0 <= 0 /\ -2+pc_plan^post3 <= 0 /\ -7+pc_plan_next^post3 <= 0 /\ n0^0-n0^post3 == 0 /\ -x_next^post3+x^0 <= 0 /\ pc_plan^post3-pc_plan_next^post3 == 0 /\ -7+pc_drive_next^post3 <= 0 /\ -1+pc_loop^post3 == 0 /\ executed_drive^0-executed_drive^post3 == 0 /\ y^post3-y_next^post3 == 0 /\ x_next^post3-x^0 <= 0 /\ -3+pc_drive_next^post3 <= 0), cost: 1 3: l0 -> l1 : executed_drive^0'=executed_drive^post4, is_aborted^0'=is_aborted^post4, is_aborted_next^0'=is_aborted_next^post4, n0^0'=n0^post4, n1^0'=n1^post4, pc_drive^0'=pc_drive^post4, pc_drive_next^0'=pc_drive_next^post4, pc_loop^0'=pc_loop^post4, pc_plan^0'=pc_plan^post4, pc_plan_next^0'=pc_plan_next^post4, x^0'=x^post4, x_next^0'=x_next^post4, y^0'=y^post4, y_next^0'=y_next^post4, (0 == 0 /\ -pc_drive_next^post4+pc_drive^post4 == 0 /\ 1-pc_drive_next^post4 <= 0 /\ pc_plan^post4-pc_plan_next^post4 == 0 /\ -1+executed_drive^post4 == 0 /\ 1-y_next^post4+y^0 <= 0 /\ 2-pc_plan^post4 <= 0 /\ 1+x^0-x_next^post4 <= 0 /\ is_aborted^post4-is_aborted_next^post4 == 0 /\ x^post4-x_next^post4 == 0 /\ -is_aborted_next^post4 <= 0 /\ -1+is_aborted_next^post4 <= 0 /\ -y_next^post4+y^post4 == 0 /\ -7+pc_plan_next^post4 <= 0 /\ -n1^post4+n1^0 == 0 /\ -7+pc_drive_next^post4 <= 0 /\ -1+pc_loop^post4 == 0 /\ -1+y_next^post4-y^0 <= 0 /\ -4+pc_drive_next^post4 <= 0 /\ 4-pc_drive_next^post4 <= 0 /\ -2+pc_plan^post4 <= 0 /\ -1-x^0+x_next^post4 <= 0 /\ 1-pc_plan_next^post4 <= 0 /\ -1+pc_plan_next^post4 <= 0 /\ n0^0-n0^post4 == 0), cost: 1 4: l0 -> l1 : executed_drive^0'=executed_drive^post5, is_aborted^0'=is_aborted^post5, is_aborted_next^0'=is_aborted_next^post5, n0^0'=n0^post5, n1^0'=n1^post5, pc_drive^0'=pc_drive^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=pc_loop^post5, pc_plan^0'=pc_plan^post5, pc_plan_next^0'=pc_plan_next^post5, x^0'=x^post5, x_next^0'=x_next^post5, y^0'=y^post5, y_next^0'=y_next^post5, (0 == 0 /\ 5-pc_drive_next^post5 <= 0 /\ x^post5-x_next^post5 == 0 /\ -y_next^post5+y^0 <= 0 /\ -7+pc_drive_next^post5 <= 0 /\ -is_aborted_next^post5 <= 0 /\ -1+is_aborted_next^post5 <= 0 /\ -pc_plan_next^post5+pc_plan^post5 == 0 /\ -2+pc_plan^post5 <= 0 /\ y_next^post5-y^0 <= 0 /\ 1-pc_plan_next^post5 <= 0 /\ -1+pc_plan_next^post5 <= 0 /\ -1+pc_loop^post5 == 0 /\ -x^0+x_next^post5 <= 0 /\ 1-pc_drive_next^post5 <= 0 /\ -7+pc_plan_next^post5 <= 0 /\ 2-pc_plan^post5 <= 0 /\ -is_aborted_next^post5+is_aborted^post5 == 0 /\ n0^0-n0^post5 == 0 /\ x^0-x_next^post5 <= 0 /\ y^post5-y_next^post5 == 0 /\ n1^0-n1^post5 == 0 /\ executed_drive^0-executed_drive^post5 == 0 /\ pc_drive^post5-pc_drive_next^post5 == 0), cost: 1 5: l0 -> l1 : executed_drive^0'=executed_drive^post6, is_aborted^0'=is_aborted^post6, is_aborted_next^0'=is_aborted_next^post6, n0^0'=n0^post6, n1^0'=n1^post6, pc_drive^0'=pc_drive^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=pc_loop^post6, pc_plan^0'=pc_plan^post6, pc_plan_next^0'=pc_plan_next^post6, x^0'=x^post6, x_next^0'=x_next^post6, y^0'=y^post6, y_next^0'=y_next^post6, (0 == 0 /\ -x_next^post6+x^post6 == 0 /\ 2-pc_plan^post6 <= 0 /\ pc_plan^post6-pc_plan_next^post6 == 0 /\ 1-pc_drive_next^post6 <= 0 /\ pc_drive^post6-pc_drive_next^post6 == 0 /\ n0^0-n0^post6 == 0 /\ -7+pc_plan_next^post6 <= 0 /\ n1^0-n1^post6 == 0 /\ executed_drive^0-executed_drive^post6 == 0 /\ x_next^post6-x^0 <= 0 /\ y^0-y_next^post6 <= 0 /\ -2+pc_plan^post6 <= 0 /\ -1+is_aborted_next^post6 <= 0 /\ -is_aborted_next^post6 <= 0 /\ -1+pc_loop^post6 == 0 /\ -7+pc_drive_next^post6 <= 0 /\ -x_next^post6+x^0 <= 0 /\ is_aborted^post6-is_aborted_next^post6 == 0 /\ y^post6-y_next^post6 == 0 /\ -y^0+y_next^post6 <= 0 /\ -3+pc_drive_next^post6 <= 0 /\ 1-pc_plan_next^post6 <= 0 /\ -1+pc_plan_next^post6 <= 0), cost: 1 30: l1 -> l4 : executed_drive^0'=executed_drive^post31, is_aborted^0'=is_aborted^post31, is_aborted_next^0'=is_aborted_next^post31, n0^0'=n0^post31, n1^0'=n1^post31, pc_drive^0'=pc_drive^post31, pc_drive_next^0'=pc_drive_next^post31, pc_loop^0'=pc_loop^post31, pc_plan^0'=pc_plan^post31, pc_plan_next^0'=pc_plan_next^post31, x^0'=x^post31, x_next^0'=x_next^post31, y^0'=y^post31, y_next^0'=y_next^post31, (0 == 0 /\ is_aborted^post31 <= 0 /\ -1+x_next^post31-x^0 <= 0 /\ 1-pc_plan_next^post31 <= 0 /\ 3-pc_plan^post31 <= 0 /\ -2+pc_loop^post31 == 0 /\ -x_next^post31+x^post31 == 0 /\ 1-pc_drive_next^post31 <= 0 /\ n0^0-n0^post31 == 0 /\ -1-y^0+y_next^post31 <= 0 /\ pc_drive^post31-pc_drive_next^post31 == 0 /\ n1^0-n1^post31 == 0 /\ -7+pc_plan_next^post31 <= 0 /\ -1+executed_drive^post31 == 0 /\ -4+pc_drive_next^post31 <= 0 /\ 4-pc_drive_next^post31 <= 0 /\ 1-x_next^post31+x^0 <= 0 /\ pc_plan^post31-pc_plan_next^post31 == 0 /\ -3+pc_plan^post31 <= 0 /\ -7+pc_drive_next^post31 <= 0 /\ -is_aborted_next^post31 <= 0 /\ -1+is_aborted_next^post31 <= 0 /\ is_aborted^post31-is_aborted_next^post31 == 0 /\ 1+y^0-y_next^post31 <= 0 /\ y^post31-y_next^post31 == 0), cost: 1 31: l1 -> l4 : executed_drive^0'=executed_drive^post32, is_aborted^0'=is_aborted^post32, is_aborted_next^0'=is_aborted_next^post32, n0^0'=n0^post32, n1^0'=n1^post32, pc_drive^0'=pc_drive^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=pc_loop^post32, pc_plan^0'=pc_plan^post32, pc_plan_next^0'=pc_plan_next^post32, x^0'=x^post32, x_next^0'=x_next^post32, y^0'=y^post32, y_next^0'=y_next^post32, (0 == 0 /\ 3-pc_plan^post32 <= 0 /\ -x^0+x_next^post32 <= 0 /\ y_next^post32-y^0 <= 0 /\ 1-pc_drive_next^post32 <= 0 /\ -y_next^post32+y^post32 == 0 /\ executed_drive^post32 == 0 /\ n0^0-n0^post32 == 0 /\ pc_plan^post32-pc_plan_next^post32 == 0 /\ -2+pc_loop^post32 == 0 /\ x^0-x_next^post32 <= 0 /\ -y_next^post32+y^0 <= 0 /\ -7+pc_plan_next^post32 <= 0 /\ -pc_drive_next^post32+pc_drive^post32 == 0 /\ x^post32-x_next^post32 == 0 /\ is_aborted^post32 <= 0 /\ -3+pc_plan^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0 /\ -is_aborted_next^post32 <= 0 /\ -1+is_aborted_next^post32 <= 0 /\ is_aborted^post32-is_aborted_next^post32 == 0 /\ -n1^post32+n1^0 == 0 /\ 1-pc_plan_next^post32 <= 0), cost: 1 32: l1 -> l4 : executed_drive^0'=executed_drive^post33, is_aborted^0'=is_aborted^post33, is_aborted_next^0'=is_aborted_next^post33, n0^0'=n0^post33, n1^0'=n1^post33, pc_drive^0'=pc_drive^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=pc_loop^post33, pc_plan^0'=pc_plan^post33, pc_plan_next^0'=pc_plan_next^post33, x^0'=x^post33, x_next^0'=x_next^post33, y^0'=y^post33, y_next^0'=y_next^post33, (0 == 0 /\ -1+is_aborted_next^post33 <= 0 /\ -is_aborted_next^post33 <= 0 /\ -3+pc_plan^post33 <= 0 /\ -7+pc_drive_next^post33 <= 0 /\ -pc_plan_next^post33+pc_plan^post33 == 0 /\ -y_next^post33+y^0 <= 0 /\ -is_aborted_next^post33+is_aborted^post33 == 0 /\ -3+pc_drive_next^post33 <= 0 /\ executed_drive^post33 == 0 /\ 1-pc_plan_next^post33 <= 0 /\ y_next^post33-y^0 <= 0 /\ 1-pc_drive_next^post33 <= 0 /\ 3-pc_plan^post33 <= 0 /\ -x^0+x_next^post33 <= 0 /\ n0^0-n0^post33 == 0 /\ is_aborted^post33 <= 0 /\ -pc_drive_next^post33+pc_drive^post33 == 0 /\ y^post33-y_next^post33 == 0 /\ -n1^post33+n1^0 == 0 /\ -2+pc_loop^post33 == 0 /\ x^0-x_next^post33 <= 0 /\ -7+pc_plan_next^post33 <= 0 /\ x^post33-x_next^post33 == 0), cost: 1 33: l1 -> l0 : executed_drive^0'=executed_drive^post34, is_aborted^0'=is_aborted^post34, is_aborted_next^0'=is_aborted_next^post34, n0^0'=n0^post34, n1^0'=n1^post34, pc_drive^0'=pc_drive^post34, pc_drive_next^0'=pc_drive_next^post34, pc_loop^0'=pc_loop^post34, pc_plan^0'=pc_plan^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=x^post34, x_next^0'=x_next^post34, y^0'=y^post34, y_next^0'=y_next^post34, (0 == 0 /\ -n1^post34+n1^0 == 0 /\ 1-is_aborted^post34 <= 0 /\ -1-y^0+y_next^post34 <= 0 /\ -x_next^post34+x^post34 == 0 /\ -1+x_next^post34-x^0 <= 0 /\ 1-pc_plan_next^post34 <= 0 /\ pc_plan^post34-pc_plan_next^post34 == 0 /\ 1-pc_drive_next^post34 <= 0 /\ -1+executed_drive^post34 == 0 /\ n0^0-n0^post34 == 0 /\ pc_drive^post34-pc_drive_next^post34 == 0 /\ -7+pc_loop^post34 == 0 /\ 1+y^0-y_next^post34 <= 0 /\ is_aborted^post34-is_aborted_next^post34 == 0 /\ 1-x_next^post34+x^0 <= 0 /\ -4+pc_drive_next^post34 <= 0 /\ 4-pc_drive_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0 /\ -1+is_aborted_next^post34 <= 0 /\ y^post34-y_next^post34 == 0 /\ -is_aborted_next^post34 <= 0 /\ -7+pc_drive_next^post34 <= 0), cost: 1 34: l1 -> l0 : executed_drive^0'=executed_drive^post35, is_aborted^0'=is_aborted^post35, is_aborted_next^0'=is_aborted_next^post35, n0^0'=n0^post35, n1^0'=n1^post35, pc_drive^0'=pc_drive^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=pc_loop^post35, pc_plan^0'=pc_plan^post35, pc_plan_next^0'=pc_plan_next^post35, x^0'=x^post35, x_next^0'=x_next^post35, y^0'=y^post35, y_next^0'=y_next^post35, (0 == 0 /\ is_aborted^post35-is_aborted_next^post35 == 0 /\ x^0-x_next^post35 <= 0 /\ -pc_drive_next^post35+pc_drive^post35 == 0 /\ 1-pc_plan_next^post35 <= 0 /\ executed_drive^post35 == 0 /\ 1-pc_drive_next^post35 <= 0 /\ -n1^post35+n1^0 == 0 /\ -x^0+x_next^post35 <= 0 /\ -n0^post35+n0^0 == 0 /\ -7+pc_loop^post35 == 0 /\ x^post35-x_next^post35 == 0 /\ -1+is_aborted_next^post35 <= 0 /\ -is_aborted_next^post35 <= 0 /\ -y_next^post35+y^0 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ -y_next^post35+y^post35 == 0 /\ -pc_plan_next^post35+pc_plan^post35 == 0 /\ y_next^post35-y^0 <= 0 /\ 5-pc_drive_next^post35 <= 0 /\ 1-is_aborted^post35 <= 0), cost: 1 35: l1 -> l0 : executed_drive^0'=executed_drive^post36, is_aborted^0'=is_aborted^post36, is_aborted_next^0'=is_aborted_next^post36, n0^0'=n0^post36, n1^0'=n1^post36, pc_drive^0'=pc_drive^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=pc_loop^post36, pc_plan^0'=pc_plan^post36, pc_plan_next^0'=pc_plan_next^post36, x^0'=x^post36, x_next^0'=x_next^post36, y^0'=y^post36, y_next^0'=y_next^post36, (0 == 0 /\ -x_next^post36+x^post36 == 0 /\ 1-pc_plan_next^post36 <= 0 /\ -is_aborted_next^post36+is_aborted^post36 == 0 /\ n0^0-n0^post36 == 0 /\ 1-pc_drive_next^post36 <= 0 /\ y_next^post36-y^0 <= 0 /\ n1^0-n1^post36 == 0 /\ -7+pc_loop^post36 == 0 /\ -is_aborted_next^post36 <= 0 /\ -y_next^post36+y^0 <= 0 /\ -1+is_aborted_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ executed_drive^post36 == 0 /\ -x_next^post36+x^0 <= 0 /\ pc_plan^post36-pc_plan_next^post36 == 0 /\ -7+pc_drive_next^post36 <= 0 /\ 1-is_aborted^post36 <= 0 /\ y^post36-y_next^post36 == 0 /\ x_next^post36-x^0 <= 0 /\ pc_drive^post36-pc_drive_next^post36 == 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 6: l2 -> l3 : executed_drive^0'=executed_drive^post7, is_aborted^0'=is_aborted^post7, is_aborted_next^0'=is_aborted_next^post7, n0^0'=n0^post7, n1^0'=n1^post7, pc_drive^0'=pc_drive^post7, pc_drive_next^0'=pc_drive_next^post7, pc_loop^0'=pc_loop^post7, pc_plan^0'=pc_plan^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=x^post7, x_next^0'=x_next^post7, y^0'=y^post7, y_next^0'=y_next^post7, (0 == 0 /\ 1-pc_drive_next^post7 <= 0 /\ -4+pc_loop^post7 == 0 /\ is_aborted^post7-is_aborted_next^post7 == 0 /\ -pc_drive_next^post7+pc_drive^post7 == 0 /\ 1-executed_drive^post7 <= 0 /\ -1+executed_drive^post7 <= 0 /\ -1+executed_drive^post7 == 0 /\ -7+pc_plan_next^post7 <= 0 /\ y^post7-y_next^post7 == 0 /\ -n0^post7+n0^0 == 0 /\ 1-y_next^post7+y^0 <= 0 /\ 1+x^0-x_next^post7 <= 0 /\ -is_aborted_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ x^post7-x_next^post7 == 0 /\ -7+pc_drive_next^post7 <= 0 /\ -4+pc_drive_next^post7 <= 0 /\ 4-pc_drive_next^post7 <= 0 /\ pc_plan^post7-pc_plan_next^post7 == 0 /\ 1-pc_plan_next^post7 <= 0 /\ -n1^post7+n1^0 == 0 /\ -1+y_next^post7-y^0 <= 0 /\ -1-x^0+x_next^post7 <= 0 /\ -7+pc_drive^post7 <= 0 /\ 7-pc_drive^post7 <= 0), cost: 1 7: l2 -> l3 : executed_drive^0'=executed_drive^post8, is_aborted^0'=is_aborted^post8, is_aborted_next^0'=is_aborted_next^post8, n0^0'=n0^post8, n1^0'=n1^post8, pc_drive^0'=pc_drive^post8, pc_drive_next^0'=pc_drive_next^post8, pc_loop^0'=pc_loop^post8, pc_plan^0'=pc_plan^post8, pc_plan_next^0'=pc_plan_next^post8, x^0'=x^post8, x_next^0'=x_next^post8, y^0'=y^post8, y_next^0'=y_next^post8, (0 == 0 /\ 1-pc_plan_next^post8 <= 0 /\ -7+pc_drive^post8 <= 0 /\ 7-pc_drive^post8 <= 0 /\ -x_next^post8+x^post8 == 0 /\ pc_plan^post8-pc_plan_next^post8 == 0 /\ pc_drive^post8-pc_drive_next^post8 == 0 /\ -4+pc_loop^post8 == 0 /\ 1-pc_drive_next^post8 <= 0 /\ n0^0-n0^post8 == 0 /\ -n1^post8+n1^0 == 0 /\ y_next^post8-y^0 <= 0 /\ executed_drive^0-executed_drive^post8 == 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ -1+executed_drive^0 <= 0 /\ x_next^post8-x^0 <= 0 /\ -y_next^post8+y^0 <= 0 /\ -7+pc_drive_next^post8 <= 0 /\ is_aborted^post8-is_aborted_next^post8 == 0 /\ y^post8-y_next^post8 == 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 5-pc_drive_next^post8 <= 0 /\ -x_next^post8+x^0 <= 0), cost: 1 8: l2 -> l3 : executed_drive^0'=executed_drive^post9, is_aborted^0'=is_aborted^post9, is_aborted_next^0'=is_aborted_next^post9, n0^0'=n0^post9, n1^0'=n1^post9, pc_drive^0'=pc_drive^post9, pc_drive_next^0'=pc_drive_next^post9, pc_loop^0'=pc_loop^post9, pc_plan^0'=pc_plan^post9, pc_plan_next^0'=pc_plan_next^post9, x^0'=x^post9, x_next^0'=x_next^post9, y^0'=y^post9, y_next^0'=y_next^post9, (0 == 0 /\ 1-pc_plan_next^post9 <= 0 /\ -7+pc_drive^post9 <= 0 /\ 7-pc_drive^post9 <= 0 /\ x^0-x_next^post9 <= 0 /\ 1-pc_drive_next^post9 <= 0 /\ n0^0-n0^post9 == 0 /\ -pc_plan_next^post9+pc_plan^post9 == 0 /\ -executed_drive^post9+executed_drive^0 == 0 /\ x^post9-x_next^post9 == 0 /\ -x^0+x_next^post9 <= 0 /\ -4+pc_loop^post9 == 0 /\ -y_next^post9+y^0 <= 0 /\ -7+pc_plan_next^post9 <= 0 /\ -7+pc_drive_next^post9 <= 0 /\ -is_aborted_next^post9 <= 0 /\ -1+is_aborted_next^post9 <= 0 /\ 1-executed_drive^0 <= 0 /\ -1+executed_drive^0 <= 0 /\ -n1^post9+n1^0 == 0 /\ y_next^post9-y^0 <= 0 /\ -y_next^post9+y^post9 == 0 /\ -pc_drive_next^post9+pc_drive^post9 == 0 /\ -3+pc_drive_next^post9 <= 0 /\ is_aborted^post9-is_aborted_next^post9 == 0), cost: 1 9: l2 -> l3 : executed_drive^0'=executed_drive^post10, is_aborted^0'=is_aborted^post10, is_aborted_next^0'=is_aborted_next^post10, n0^0'=n0^post10, n1^0'=n1^post10, pc_drive^0'=pc_drive^post10, pc_drive_next^0'=pc_drive_next^post10, pc_loop^0'=pc_loop^post10, pc_plan^0'=pc_plan^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=x^post10, x_next^0'=x_next^post10, y^0'=y^post10, y_next^0'=y_next^post10, (0 == 0 /\ -pc_plan_next^post10+pc_plan^post10 == 0 /\ -4+pc_drive_next^post10 <= 0 /\ 4-pc_drive_next^post10 <= 0 /\ -is_aborted_next^post10 <= 0 /\ -1+is_aborted_next^post10 <= 0 /\ -1+executed_drive^post10 == 0 /\ -7+pc_drive_next^post10 <= 0 /\ y^post10-y_next^post10 == 0 /\ -1-x^0+x_next^post10 <= 0 /\ 1-y_next^post10+y^0 <= 0 /\ 1-pc_plan_next^post10 <= 0 /\ 2-pc_drive^post10 <= 0 /\ -4+pc_loop^post10 == 0 /\ -n1^post10+n1^0 == 0 /\ 1-pc_drive_next^post10 <= 0 /\ -is_aborted_next^post10+is_aborted^post10 == 0 /\ pc_drive^post10-pc_drive_next^post10 == 0 /\ n0^0-n0^post10 == 0 /\ 1+x^0-x_next^post10 <= 0 /\ x^post10-x_next^post10 == 0 /\ -7+pc_plan_next^post10 <= 0 /\ -1+y_next^post10-y^0 <= 0 /\ -2+pc_drive^post10 <= 0), cost: 1 10: l2 -> l3 : executed_drive^0'=executed_drive^post11, is_aborted^0'=is_aborted^post11, is_aborted_next^0'=is_aborted_next^post11, n0^0'=n0^post11, n1^0'=n1^post11, pc_drive^0'=pc_drive^post11, pc_drive_next^0'=pc_drive_next^post11, pc_loop^0'=pc_loop^post11, pc_plan^0'=pc_plan^post11, pc_plan_next^0'=pc_plan_next^post11, x^0'=x^post11, x_next^0'=x_next^post11, y^0'=y^post11, y_next^0'=y_next^post11, (0 == 0 /\ -7+pc_drive_next^post11 <= 0 /\ -x_next^post11+x^0 <= 0 /\ -2+pc_drive^post11 <= 0 /\ pc_drive^post11-pc_drive_next^post11 == 0 /\ 5-pc_drive_next^post11 <= 0 /\ pc_plan^post11-pc_plan_next^post11 == 0 /\ 1-pc_plan_next^post11 <= 0 /\ x_next^post11-x^0 <= 0 /\ n0^0-n0^post11 == 0 /\ 1-pc_drive_next^post11 <= 0 /\ 2-pc_drive^post11 <= 0 /\ -y^0+y_next^post11 <= 0 /\ -4+pc_loop^post11 == 0 /\ -1+is_aborted_next^post11 <= 0 /\ -is_aborted_next^post11 <= 0 /\ executed_drive^post11 == 0 /\ -7+pc_plan_next^post11 <= 0 /\ is_aborted^post11-is_aborted_next^post11 == 0 /\ -n1^post11+n1^0 == 0 /\ y^post11-y_next^post11 == 0 /\ y^0-y_next^post11 <= 0 /\ -x_next^post11+x^post11 == 0), cost: 1 11: l2 -> l3 : executed_drive^0'=executed_drive^post12, is_aborted^0'=is_aborted^post12, is_aborted_next^0'=is_aborted_next^post12, n0^0'=n0^post12, n1^0'=n1^post12, pc_drive^0'=pc_drive^post12, pc_drive_next^0'=pc_drive_next^post12, pc_loop^0'=pc_loop^post12, pc_plan^0'=pc_plan^post12, pc_plan_next^0'=pc_plan_next^post12, x^0'=x^post12, x_next^0'=x_next^post12, y^0'=y^post12, y_next^0'=y_next^post12, (0 == 0 /\ -3+pc_drive_next^post12 <= 0 /\ -pc_drive_next^post12+pc_drive^post12 == 0 /\ x^post12-x_next^post12 == 0 /\ executed_drive^post12 == 0 /\ -7+pc_plan_next^post12 <= 0 /\ -7+pc_drive_next^post12 <= 0 /\ n0^0-n0^post12 == 0 /\ y^post12-y_next^post12 == 0 /\ -2+pc_drive^post12 <= 0 /\ y_next^post12-y^0 <= 0 /\ -n1^post12+n1^0 == 0 /\ x^0-x_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0 /\ 1-is_aborted_next^post12 <= 0 /\ -1+is_aborted_next^post12 <= 0 /\ -is_aborted_next^post12 <= 0 /\ -y_next^post12+y^0 <= 0 /\ -x^0+x_next^post12 <= 0 /\ pc_plan^post12-pc_plan_next^post12 == 0 /\ -4+pc_loop^post12 == 0 /\ 1-pc_drive_next^post12 <= 0 /\ is_aborted^post12-is_aborted_next^post12 == 0 /\ 2-pc_drive^post12 <= 0), cost: 1 12: l3 -> l0 : executed_drive^0'=executed_drive^post13, is_aborted^0'=is_aborted^post13, is_aborted_next^0'=is_aborted_next^post13, n0^0'=n0^post13, n1^0'=n1^post13, pc_drive^0'=pc_drive^post13, pc_drive_next^0'=pc_drive_next^post13, pc_loop^0'=pc_loop^post13, pc_plan^0'=pc_plan^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=x^post13, x_next^0'=x_next^post13, y^0'=y^post13, y_next^0'=y_next^post13, (0 == 0 /\ pc_plan^post13-pc_plan_next^post13 == 0 /\ -is_aborted_next^post13 <= 0 /\ -1+is_aborted_next^post13 <= 0 /\ -1+y_next^post13-y^0 <= 0 /\ -7+pc_plan_next^post13 <= 0 /\ -1+x_next^post13-x^0 <= 0 /\ -n1^post13+n1^0 == 0 /\ -y_next^post13+y^post13 == 0 /\ 1-is_aborted^post13 <= 0 /\ 1-pc_drive_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0 /\ -7+pc_loop^post13 == 0 /\ 1-y_next^post13+y^0 <= 0 /\ n0^0-n0^post13 == 0 /\ is_aborted^post13-is_aborted_next^post13 == 0 /\ pc_drive^post13-pc_drive_next^post13 == 0 /\ 1-x_next^post13+x^0 <= 0 /\ -1+executed_drive^post13 == 0 /\ -4+pc_drive_next^post13 <= 0 /\ 4-pc_drive_next^post13 <= 0 /\ -7+pc_drive_next^post13 <= 0 /\ x^post13-x_next^post13 == 0), cost: 1 13: l3 -> l0 : executed_drive^0'=executed_drive^post14, is_aborted^0'=is_aborted^post14, is_aborted_next^0'=is_aborted_next^post14, n0^0'=n0^post14, n1^0'=n1^post14, pc_drive^0'=pc_drive^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=pc_loop^post14, pc_plan^0'=pc_plan^post14, pc_plan_next^0'=pc_plan_next^post14, x^0'=x^post14, x_next^0'=x_next^post14, y^0'=y^post14, y_next^0'=y_next^post14, (0 == 0 /\ is_aborted^post14-is_aborted_next^post14 == 0 /\ -x^0+x_next^post14 <= 0 /\ -y_next^post14+y^post14 == 0 /\ y_next^post14-y^0 <= 0 /\ -pc_drive_next^post14+pc_drive^post14 == 0 /\ 1-pc_plan_next^post14 <= 0 /\ x^0-x_next^post14 <= 0 /\ 1-is_aborted^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -y_next^post14+y^0 <= 0 /\ -7+pc_loop^post14 == 0 /\ x^post14-x_next^post14 == 0 /\ -n1^post14+n1^0 == 0 /\ n0^0-n0^post14 == 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ -pc_plan_next^post14+pc_plan^post14 == 0 /\ -executed_drive^post14+executed_drive^0 == 0 /\ 5-pc_drive_next^post14 <= 0 /\ -is_aborted_next^post14 <= 0 /\ -1+is_aborted_next^post14 <= 0), cost: 1 14: l3 -> l0 : executed_drive^0'=executed_drive^post15, is_aborted^0'=is_aborted^post15, is_aborted_next^0'=is_aborted_next^post15, n0^0'=n0^post15, n1^0'=n1^post15, pc_drive^0'=pc_drive^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=pc_loop^post15, pc_plan^0'=pc_plan^post15, pc_plan_next^0'=pc_plan_next^post15, x^0'=x^post15, x_next^0'=x_next^post15, y^0'=y^post15, y_next^0'=y_next^post15, (0 == 0 /\ n1^0-n1^post15 == 0 /\ -is_aborted_next^post15+is_aborted^post15 == 0 /\ executed_drive^0-executed_drive^post15 == 0 /\ -3+pc_drive_next^post15 <= 0 /\ -y_next^post15+y^0 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ x^post15-x_next^post15 == 0 /\ -1+is_aborted_next^post15 <= 0 /\ -is_aborted_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ y^post15-y_next^post15 == 0 /\ y_next^post15-y^0 <= 0 /\ x^0-x_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-is_aborted^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0 /\ pc_plan^post15-pc_plan_next^post15 == 0 /\ -x^0+x_next^post15 <= 0 /\ n0^0-n0^post15 == 0 /\ -7+pc_loop^post15 == 0 /\ pc_drive^post15-pc_drive_next^post15 == 0), cost: 1 15: l3 -> l0 : executed_drive^0'=executed_drive^post16, is_aborted^0'=is_aborted^post16, is_aborted_next^0'=is_aborted_next^post16, n0^0'=n0^post16, n1^0'=n1^post16, pc_drive^0'=pc_drive^post16, pc_drive_next^0'=pc_drive_next^post16, pc_loop^0'=pc_loop^post16, pc_plan^0'=pc_plan^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=x^post16, x_next^0'=x_next^post16, y^0'=y^post16, y_next^0'=y_next^post16, (0 == 0 /\ -4+pc_drive_next^post16 <= 0 /\ 4-pc_drive_next^post16 <= 0 /\ -7+pc_plan_next^post16 <= 0 /\ -1+is_aborted_next^post16 <= 0 /\ y^post16-y_next^post16 == 0 /\ -is_aborted_next^post16 <= 0 /\ pc_plan^post16-pc_plan_next^post16 == 0 /\ -7+pc_drive_next^post16 <= 0 /\ 1-x_next^post16+x^0 <= 0 /\ is_aborted^post16 <= 0 /\ -x^post16+n0^0 <= 0 /\ -1-y^0+y_next^post16 <= 0 /\ is_aborted^post16-is_aborted_next^post16 == 0 /\ -n1^post16+n1^0 == 0 /\ 1-pc_plan_next^post16 <= 0 /\ x^post16-x_next^post16 == 0 /\ 1-pc_drive_next^post16 <= 0 /\ -1+x_next^post16-x^0 <= 0 /\ n0^0-n0^post16 == 0 /\ -7+pc_loop^post16 == 0 /\ 1+y^0-y_next^post16 <= 0 /\ pc_drive^post16-pc_drive_next^post16 == 0 /\ -y^post16+n1^0 <= 0 /\ -1+executed_drive^post16 == 0), cost: 1 16: l3 -> l0 : executed_drive^0'=executed_drive^post17, is_aborted^0'=is_aborted^post17, is_aborted_next^0'=is_aborted_next^post17, n0^0'=n0^post17, n1^0'=n1^post17, pc_drive^0'=pc_drive^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=pc_loop^post17, pc_plan^0'=pc_plan^post17, pc_plan_next^0'=pc_plan_next^post17, x^0'=x^post17, x_next^0'=x_next^post17, y^0'=y^post17, y_next^0'=y_next^post17, (0 == 0 /\ -n1^post17+n1^0 == 0 /\ -x_next^post17+x^0 <= 0 /\ is_aborted^post17 <= 0 /\ is_aborted^post17-is_aborted_next^post17 == 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ x_next^post17-x^0 <= 0 /\ -y^post17+n1^0 <= 0 /\ pc_plan^post17-pc_plan_next^post17 == 0 /\ n0^0-n0^post17 == 0 /\ y^0-y_next^post17 <= 0 /\ pc_drive^post17-pc_drive_next^post17 == 0 /\ -7+pc_loop^post17 == 0 /\ executed_drive^0-executed_drive^post17 == 0 /\ -x_next^post17+x^post17 == 0 /\ -y^0+y_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ y^post17-y_next^post17 == 0 /\ n0^0-x^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0 /\ -is_aborted_next^post17 <= 0 /\ -1+is_aborted_next^post17 <= 0), cost: 1 17: l3 -> l0 : executed_drive^0'=executed_drive^post18, is_aborted^0'=is_aborted^post18, is_aborted_next^0'=is_aborted_next^post18, n0^0'=n0^post18, n1^0'=n1^post18, pc_drive^0'=pc_drive^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=pc_loop^post18, pc_plan^0'=pc_plan^post18, pc_plan_next^0'=pc_plan_next^post18, x^0'=x^post18, x_next^0'=x_next^post18, y^0'=y^post18, y_next^0'=y_next^post18, (0 == 0 /\ -pc_drive_next^post18+pc_drive^post18 == 0 /\ x^0-x_next^post18 <= 0 /\ -executed_drive^post18+executed_drive^0 == 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ is_aborted^post18-is_aborted_next^post18 == 0 /\ -n1^post18+n1^0 == 0 /\ -x^0+x_next^post18 <= 0 /\ n0^0-n0^post18 == 0 /\ n1^0-y^post18 <= 0 /\ -7+pc_loop^post18 == 0 /\ is_aborted^post18 <= 0 /\ x^post18-x_next^post18 == 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -y_next^post18+y^0 <= 0 /\ n0^0-x^post18 <= 0 /\ -is_aborted_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0 /\ -1+is_aborted_next^post18 <= 0 /\ -y_next^post18+y^post18 == 0 /\ -pc_plan_next^post18+pc_plan^post18 == 0 /\ y_next^post18-y^0 <= 0), cost: 1 18: l3 -> l4 : executed_drive^0'=executed_drive^post19, is_aborted^0'=is_aborted^post19, is_aborted_next^0'=is_aborted_next^post19, n0^0'=n0^post19, n1^0'=n1^post19, pc_drive^0'=pc_drive^post19, pc_drive_next^0'=pc_drive_next^post19, pc_loop^0'=pc_loop^post19, pc_plan^0'=pc_plan^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^post19, x_next^0'=x_next^post19, y^0'=y^post19, y_next^0'=y_next^post19, (0 == 0 /\ -7+pc_plan_next^post19 <= 0 /\ -1+y_next^post19-y^0 <= 0 /\ -is_aborted_next^post19+is_aborted^post19 == 0 /\ -4+pc_drive_next^post19 <= 0 /\ 4-pc_drive_next^post19 <= 0 /\ n0^0-n0^post19 == 0 /\ -1-x^0+x_next^post19 <= 0 /\ -7+pc_drive_next^post19 <= 0 /\ 1-executed_drive^post19 <= 0 /\ -1+executed_drive^post19 <= 0 /\ -1+executed_drive^post19 == 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^post19 <= 0 /\ -is_aborted_next^post19 <= 0 /\ -1+is_aborted_next^post19 <= 0 /\ 1-n1^0 <= 0 /\ 1-y_next^post19+y^0 <= 0 /\ 1-pc_plan_next^post19 <= 0 /\ 1+x^0-x_next^post19 <= 0 /\ -2+pc_loop^post19 == 0 /\ 1-pc_drive_next^post19 <= 0 /\ y^post19-y_next^post19 == 0 /\ x^post19-x_next^post19 == 0 /\ 1+y^post19-n1^0 <= 0 /\ is_aborted^post19 <= 0 /\ pc_drive^post19-pc_drive_next^post19 == 0 /\ n1^0-n1^post19 == 0 /\ -pc_plan_next^post19+pc_plan^post19 == 0), cost: 1 19: l3 -> l4 : executed_drive^0'=executed_drive^post20, is_aborted^0'=is_aborted^post20, is_aborted_next^0'=is_aborted_next^post20, n0^0'=n0^post20, n1^0'=n1^post20, pc_drive^0'=pc_drive^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=pc_loop^post20, pc_plan^0'=pc_plan^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=x^post20, x_next^0'=x_next^post20, y^0'=y^post20, y_next^0'=y_next^post20, (0 == 0 /\ -7+pc_drive_next^post20 <= 0 /\ is_aborted^post20-is_aborted_next^post20 == 0 /\ y^post20-y_next^post20 == 0 /\ -n1^post20+n1^0 == 0 /\ is_aborted^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ x_next^post20-x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+x^post20-n0^0 <= 0 /\ -x_next^post20+x^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ pc_drive^post20-pc_drive_next^post20 == 0 /\ n0^0-n0^post20 == 0 /\ 1-pc_drive_next^post20 <= 0 /\ -y^0+y_next^post20 <= 0 /\ 1+y^post20-n1^0 <= 0 /\ executed_drive^0-executed_drive^post20 == 0 /\ pc_plan^post20-pc_plan_next^post20 == 0 /\ 1-executed_drive^0 <= 0 /\ -1+executed_drive^0 <= 0 /\ -2+pc_loop^post20 == 0 /\ y^0-y_next^post20 <= 0 /\ -7+pc_plan_next^post20 <= 0 /\ -1+is_aborted_next^post20 <= 0 /\ x^post20-x_next^post20 == 0 /\ -is_aborted_next^post20 <= 0), cost: 1 20: l3 -> l4 : executed_drive^0'=executed_drive^post21, is_aborted^0'=is_aborted^post21, is_aborted_next^0'=is_aborted_next^post21, n0^0'=n0^post21, n1^0'=n1^post21, pc_drive^0'=pc_drive^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=pc_loop^post21, pc_plan^0'=pc_plan^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^post21, x_next^0'=x_next^post21, y^0'=y^post21, y_next^0'=y_next^post21, (0 == 0 /\ -2+pc_loop^post21 == 0 /\ -x_next^post21+x^0 <= 0 /\ 1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1+y^post21-n1^0 <= 0 /\ 1-n0^0+x^post21 <= 0 /\ -x_next^post21+x^post21 == 0 /\ -7+pc_plan_next^post21 <= 0 /\ -n1^post21+n1^0 == 0 /\ y^post21-y_next^post21 == 0 /\ x_next^post21-x^0 <= 0 /\ n0^0-n0^post21 == 0 /\ 1-n1^0 <= 0 /\ -executed_drive^post21+executed_drive^0 == 0 /\ is_aborted^post21 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ y_next^post21-y^0 <= 0 /\ 1-executed_drive^0 <= 0 /\ -1+executed_drive^0 <= 0 /\ -1+is_aborted_next^post21 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -is_aborted_next^post21 <= 0 /\ pc_plan^post21-pc_plan_next^post21 == 0 /\ -3+pc_drive_next^post21 <= 0 /\ is_aborted^post21-is_aborted_next^post21 == 0 /\ -y_next^post21+y^0 <= 0 /\ -pc_drive_next^post21+pc_drive^post21 == 0), cost: 1 24: l4 -> l5 : executed_drive^0'=executed_drive^post25, is_aborted^0'=is_aborted^post25, is_aborted_next^0'=is_aborted_next^post25, n0^0'=n0^post25, n1^0'=n1^post25, pc_drive^0'=pc_drive^post25, pc_drive_next^0'=pc_drive_next^post25, pc_loop^0'=pc_loop^post25, pc_plan^0'=pc_plan^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=x^post25, x_next^0'=x_next^post25, y^0'=y^post25, y_next^0'=y_next^post25, (0 == 0 /\ -1+executed_drive^post25 == 0 /\ -7+pc_plan_next^post25 <= 0 /\ pc_plan^post25-pc_plan_next^post25 == 0 /\ -1+x_next^post25-x^0 <= 0 /\ -4+pc_drive_next^post25 <= 0 /\ 4-pc_drive_next^post25 <= 0 /\ -7+pc_drive_next^post25 <= 0 /\ -1+y_next^post25-y^0 <= 0 /\ -1+is_aborted_next^post25 <= 0 /\ -is_aborted_next^post25 <= 0 /\ -n1^post25+n1^0 == 0 /\ is_aborted^post25 <= 0 /\ is_aborted^post25-is_aborted_next^post25 == 0 /\ -y_next^post25+y^post25 == 0 /\ -3+pc_loop^post25 == 0 /\ 1-x_next^post25+x^0 <= 0 /\ 1-pc_plan_next^post25 <= 0 /\ pc_drive^post25-pc_drive_next^post25 == 0 /\ 1-pc_drive_next^post25 <= 0 /\ 1-y_next^post25+y^0 <= 0 /\ x^post25-x_next^post25 == 0 /\ n0^0-n0^post25 == 0), cost: 1 25: l4 -> l5 : executed_drive^0'=executed_drive^post26, is_aborted^0'=is_aborted^post26, is_aborted_next^0'=is_aborted_next^post26, n0^0'=n0^post26, n1^0'=n1^post26, pc_drive^0'=pc_drive^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=pc_loop^post26, pc_plan^0'=pc_plan^post26, pc_plan_next^0'=pc_plan_next^post26, x^0'=x^post26, x_next^0'=x_next^post26, y^0'=y^post26, y_next^0'=y_next^post26, (0 == 0 /\ y_next^post26-y^0 <= 0 /\ pc_plan^post26-pc_plan_next^post26 == 0 /\ 1-pc_drive_next^post26 <= 0 /\ x_next^post26-x^0 <= 0 /\ n0^0-n0^post26 == 0 /\ -y_next^post26+y^0 <= 0 /\ -is_aborted_next^post26+is_aborted^post26 == 0 /\ n1^0-n1^post26 == 0 /\ -x_next^post26+x^0 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -3+pc_loop^post26 == 0 /\ -7+pc_drive_next^post26 <= 0 /\ y^post26-y_next^post26 == 0 /\ pc_drive^post26-pc_drive_next^post26 == 0 /\ -is_aborted_next^post26 <= 0 /\ -1+is_aborted_next^post26 <= 0 /\ is_aborted^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ executed_drive^0-executed_drive^post26 == 0 /\ 1-pc_plan_next^post26 <= 0 /\ -x_next^post26+x^post26 == 0), cost: 1 26: l4 -> l5 : executed_drive^0'=executed_drive^post27, is_aborted^0'=is_aborted^post27, is_aborted_next^0'=is_aborted_next^post27, n0^0'=n0^post27, n1^0'=n1^post27, pc_drive^0'=pc_drive^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=pc_loop^post27, pc_plan^0'=pc_plan^post27, pc_plan_next^0'=pc_plan_next^post27, x^0'=x^post27, x_next^0'=x_next^post27, y^0'=y^post27, y_next^0'=y_next^post27, (0 == 0 /\ -y_next^post27+y^0 <= 0 /\ -y_next^post27+y^post27 == 0 /\ is_aborted^post27-is_aborted_next^post27 == 0 /\ -3+pc_drive_next^post27 <= 0 /\ pc_drive^post27-pc_drive_next^post27 == 0 /\ -1+is_aborted_next^post27 <= 0 /\ -is_aborted_next^post27 <= 0 /\ -n1^post27+n1^0 == 0 /\ -x_next^post27+x^0 <= 0 /\ -3+pc_loop^post27 == 0 /\ y_next^post27-y^0 <= 0 /\ is_aborted^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ x_next^post27-x^0 <= 0 /\ -executed_drive^post27+executed_drive^0 == 0 /\ x^post27-x_next^post27 == 0 /\ 1-pc_plan_next^post27 <= 0 /\ n0^0-n0^post27 == 0 /\ pc_plan^post27-pc_plan_next^post27 == 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 27: l4 -> l0 : executed_drive^0'=executed_drive^post28, is_aborted^0'=is_aborted^post28, is_aborted_next^0'=is_aborted_next^post28, n0^0'=n0^post28, n1^0'=n1^post28, pc_drive^0'=pc_drive^post28, pc_drive_next^0'=pc_drive_next^post28, pc_loop^0'=pc_loop^post28, pc_plan^0'=pc_plan^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=x^post28, x_next^0'=x_next^post28, y^0'=y^post28, y_next^0'=y_next^post28, (0 == 0 /\ 1+x^0-x_next^post28 <= 0 /\ -is_aborted_next^post28 <= 0 /\ -1+is_aborted_next^post28 <= 0 /\ 1-pc_plan_next^post28 <= 0 /\ 1-pc_drive_next^post28 <= 0 /\ -pc_drive_next^post28+pc_drive^post28 == 0 /\ -7+pc_loop^post28 == 0 /\ -1+y_next^post28-y^0 <= 0 /\ 1-is_aborted^post28 <= 0 /\ -1-x^0+x_next^post28 <= 0 /\ x^post28-x_next^post28 == 0 /\ -7+pc_plan_next^post28 <= 0 /\ n0^0-n0^post28 == 0 /\ -7+pc_drive_next^post28 <= 0 /\ -pc_plan_next^post28+pc_plan^post28 == 0 /\ -is_aborted_next^post28+is_aborted^post28 == 0 /\ -n1^post28+n1^0 == 0 /\ -1+executed_drive^post28 == 0 /\ -4+pc_drive_next^post28 <= 0 /\ 4-pc_drive_next^post28 <= 0 /\ 1-y_next^post28+y^0 <= 0 /\ y^post28-y_next^post28 == 0), cost: 1 28: l4 -> l0 : executed_drive^0'=executed_drive^post29, is_aborted^0'=is_aborted^post29, is_aborted_next^0'=is_aborted_next^post29, n0^0'=n0^post29, n1^0'=n1^post29, pc_drive^0'=pc_drive^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=pc_loop^post29, pc_plan^0'=pc_plan^post29, pc_plan_next^0'=pc_plan_next^post29, x^0'=x^post29, x_next^0'=x_next^post29, y^0'=y^post29, y_next^0'=y_next^post29, (0 == 0 /\ 1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ y^post29-y_next^post29 == 0 /\ n0^0-n0^post29 == 0 /\ -x_next^post29+x^post29 == 0 /\ -7+pc_loop^post29 == 0 /\ n1^0-n1^post29 == 0 /\ executed_drive^0-executed_drive^post29 == 0 /\ -1+is_aborted_next^post29 <= 0 /\ pc_plan^post29-pc_plan_next^post29 == 0 /\ -x_next^post29+x^0 <= 0 /\ -is_aborted_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ -y_next^post29+y^0 <= 0 /\ pc_drive^post29-pc_drive_next^post29 == 0 /\ 5-pc_drive_next^post29 <= 0 /\ x_next^post29-x^0 <= 0 /\ -is_aborted_next^post29+is_aborted^post29 == 0 /\ 1-is_aborted^post29 <= 0 /\ y_next^post29-y^0 <= 0), cost: 1 29: l4 -> l0 : executed_drive^0'=executed_drive^post30, is_aborted^0'=is_aborted^post30, is_aborted_next^0'=is_aborted_next^post30, n0^0'=n0^post30, n1^0'=n1^post30, pc_drive^0'=pc_drive^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=pc_loop^post30, pc_plan^0'=pc_plan^post30, pc_plan_next^0'=pc_plan_next^post30, x^0'=x^post30, x_next^0'=x_next^post30, y^0'=y^post30, y_next^0'=y_next^post30, (0 == 0 /\ y_next^post30-y^0 <= 0 /\ -n1^post30+n1^0 == 0 /\ -n0^post30+n0^0 == 0 /\ y^post30-y_next^post30 == 0 /\ pc_drive^post30-pc_drive_next^post30 == 0 /\ -7+pc_loop^post30 == 0 /\ -3+pc_drive_next^post30 <= 0 /\ -y_next^post30+y^0 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -1+is_aborted_next^post30 <= 0 /\ -is_aborted_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ -x^0+x_next^post30 <= 0 /\ is_aborted^post30-is_aborted_next^post30 == 0 /\ 1-is_aborted^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ x^0-x_next^post30 <= 0 /\ x^post30-x_next^post30 == 0 /\ pc_plan^post30-pc_plan_next^post30 == 0 /\ 1-pc_drive_next^post30 <= 0 /\ -executed_drive^post30+executed_drive^0 == 0), cost: 1 21: l5 -> l2 : executed_drive^0'=executed_drive^post22, is_aborted^0'=is_aborted^post22, is_aborted_next^0'=is_aborted_next^post22, n0^0'=n0^post22, n1^0'=n1^post22, pc_drive^0'=pc_drive^post22, pc_drive_next^0'=pc_drive_next^post22, pc_loop^0'=pc_loop^post22, pc_plan^0'=pc_plan^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=x^post22, x_next^0'=x_next^post22, y^0'=y^post22, y_next^0'=y_next^post22, (0 == 0 /\ -7+pc_drive_next^post22 <= 0 /\ x^post22-x_next^post22 == 0 /\ pc_drive^post22-pc_drive_next^post22 == 0 /\ -is_aborted_next^post22 <= 0 /\ -1+is_aborted_next^post22 <= 0 /\ -1+y_next^post22-y^0 <= 0 /\ -4+pc_drive_next^post22 <= 0 /\ 4-pc_drive_next^post22 <= 0 /\ -y_next^post22+y^post22 == 0 /\ 1-pc_plan_next^post22 <= 0 /\ 1-is_aborted^post22 <= 0 /\ -1+x_next^post22-x^0 <= 0 /\ is_aborted^post22-is_aborted_next^post22 == 0 /\ pc_plan^post22-pc_plan_next^post22 == 0 /\ 1-pc_drive_next^post22 <= 0 /\ -6+pc_loop^post22 == 0 /\ 1-y_next^post22+y^0 <= 0 /\ n0^0-n0^post22 == 0 /\ -1+executed_drive^post22 == 0 /\ -n1^post22+n1^0 == 0 /\ -7+pc_plan_next^post22 <= 0 /\ 1-x_next^post22+x^0 <= 0), cost: 1 22: l5 -> l2 : executed_drive^0'=executed_drive^post23, is_aborted^0'=is_aborted^post23, is_aborted_next^0'=is_aborted_next^post23, n0^0'=n0^post23, n1^0'=n1^post23, pc_drive^0'=pc_drive^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=pc_loop^post23, pc_plan^0'=pc_plan^post23, pc_plan_next^0'=pc_plan_next^post23, x^0'=x^post23, x_next^0'=x_next^post23, y^0'=y^post23, y_next^0'=y_next^post23, (0 == 0 /\ -pc_plan_next^post23+pc_plan^post23 == 0 /\ -pc_drive_next^post23+pc_drive^post23 == 0 /\ is_aborted^post23-is_aborted_next^post23 == 0 /\ -n1^post23+n1^0 == 0 /\ x^post23-x_next^post23 == 0 /\ 1-pc_plan_next^post23 <= 0 /\ 1-is_aborted^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ -6+pc_loop^post23 == 0 /\ -y_next^post23+y^0 <= 0 /\ n0^0-n0^post23 == 0 /\ -x^0+x_next^post23 <= 0 /\ executed_drive^0-executed_drive^post23 == 0 /\ 5-pc_drive_next^post23 <= 0 /\ y_next^post23-y^0 <= 0 /\ -y_next^post23+y^post23 == 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0 /\ -is_aborted_next^post23 <= 0 /\ x^0-x_next^post23 <= 0 /\ -1+is_aborted_next^post23 <= 0), cost: 1 23: l5 -> l2 : executed_drive^0'=executed_drive^post24, is_aborted^0'=is_aborted^post24, is_aborted_next^0'=is_aborted_next^post24, n0^0'=n0^post24, n1^0'=n1^post24, pc_drive^0'=pc_drive^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=pc_loop^post24, pc_plan^0'=pc_plan^post24, pc_plan_next^0'=pc_plan_next^post24, x^0'=x^post24, x_next^0'=x_next^post24, y^0'=y^post24, y_next^0'=y_next^post24, (0 == 0 /\ n0^0-n0^post24 == 0 /\ -3+pc_drive_next^post24 <= 0 /\ x^post24-x_next^post24 == 0 /\ -is_aborted_next^post24+is_aborted^post24 == 0 /\ -7+pc_plan_next^post24 <= 0 /\ executed_drive^0-executed_drive^post24 == 0 /\ n1^0-n1^post24 == 0 /\ pc_drive^post24-pc_drive_next^post24 == 0 /\ -7+pc_drive_next^post24 <= 0 /\ -1+is_aborted_next^post24 <= 0 /\ -is_aborted_next^post24 <= 0 /\ y^post24-y_next^post24 == 0 /\ x^0-x_next^post24 <= 0 /\ y_next^post24-y^0 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-is_aborted^post24 <= 0 /\ -x^0+x_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0 /\ -y_next^post24+y^0 <= 0 /\ pc_plan^post24-pc_plan_next^post24 == 0 /\ -6+pc_loop^post24 == 0), cost: 1 36: l6 -> l1 : executed_drive^0'=executed_drive^post37, is_aborted^0'=is_aborted^post37, is_aborted_next^0'=is_aborted_next^post37, n0^0'=n0^post37, n1^0'=n1^post37, pc_drive^0'=pc_drive^post37, pc_drive_next^0'=pc_drive_next^post37, pc_loop^0'=pc_loop^post37, pc_plan^0'=pc_plan^post37, pc_plan_next^0'=pc_plan_next^post37, x^0'=x^post37, x_next^0'=x_next^post37, y^0'=y^post37, y_next^0'=y_next^post37, (-x^post37+x^0 == 0 /\ y_next^0-y_next^post37 == 0 /\ -y^post37+y^0 == 0 /\ pc_plan_next^0-pc_plan_next^post37 == 0 /\ -is_aborted^post37+is_aborted^0 == 0 /\ -pc_loop^post37+pc_loop^0 == 0 /\ pc_drive^0-pc_drive^post37 == 0 /\ -n1^post37+n1^0 == 0 /\ -is_aborted_next^post37+is_aborted_next^0 == 0 /\ pc_plan^0-pc_plan^post37 == 0 /\ -executed_drive^post37+executed_drive^0 == 0 /\ -x_next^post37+x_next^0 == 0 /\ pc_drive_next^0-pc_drive_next^post37 == 0 /\ n0^0-n0^post37 == 0), cost: 1 37: l7 -> l6 : executed_drive^0'=executed_drive^post38, is_aborted^0'=is_aborted^post38, is_aborted_next^0'=is_aborted_next^post38, n0^0'=n0^post38, n1^0'=n1^post38, pc_drive^0'=pc_drive^post38, pc_drive_next^0'=pc_drive_next^post38, pc_loop^0'=pc_loop^post38, pc_plan^0'=pc_plan^post38, pc_plan_next^0'=pc_plan_next^post38, x^0'=x^post38, x_next^0'=x_next^post38, y^0'=y^post38, y_next^0'=y_next^post38, (-pc_plan_next^post38+pc_plan_next^0 == 0 /\ y_next^0-y_next^post38 == 0 /\ -is_aborted^post38+is_aborted^0 == 0 /\ -is_aborted_next^post38+is_aborted_next^0 == 0 /\ -n1^post38+n1^0 == 0 /\ -pc_loop^post38+pc_loop^0 == 0 /\ n0^0-n0^post38 == 0 /\ -pc_drive_next^post38+pc_drive_next^0 == 0 /\ -executed_drive^post38+executed_drive^0 == 0 /\ -x_next^post38+x_next^0 == 0 /\ -x^post38+x^0 == 0 /\ pc_drive^0-pc_drive^post38 == 0 /\ -y^post38+y^0 == 0 /\ pc_plan^0-pc_plan^post38 == 0), cost: 1 Chained Linear Paths Start location: l7 Program variables: executed_drive^0 is_aborted^0 is_aborted_next^0 n0^0 n1^0 pc_drive^0 pc_drive_next^0 pc_loop^0 pc_plan^0 pc_plan_next^0 x^0 x_next^0 y^0 y_next^0 0: l0 -> l1 : executed_drive^0'=executed_drive^post1, is_aborted^0'=is_aborted^post1, is_aborted_next^0'=is_aborted_next^post1, n0^0'=n0^post1, n1^0'=n1^post1, pc_drive^0'=pc_drive^post1, pc_drive_next^0'=pc_drive_next^post1, pc_loop^0'=pc_loop^post1, pc_plan^0'=pc_plan^post1, pc_plan_next^0'=pc_plan_next^post1, x^0'=x^post1, x_next^0'=x_next^post1, y^0'=y^post1, y_next^0'=y_next^post1, (0 == 0 /\ 1-y_next^post1+y^0 <= 0 /\ n0^0-n0^post1 == 0 /\ 1-x_next^post1+x^0 <= 0 /\ pc_drive^post1-pc_drive_next^post1 == 0 /\ n1^0-n1^post1 == 0 /\ -7+pc_plan_next^post1 <= 0 /\ 2-pc_plan^post1 <= 0 /\ -1+executed_drive^post1 == 0 /\ -4+pc_drive_next^post1 <= 0 /\ 4-pc_drive_next^post1 <= 0 /\ -7+pc_drive_next^post1 <= 0 /\ -x_next^post1+x^post1 == 0 /\ y^post1-y_next^post1 == 0 /\ -1+y_next^post1-y^0 <= 0 /\ 3-pc_plan_next^post1 <= 0 /\ -is_aborted_next^post1 <= 0 /\ 1-is_aborted_next^post1 <= 0 /\ -1+is_aborted_next^post1 <= 0 /\ -1+pc_loop^post1 == 0 /\ -1+x_next^post1-x^0 <= 0 /\ -is_aborted_next^post1+is_aborted^post1 == 0 /\ -2+pc_plan^post1 <= 0 /\ pc_plan^post1-pc_plan_next^post1 == 0 /\ 1-pc_plan_next^post1 <= 0 /\ 1-pc_drive_next^post1 <= 0), cost: 1 1: l0 -> l1 : executed_drive^0'=executed_drive^post2, is_aborted^0'=is_aborted^post2, is_aborted_next^0'=is_aborted_next^post2, n0^0'=n0^post2, n1^0'=n1^post2, pc_drive^0'=pc_drive^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=pc_loop^post2, pc_plan^0'=pc_plan^post2, pc_plan_next^0'=pc_plan_next^post2, x^0'=x^post2, x_next^0'=x_next^post2, y^0'=y^post2, y_next^0'=y_next^post2, (0 == 0 /\ is_aborted^post2-is_aborted_next^post2 == 0 /\ -7+pc_plan_next^post2 <= 0 /\ x^post2-x_next^post2 == 0 /\ -7+pc_drive_next^post2 <= 0 /\ 5-pc_drive_next^post2 <= 0 /\ -n1^post2+n1^0 == 0 /\ 2-pc_plan^post2 <= 0 /\ -is_aborted_next^post2 <= 0 /\ 1-is_aborted_next^post2 <= 0 /\ -1+is_aborted_next^post2 <= 0 /\ -1+pc_loop^post2 == 0 /\ x_next^post2-x^0 <= 0 /\ y_next^post2-y^0 <= 0 /\ 1-pc_plan_next^post2 <= 0 /\ pc_drive^post2-pc_drive_next^post2 == 0 /\ -x_next^post2+x^0 <= 0 /\ -y_next^post2+y^0 <= 0 /\ 1-pc_drive_next^post2 <= 0 /\ 3-pc_plan_next^post2 <= 0 /\ -2+pc_plan^post2 <= 0 /\ executed_drive^0-executed_drive^post2 == 0 /\ -y_next^post2+y^post2 == 0 /\ n0^0-n0^post2 == 0 /\ pc_plan^post2-pc_plan_next^post2 == 0), cost: 1 2: l0 -> l1 : executed_drive^0'=executed_drive^post3, is_aborted^0'=is_aborted^post3, is_aborted_next^0'=is_aborted_next^post3, n0^0'=n0^post3, n1^0'=n1^post3, pc_drive^0'=pc_drive^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=pc_loop^post3, pc_plan^0'=pc_plan^post3, pc_plan_next^0'=pc_plan_next^post3, x^0'=x^post3, x_next^0'=x_next^post3, y^0'=y^post3, y_next^0'=y_next^post3, (0 == 0 /\ -x_next^post3+x^post3 == 0 /\ 1-pc_plan_next^post3 <= 0 /\ 1-is_aborted_next^post3 <= 0 /\ -1+is_aborted_next^post3 <= 0 /\ -is_aborted_next^post3 <= 0 /\ 2-pc_plan^post3 <= 0 /\ 1-pc_drive_next^post3 <= 0 /\ y_next^post3-y^0 <= 0 /\ -is_aborted_next^post3+is_aborted^post3 == 0 /\ 3-pc_plan_next^post3 <= 0 /\ pc_drive^post3-pc_drive_next^post3 == 0 /\ n1^0-n1^post3 == 0 /\ -y_next^post3+y^0 <= 0 /\ -2+pc_plan^post3 <= 0 /\ -7+pc_plan_next^post3 <= 0 /\ n0^0-n0^post3 == 0 /\ -x_next^post3+x^0 <= 0 /\ pc_plan^post3-pc_plan_next^post3 == 0 /\ -7+pc_drive_next^post3 <= 0 /\ -1+pc_loop^post3 == 0 /\ executed_drive^0-executed_drive^post3 == 0 /\ y^post3-y_next^post3 == 0 /\ x_next^post3-x^0 <= 0 /\ -3+pc_drive_next^post3 <= 0), cost: 1 3: l0 -> l1 : executed_drive^0'=executed_drive^post4, is_aborted^0'=is_aborted^post4, is_aborted_next^0'=is_aborted_next^post4, n0^0'=n0^post4, n1^0'=n1^post4, pc_drive^0'=pc_drive^post4, pc_drive_next^0'=pc_drive_next^post4, pc_loop^0'=pc_loop^post4, pc_plan^0'=pc_plan^post4, pc_plan_next^0'=pc_plan_next^post4, x^0'=x^post4, x_next^0'=x_next^post4, y^0'=y^post4, y_next^0'=y_next^post4, (0 == 0 /\ -pc_drive_next^post4+pc_drive^post4 == 0 /\ 1-pc_drive_next^post4 <= 0 /\ pc_plan^post4-pc_plan_next^post4 == 0 /\ -1+executed_drive^post4 == 0 /\ 1-y_next^post4+y^0 <= 0 /\ 2-pc_plan^post4 <= 0 /\ 1+x^0-x_next^post4 <= 0 /\ is_aborted^post4-is_aborted_next^post4 == 0 /\ x^post4-x_next^post4 == 0 /\ -is_aborted_next^post4 <= 0 /\ -1+is_aborted_next^post4 <= 0 /\ -y_next^post4+y^post4 == 0 /\ -7+pc_plan_next^post4 <= 0 /\ -n1^post4+n1^0 == 0 /\ -7+pc_drive_next^post4 <= 0 /\ -1+pc_loop^post4 == 0 /\ -1+y_next^post4-y^0 <= 0 /\ -4+pc_drive_next^post4 <= 0 /\ 4-pc_drive_next^post4 <= 0 /\ -2+pc_plan^post4 <= 0 /\ -1-x^0+x_next^post4 <= 0 /\ 1-pc_plan_next^post4 <= 0 /\ -1+pc_plan_next^post4 <= 0 /\ n0^0-n0^post4 == 0), cost: 1 4: l0 -> l1 : executed_drive^0'=executed_drive^post5, is_aborted^0'=is_aborted^post5, is_aborted_next^0'=is_aborted_next^post5, n0^0'=n0^post5, n1^0'=n1^post5, pc_drive^0'=pc_drive^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=pc_loop^post5, pc_plan^0'=pc_plan^post5, pc_plan_next^0'=pc_plan_next^post5, x^0'=x^post5, x_next^0'=x_next^post5, y^0'=y^post5, y_next^0'=y_next^post5, (0 == 0 /\ 5-pc_drive_next^post5 <= 0 /\ x^post5-x_next^post5 == 0 /\ -y_next^post5+y^0 <= 0 /\ -7+pc_drive_next^post5 <= 0 /\ -is_aborted_next^post5 <= 0 /\ -1+is_aborted_next^post5 <= 0 /\ -pc_plan_next^post5+pc_plan^post5 == 0 /\ -2+pc_plan^post5 <= 0 /\ y_next^post5-y^0 <= 0 /\ 1-pc_plan_next^post5 <= 0 /\ -1+pc_plan_next^post5 <= 0 /\ -1+pc_loop^post5 == 0 /\ -x^0+x_next^post5 <= 0 /\ 1-pc_drive_next^post5 <= 0 /\ -7+pc_plan_next^post5 <= 0 /\ 2-pc_plan^post5 <= 0 /\ -is_aborted_next^post5+is_aborted^post5 == 0 /\ n0^0-n0^post5 == 0 /\ x^0-x_next^post5 <= 0 /\ y^post5-y_next^post5 == 0 /\ n1^0-n1^post5 == 0 /\ executed_drive^0-executed_drive^post5 == 0 /\ pc_drive^post5-pc_drive_next^post5 == 0), cost: 1 5: l0 -> l1 : executed_drive^0'=executed_drive^post6, is_aborted^0'=is_aborted^post6, is_aborted_next^0'=is_aborted_next^post6, n0^0'=n0^post6, n1^0'=n1^post6, pc_drive^0'=pc_drive^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=pc_loop^post6, pc_plan^0'=pc_plan^post6, pc_plan_next^0'=pc_plan_next^post6, x^0'=x^post6, x_next^0'=x_next^post6, y^0'=y^post6, y_next^0'=y_next^post6, (0 == 0 /\ -x_next^post6+x^post6 == 0 /\ 2-pc_plan^post6 <= 0 /\ pc_plan^post6-pc_plan_next^post6 == 0 /\ 1-pc_drive_next^post6 <= 0 /\ pc_drive^post6-pc_drive_next^post6 == 0 /\ n0^0-n0^post6 == 0 /\ -7+pc_plan_next^post6 <= 0 /\ n1^0-n1^post6 == 0 /\ executed_drive^0-executed_drive^post6 == 0 /\ x_next^post6-x^0 <= 0 /\ y^0-y_next^post6 <= 0 /\ -2+pc_plan^post6 <= 0 /\ -1+is_aborted_next^post6 <= 0 /\ -is_aborted_next^post6 <= 0 /\ -1+pc_loop^post6 == 0 /\ -7+pc_drive_next^post6 <= 0 /\ -x_next^post6+x^0 <= 0 /\ is_aborted^post6-is_aborted_next^post6 == 0 /\ y^post6-y_next^post6 == 0 /\ -y^0+y_next^post6 <= 0 /\ -3+pc_drive_next^post6 <= 0 /\ 1-pc_plan_next^post6 <= 0 /\ -1+pc_plan_next^post6 <= 0), cost: 1 30: l1 -> l4 : executed_drive^0'=executed_drive^post31, is_aborted^0'=is_aborted^post31, is_aborted_next^0'=is_aborted_next^post31, n0^0'=n0^post31, n1^0'=n1^post31, pc_drive^0'=pc_drive^post31, pc_drive_next^0'=pc_drive_next^post31, pc_loop^0'=pc_loop^post31, pc_plan^0'=pc_plan^post31, pc_plan_next^0'=pc_plan_next^post31, x^0'=x^post31, x_next^0'=x_next^post31, y^0'=y^post31, y_next^0'=y_next^post31, (0 == 0 /\ is_aborted^post31 <= 0 /\ -1+x_next^post31-x^0 <= 0 /\ 1-pc_plan_next^post31 <= 0 /\ 3-pc_plan^post31 <= 0 /\ -2+pc_loop^post31 == 0 /\ -x_next^post31+x^post31 == 0 /\ 1-pc_drive_next^post31 <= 0 /\ n0^0-n0^post31 == 0 /\ -1-y^0+y_next^post31 <= 0 /\ pc_drive^post31-pc_drive_next^post31 == 0 /\ n1^0-n1^post31 == 0 /\ -7+pc_plan_next^post31 <= 0 /\ -1+executed_drive^post31 == 0 /\ -4+pc_drive_next^post31 <= 0 /\ 4-pc_drive_next^post31 <= 0 /\ 1-x_next^post31+x^0 <= 0 /\ pc_plan^post31-pc_plan_next^post31 == 0 /\ -3+pc_plan^post31 <= 0 /\ -7+pc_drive_next^post31 <= 0 /\ -is_aborted_next^post31 <= 0 /\ -1+is_aborted_next^post31 <= 0 /\ is_aborted^post31-is_aborted_next^post31 == 0 /\ 1+y^0-y_next^post31 <= 0 /\ y^post31-y_next^post31 == 0), cost: 1 31: l1 -> l4 : executed_drive^0'=executed_drive^post32, is_aborted^0'=is_aborted^post32, is_aborted_next^0'=is_aborted_next^post32, n0^0'=n0^post32, n1^0'=n1^post32, pc_drive^0'=pc_drive^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=pc_loop^post32, pc_plan^0'=pc_plan^post32, pc_plan_next^0'=pc_plan_next^post32, x^0'=x^post32, x_next^0'=x_next^post32, y^0'=y^post32, y_next^0'=y_next^post32, (0 == 0 /\ 3-pc_plan^post32 <= 0 /\ -x^0+x_next^post32 <= 0 /\ y_next^post32-y^0 <= 0 /\ 1-pc_drive_next^post32 <= 0 /\ -y_next^post32+y^post32 == 0 /\ executed_drive^post32 == 0 /\ n0^0-n0^post32 == 0 /\ pc_plan^post32-pc_plan_next^post32 == 0 /\ -2+pc_loop^post32 == 0 /\ x^0-x_next^post32 <= 0 /\ -y_next^post32+y^0 <= 0 /\ -7+pc_plan_next^post32 <= 0 /\ -pc_drive_next^post32+pc_drive^post32 == 0 /\ x^post32-x_next^post32 == 0 /\ is_aborted^post32 <= 0 /\ -3+pc_plan^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0 /\ -is_aborted_next^post32 <= 0 /\ -1+is_aborted_next^post32 <= 0 /\ is_aborted^post32-is_aborted_next^post32 == 0 /\ -n1^post32+n1^0 == 0 /\ 1-pc_plan_next^post32 <= 0), cost: 1 32: l1 -> l4 : executed_drive^0'=executed_drive^post33, is_aborted^0'=is_aborted^post33, is_aborted_next^0'=is_aborted_next^post33, n0^0'=n0^post33, n1^0'=n1^post33, pc_drive^0'=pc_drive^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=pc_loop^post33, pc_plan^0'=pc_plan^post33, pc_plan_next^0'=pc_plan_next^post33, x^0'=x^post33, x_next^0'=x_next^post33, y^0'=y^post33, y_next^0'=y_next^post33, (0 == 0 /\ -1+is_aborted_next^post33 <= 0 /\ -is_aborted_next^post33 <= 0 /\ -3+pc_plan^post33 <= 0 /\ -7+pc_drive_next^post33 <= 0 /\ -pc_plan_next^post33+pc_plan^post33 == 0 /\ -y_next^post33+y^0 <= 0 /\ -is_aborted_next^post33+is_aborted^post33 == 0 /\ -3+pc_drive_next^post33 <= 0 /\ executed_drive^post33 == 0 /\ 1-pc_plan_next^post33 <= 0 /\ y_next^post33-y^0 <= 0 /\ 1-pc_drive_next^post33 <= 0 /\ 3-pc_plan^post33 <= 0 /\ -x^0+x_next^post33 <= 0 /\ n0^0-n0^post33 == 0 /\ is_aborted^post33 <= 0 /\ -pc_drive_next^post33+pc_drive^post33 == 0 /\ y^post33-y_next^post33 == 0 /\ -n1^post33+n1^0 == 0 /\ -2+pc_loop^post33 == 0 /\ x^0-x_next^post33 <= 0 /\ -7+pc_plan_next^post33 <= 0 /\ x^post33-x_next^post33 == 0), cost: 1 33: l1 -> l0 : executed_drive^0'=executed_drive^post34, is_aborted^0'=is_aborted^post34, is_aborted_next^0'=is_aborted_next^post34, n0^0'=n0^post34, n1^0'=n1^post34, pc_drive^0'=pc_drive^post34, pc_drive_next^0'=pc_drive_next^post34, pc_loop^0'=pc_loop^post34, pc_plan^0'=pc_plan^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=x^post34, x_next^0'=x_next^post34, y^0'=y^post34, y_next^0'=y_next^post34, (0 == 0 /\ -n1^post34+n1^0 == 0 /\ 1-is_aborted^post34 <= 0 /\ -1-y^0+y_next^post34 <= 0 /\ -x_next^post34+x^post34 == 0 /\ -1+x_next^post34-x^0 <= 0 /\ 1-pc_plan_next^post34 <= 0 /\ pc_plan^post34-pc_plan_next^post34 == 0 /\ 1-pc_drive_next^post34 <= 0 /\ -1+executed_drive^post34 == 0 /\ n0^0-n0^post34 == 0 /\ pc_drive^post34-pc_drive_next^post34 == 0 /\ -7+pc_loop^post34 == 0 /\ 1+y^0-y_next^post34 <= 0 /\ is_aborted^post34-is_aborted_next^post34 == 0 /\ 1-x_next^post34+x^0 <= 0 /\ -4+pc_drive_next^post34 <= 0 /\ 4-pc_drive_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0 /\ -1+is_aborted_next^post34 <= 0 /\ y^post34-y_next^post34 == 0 /\ -is_aborted_next^post34 <= 0 /\ -7+pc_drive_next^post34 <= 0), cost: 1 34: l1 -> l0 : executed_drive^0'=executed_drive^post35, is_aborted^0'=is_aborted^post35, is_aborted_next^0'=is_aborted_next^post35, n0^0'=n0^post35, n1^0'=n1^post35, pc_drive^0'=pc_drive^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=pc_loop^post35, pc_plan^0'=pc_plan^post35, pc_plan_next^0'=pc_plan_next^post35, x^0'=x^post35, x_next^0'=x_next^post35, y^0'=y^post35, y_next^0'=y_next^post35, (0 == 0 /\ is_aborted^post35-is_aborted_next^post35 == 0 /\ x^0-x_next^post35 <= 0 /\ -pc_drive_next^post35+pc_drive^post35 == 0 /\ 1-pc_plan_next^post35 <= 0 /\ executed_drive^post35 == 0 /\ 1-pc_drive_next^post35 <= 0 /\ -n1^post35+n1^0 == 0 /\ -x^0+x_next^post35 <= 0 /\ -n0^post35+n0^0 == 0 /\ -7+pc_loop^post35 == 0 /\ x^post35-x_next^post35 == 0 /\ -1+is_aborted_next^post35 <= 0 /\ -is_aborted_next^post35 <= 0 /\ -y_next^post35+y^0 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ -y_next^post35+y^post35 == 0 /\ -pc_plan_next^post35+pc_plan^post35 == 0 /\ y_next^post35-y^0 <= 0 /\ 5-pc_drive_next^post35 <= 0 /\ 1-is_aborted^post35 <= 0), cost: 1 35: l1 -> l0 : executed_drive^0'=executed_drive^post36, is_aborted^0'=is_aborted^post36, is_aborted_next^0'=is_aborted_next^post36, n0^0'=n0^post36, n1^0'=n1^post36, pc_drive^0'=pc_drive^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=pc_loop^post36, pc_plan^0'=pc_plan^post36, pc_plan_next^0'=pc_plan_next^post36, x^0'=x^post36, x_next^0'=x_next^post36, y^0'=y^post36, y_next^0'=y_next^post36, (0 == 0 /\ -x_next^post36+x^post36 == 0 /\ 1-pc_plan_next^post36 <= 0 /\ -is_aborted_next^post36+is_aborted^post36 == 0 /\ n0^0-n0^post36 == 0 /\ 1-pc_drive_next^post36 <= 0 /\ y_next^post36-y^0 <= 0 /\ n1^0-n1^post36 == 0 /\ -7+pc_loop^post36 == 0 /\ -is_aborted_next^post36 <= 0 /\ -y_next^post36+y^0 <= 0 /\ -1+is_aborted_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ executed_drive^post36 == 0 /\ -x_next^post36+x^0 <= 0 /\ pc_plan^post36-pc_plan_next^post36 == 0 /\ -7+pc_drive_next^post36 <= 0 /\ 1-is_aborted^post36 <= 0 /\ y^post36-y_next^post36 == 0 /\ x_next^post36-x^0 <= 0 /\ pc_drive^post36-pc_drive_next^post36 == 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 6: l2 -> l3 : executed_drive^0'=executed_drive^post7, is_aborted^0'=is_aborted^post7, is_aborted_next^0'=is_aborted_next^post7, n0^0'=n0^post7, n1^0'=n1^post7, pc_drive^0'=pc_drive^post7, pc_drive_next^0'=pc_drive_next^post7, pc_loop^0'=pc_loop^post7, pc_plan^0'=pc_plan^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=x^post7, x_next^0'=x_next^post7, y^0'=y^post7, y_next^0'=y_next^post7, (0 == 0 /\ 1-pc_drive_next^post7 <= 0 /\ -4+pc_loop^post7 == 0 /\ is_aborted^post7-is_aborted_next^post7 == 0 /\ -pc_drive_next^post7+pc_drive^post7 == 0 /\ 1-executed_drive^post7 <= 0 /\ -1+executed_drive^post7 <= 0 /\ -1+executed_drive^post7 == 0 /\ -7+pc_plan_next^post7 <= 0 /\ y^post7-y_next^post7 == 0 /\ -n0^post7+n0^0 == 0 /\ 1-y_next^post7+y^0 <= 0 /\ 1+x^0-x_next^post7 <= 0 /\ -is_aborted_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ x^post7-x_next^post7 == 0 /\ -7+pc_drive_next^post7 <= 0 /\ -4+pc_drive_next^post7 <= 0 /\ 4-pc_drive_next^post7 <= 0 /\ pc_plan^post7-pc_plan_next^post7 == 0 /\ 1-pc_plan_next^post7 <= 0 /\ -n1^post7+n1^0 == 0 /\ -1+y_next^post7-y^0 <= 0 /\ -1-x^0+x_next^post7 <= 0 /\ -7+pc_drive^post7 <= 0 /\ 7-pc_drive^post7 <= 0), cost: 1 7: l2 -> l3 : executed_drive^0'=executed_drive^post8, is_aborted^0'=is_aborted^post8, is_aborted_next^0'=is_aborted_next^post8, n0^0'=n0^post8, n1^0'=n1^post8, pc_drive^0'=pc_drive^post8, pc_drive_next^0'=pc_drive_next^post8, pc_loop^0'=pc_loop^post8, pc_plan^0'=pc_plan^post8, pc_plan_next^0'=pc_plan_next^post8, x^0'=x^post8, x_next^0'=x_next^post8, y^0'=y^post8, y_next^0'=y_next^post8, (0 == 0 /\ 1-pc_plan_next^post8 <= 0 /\ -7+pc_drive^post8 <= 0 /\ 7-pc_drive^post8 <= 0 /\ -x_next^post8+x^post8 == 0 /\ pc_plan^post8-pc_plan_next^post8 == 0 /\ pc_drive^post8-pc_drive_next^post8 == 0 /\ -4+pc_loop^post8 == 0 /\ 1-pc_drive_next^post8 <= 0 /\ n0^0-n0^post8 == 0 /\ -n1^post8+n1^0 == 0 /\ y_next^post8-y^0 <= 0 /\ executed_drive^0-executed_drive^post8 == 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ -1+executed_drive^0 <= 0 /\ x_next^post8-x^0 <= 0 /\ -y_next^post8+y^0 <= 0 /\ -7+pc_drive_next^post8 <= 0 /\ is_aborted^post8-is_aborted_next^post8 == 0 /\ y^post8-y_next^post8 == 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 5-pc_drive_next^post8 <= 0 /\ -x_next^post8+x^0 <= 0), cost: 1 8: l2 -> l3 : executed_drive^0'=executed_drive^post9, is_aborted^0'=is_aborted^post9, is_aborted_next^0'=is_aborted_next^post9, n0^0'=n0^post9, n1^0'=n1^post9, pc_drive^0'=pc_drive^post9, pc_drive_next^0'=pc_drive_next^post9, pc_loop^0'=pc_loop^post9, pc_plan^0'=pc_plan^post9, pc_plan_next^0'=pc_plan_next^post9, x^0'=x^post9, x_next^0'=x_next^post9, y^0'=y^post9, y_next^0'=y_next^post9, (0 == 0 /\ 1-pc_plan_next^post9 <= 0 /\ -7+pc_drive^post9 <= 0 /\ 7-pc_drive^post9 <= 0 /\ x^0-x_next^post9 <= 0 /\ 1-pc_drive_next^post9 <= 0 /\ n0^0-n0^post9 == 0 /\ -pc_plan_next^post9+pc_plan^post9 == 0 /\ -executed_drive^post9+executed_drive^0 == 0 /\ x^post9-x_next^post9 == 0 /\ -x^0+x_next^post9 <= 0 /\ -4+pc_loop^post9 == 0 /\ -y_next^post9+y^0 <= 0 /\ -7+pc_plan_next^post9 <= 0 /\ -7+pc_drive_next^post9 <= 0 /\ -is_aborted_next^post9 <= 0 /\ -1+is_aborted_next^post9 <= 0 /\ 1-executed_drive^0 <= 0 /\ -1+executed_drive^0 <= 0 /\ -n1^post9+n1^0 == 0 /\ y_next^post9-y^0 <= 0 /\ -y_next^post9+y^post9 == 0 /\ -pc_drive_next^post9+pc_drive^post9 == 0 /\ -3+pc_drive_next^post9 <= 0 /\ is_aborted^post9-is_aborted_next^post9 == 0), cost: 1 9: l2 -> l3 : executed_drive^0'=executed_drive^post10, is_aborted^0'=is_aborted^post10, is_aborted_next^0'=is_aborted_next^post10, n0^0'=n0^post10, n1^0'=n1^post10, pc_drive^0'=pc_drive^post10, pc_drive_next^0'=pc_drive_next^post10, pc_loop^0'=pc_loop^post10, pc_plan^0'=pc_plan^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=x^post10, x_next^0'=x_next^post10, y^0'=y^post10, y_next^0'=y_next^post10, (0 == 0 /\ -pc_plan_next^post10+pc_plan^post10 == 0 /\ -4+pc_drive_next^post10 <= 0 /\ 4-pc_drive_next^post10 <= 0 /\ -is_aborted_next^post10 <= 0 /\ -1+is_aborted_next^post10 <= 0 /\ -1+executed_drive^post10 == 0 /\ -7+pc_drive_next^post10 <= 0 /\ y^post10-y_next^post10 == 0 /\ -1-x^0+x_next^post10 <= 0 /\ 1-y_next^post10+y^0 <= 0 /\ 1-pc_plan_next^post10 <= 0 /\ 2-pc_drive^post10 <= 0 /\ -4+pc_loop^post10 == 0 /\ -n1^post10+n1^0 == 0 /\ 1-pc_drive_next^post10 <= 0 /\ -is_aborted_next^post10+is_aborted^post10 == 0 /\ pc_drive^post10-pc_drive_next^post10 == 0 /\ n0^0-n0^post10 == 0 /\ 1+x^0-x_next^post10 <= 0 /\ x^post10-x_next^post10 == 0 /\ -7+pc_plan_next^post10 <= 0 /\ -1+y_next^post10-y^0 <= 0 /\ -2+pc_drive^post10 <= 0), cost: 1 10: l2 -> l3 : executed_drive^0'=executed_drive^post11, is_aborted^0'=is_aborted^post11, is_aborted_next^0'=is_aborted_next^post11, n0^0'=n0^post11, n1^0'=n1^post11, pc_drive^0'=pc_drive^post11, pc_drive_next^0'=pc_drive_next^post11, pc_loop^0'=pc_loop^post11, pc_plan^0'=pc_plan^post11, pc_plan_next^0'=pc_plan_next^post11, x^0'=x^post11, x_next^0'=x_next^post11, y^0'=y^post11, y_next^0'=y_next^post11, (0 == 0 /\ -7+pc_drive_next^post11 <= 0 /\ -x_next^post11+x^0 <= 0 /\ -2+pc_drive^post11 <= 0 /\ pc_drive^post11-pc_drive_next^post11 == 0 /\ 5-pc_drive_next^post11 <= 0 /\ pc_plan^post11-pc_plan_next^post11 == 0 /\ 1-pc_plan_next^post11 <= 0 /\ x_next^post11-x^0 <= 0 /\ n0^0-n0^post11 == 0 /\ 1-pc_drive_next^post11 <= 0 /\ 2-pc_drive^post11 <= 0 /\ -y^0+y_next^post11 <= 0 /\ -4+pc_loop^post11 == 0 /\ -1+is_aborted_next^post11 <= 0 /\ -is_aborted_next^post11 <= 0 /\ executed_drive^post11 == 0 /\ -7+pc_plan_next^post11 <= 0 /\ is_aborted^post11-is_aborted_next^post11 == 0 /\ -n1^post11+n1^0 == 0 /\ y^post11-y_next^post11 == 0 /\ y^0-y_next^post11 <= 0 /\ -x_next^post11+x^post11 == 0), cost: 1 11: l2 -> l3 : executed_drive^0'=executed_drive^post12, is_aborted^0'=is_aborted^post12, is_aborted_next^0'=is_aborted_next^post12, n0^0'=n0^post12, n1^0'=n1^post12, pc_drive^0'=pc_drive^post12, pc_drive_next^0'=pc_drive_next^post12, pc_loop^0'=pc_loop^post12, pc_plan^0'=pc_plan^post12, pc_plan_next^0'=pc_plan_next^post12, x^0'=x^post12, x_next^0'=x_next^post12, y^0'=y^post12, y_next^0'=y_next^post12, (0 == 0 /\ -3+pc_drive_next^post12 <= 0 /\ -pc_drive_next^post12+pc_drive^post12 == 0 /\ x^post12-x_next^post12 == 0 /\ executed_drive^post12 == 0 /\ -7+pc_plan_next^post12 <= 0 /\ -7+pc_drive_next^post12 <= 0 /\ n0^0-n0^post12 == 0 /\ y^post12-y_next^post12 == 0 /\ -2+pc_drive^post12 <= 0 /\ y_next^post12-y^0 <= 0 /\ -n1^post12+n1^0 == 0 /\ x^0-x_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0 /\ 1-is_aborted_next^post12 <= 0 /\ -1+is_aborted_next^post12 <= 0 /\ -is_aborted_next^post12 <= 0 /\ -y_next^post12+y^0 <= 0 /\ -x^0+x_next^post12 <= 0 /\ pc_plan^post12-pc_plan_next^post12 == 0 /\ -4+pc_loop^post12 == 0 /\ 1-pc_drive_next^post12 <= 0 /\ is_aborted^post12-is_aborted_next^post12 == 0 /\ 2-pc_drive^post12 <= 0), cost: 1 12: l3 -> l0 : executed_drive^0'=executed_drive^post13, is_aborted^0'=is_aborted^post13, is_aborted_next^0'=is_aborted_next^post13, n0^0'=n0^post13, n1^0'=n1^post13, pc_drive^0'=pc_drive^post13, pc_drive_next^0'=pc_drive_next^post13, pc_loop^0'=pc_loop^post13, pc_plan^0'=pc_plan^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=x^post13, x_next^0'=x_next^post13, y^0'=y^post13, y_next^0'=y_next^post13, (0 == 0 /\ pc_plan^post13-pc_plan_next^post13 == 0 /\ -is_aborted_next^post13 <= 0 /\ -1+is_aborted_next^post13 <= 0 /\ -1+y_next^post13-y^0 <= 0 /\ -7+pc_plan_next^post13 <= 0 /\ -1+x_next^post13-x^0 <= 0 /\ -n1^post13+n1^0 == 0 /\ -y_next^post13+y^post13 == 0 /\ 1-is_aborted^post13 <= 0 /\ 1-pc_drive_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0 /\ -7+pc_loop^post13 == 0 /\ 1-y_next^post13+y^0 <= 0 /\ n0^0-n0^post13 == 0 /\ is_aborted^post13-is_aborted_next^post13 == 0 /\ pc_drive^post13-pc_drive_next^post13 == 0 /\ 1-x_next^post13+x^0 <= 0 /\ -1+executed_drive^post13 == 0 /\ -4+pc_drive_next^post13 <= 0 /\ 4-pc_drive_next^post13 <= 0 /\ -7+pc_drive_next^post13 <= 0 /\ x^post13-x_next^post13 == 0), cost: 1 13: l3 -> l0 : executed_drive^0'=executed_drive^post14, is_aborted^0'=is_aborted^post14, is_aborted_next^0'=is_aborted_next^post14, n0^0'=n0^post14, n1^0'=n1^post14, pc_drive^0'=pc_drive^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=pc_loop^post14, pc_plan^0'=pc_plan^post14, pc_plan_next^0'=pc_plan_next^post14, x^0'=x^post14, x_next^0'=x_next^post14, y^0'=y^post14, y_next^0'=y_next^post14, (0 == 0 /\ is_aborted^post14-is_aborted_next^post14 == 0 /\ -x^0+x_next^post14 <= 0 /\ -y_next^post14+y^post14 == 0 /\ y_next^post14-y^0 <= 0 /\ -pc_drive_next^post14+pc_drive^post14 == 0 /\ 1-pc_plan_next^post14 <= 0 /\ x^0-x_next^post14 <= 0 /\ 1-is_aborted^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -y_next^post14+y^0 <= 0 /\ -7+pc_loop^post14 == 0 /\ x^post14-x_next^post14 == 0 /\ -n1^post14+n1^0 == 0 /\ n0^0-n0^post14 == 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ -pc_plan_next^post14+pc_plan^post14 == 0 /\ -executed_drive^post14+executed_drive^0 == 0 /\ 5-pc_drive_next^post14 <= 0 /\ -is_aborted_next^post14 <= 0 /\ -1+is_aborted_next^post14 <= 0), cost: 1 14: l3 -> l0 : executed_drive^0'=executed_drive^post15, is_aborted^0'=is_aborted^post15, is_aborted_next^0'=is_aborted_next^post15, n0^0'=n0^post15, n1^0'=n1^post15, pc_drive^0'=pc_drive^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=pc_loop^post15, pc_plan^0'=pc_plan^post15, pc_plan_next^0'=pc_plan_next^post15, x^0'=x^post15, x_next^0'=x_next^post15, y^0'=y^post15, y_next^0'=y_next^post15, (0 == 0 /\ n1^0-n1^post15 == 0 /\ -is_aborted_next^post15+is_aborted^post15 == 0 /\ executed_drive^0-executed_drive^post15 == 0 /\ -3+pc_drive_next^post15 <= 0 /\ -y_next^post15+y^0 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ x^post15-x_next^post15 == 0 /\ -1+is_aborted_next^post15 <= 0 /\ -is_aborted_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ y^post15-y_next^post15 == 0 /\ y_next^post15-y^0 <= 0 /\ x^0-x_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-is_aborted^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0 /\ pc_plan^post15-pc_plan_next^post15 == 0 /\ -x^0+x_next^post15 <= 0 /\ n0^0-n0^post15 == 0 /\ -7+pc_loop^post15 == 0 /\ pc_drive^post15-pc_drive_next^post15 == 0), cost: 1 15: l3 -> l0 : executed_drive^0'=executed_drive^post16, is_aborted^0'=is_aborted^post16, is_aborted_next^0'=is_aborted_next^post16, n0^0'=n0^post16, n1^0'=n1^post16, pc_drive^0'=pc_drive^post16, pc_drive_next^0'=pc_drive_next^post16, pc_loop^0'=pc_loop^post16, pc_plan^0'=pc_plan^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=x^post16, x_next^0'=x_next^post16, y^0'=y^post16, y_next^0'=y_next^post16, (0 == 0 /\ -4+pc_drive_next^post16 <= 0 /\ 4-pc_drive_next^post16 <= 0 /\ -7+pc_plan_next^post16 <= 0 /\ -1+is_aborted_next^post16 <= 0 /\ y^post16-y_next^post16 == 0 /\ -is_aborted_next^post16 <= 0 /\ pc_plan^post16-pc_plan_next^post16 == 0 /\ -7+pc_drive_next^post16 <= 0 /\ 1-x_next^post16+x^0 <= 0 /\ is_aborted^post16 <= 0 /\ -x^post16+n0^0 <= 0 /\ -1-y^0+y_next^post16 <= 0 /\ is_aborted^post16-is_aborted_next^post16 == 0 /\ -n1^post16+n1^0 == 0 /\ 1-pc_plan_next^post16 <= 0 /\ x^post16-x_next^post16 == 0 /\ 1-pc_drive_next^post16 <= 0 /\ -1+x_next^post16-x^0 <= 0 /\ n0^0-n0^post16 == 0 /\ -7+pc_loop^post16 == 0 /\ 1+y^0-y_next^post16 <= 0 /\ pc_drive^post16-pc_drive_next^post16 == 0 /\ -y^post16+n1^0 <= 0 /\ -1+executed_drive^post16 == 0), cost: 1 16: l3 -> l0 : executed_drive^0'=executed_drive^post17, is_aborted^0'=is_aborted^post17, is_aborted_next^0'=is_aborted_next^post17, n0^0'=n0^post17, n1^0'=n1^post17, pc_drive^0'=pc_drive^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=pc_loop^post17, pc_plan^0'=pc_plan^post17, pc_plan_next^0'=pc_plan_next^post17, x^0'=x^post17, x_next^0'=x_next^post17, y^0'=y^post17, y_next^0'=y_next^post17, (0 == 0 /\ -n1^post17+n1^0 == 0 /\ -x_next^post17+x^0 <= 0 /\ is_aborted^post17 <= 0 /\ is_aborted^post17-is_aborted_next^post17 == 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ x_next^post17-x^0 <= 0 /\ -y^post17+n1^0 <= 0 /\ pc_plan^post17-pc_plan_next^post17 == 0 /\ n0^0-n0^post17 == 0 /\ y^0-y_next^post17 <= 0 /\ pc_drive^post17-pc_drive_next^post17 == 0 /\ -7+pc_loop^post17 == 0 /\ executed_drive^0-executed_drive^post17 == 0 /\ -x_next^post17+x^post17 == 0 /\ -y^0+y_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ y^post17-y_next^post17 == 0 /\ n0^0-x^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0 /\ -is_aborted_next^post17 <= 0 /\ -1+is_aborted_next^post17 <= 0), cost: 1 17: l3 -> l0 : executed_drive^0'=executed_drive^post18, is_aborted^0'=is_aborted^post18, is_aborted_next^0'=is_aborted_next^post18, n0^0'=n0^post18, n1^0'=n1^post18, pc_drive^0'=pc_drive^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=pc_loop^post18, pc_plan^0'=pc_plan^post18, pc_plan_next^0'=pc_plan_next^post18, x^0'=x^post18, x_next^0'=x_next^post18, y^0'=y^post18, y_next^0'=y_next^post18, (0 == 0 /\ -pc_drive_next^post18+pc_drive^post18 == 0 /\ x^0-x_next^post18 <= 0 /\ -executed_drive^post18+executed_drive^0 == 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ is_aborted^post18-is_aborted_next^post18 == 0 /\ -n1^post18+n1^0 == 0 /\ -x^0+x_next^post18 <= 0 /\ n0^0-n0^post18 == 0 /\ n1^0-y^post18 <= 0 /\ -7+pc_loop^post18 == 0 /\ is_aborted^post18 <= 0 /\ x^post18-x_next^post18 == 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -y_next^post18+y^0 <= 0 /\ n0^0-x^post18 <= 0 /\ -is_aborted_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0 /\ -1+is_aborted_next^post18 <= 0 /\ -y_next^post18+y^post18 == 0 /\ -pc_plan_next^post18+pc_plan^post18 == 0 /\ y_next^post18-y^0 <= 0), cost: 1 18: l3 -> l4 : executed_drive^0'=executed_drive^post19, is_aborted^0'=is_aborted^post19, is_aborted_next^0'=is_aborted_next^post19, n0^0'=n0^post19, n1^0'=n1^post19, pc_drive^0'=pc_drive^post19, pc_drive_next^0'=pc_drive_next^post19, pc_loop^0'=pc_loop^post19, pc_plan^0'=pc_plan^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^post19, x_next^0'=x_next^post19, y^0'=y^post19, y_next^0'=y_next^post19, (0 == 0 /\ -7+pc_plan_next^post19 <= 0 /\ -1+y_next^post19-y^0 <= 0 /\ -is_aborted_next^post19+is_aborted^post19 == 0 /\ -4+pc_drive_next^post19 <= 0 /\ 4-pc_drive_next^post19 <= 0 /\ n0^0-n0^post19 == 0 /\ -1-x^0+x_next^post19 <= 0 /\ -7+pc_drive_next^post19 <= 0 /\ 1-executed_drive^post19 <= 0 /\ -1+executed_drive^post19 <= 0 /\ -1+executed_drive^post19 == 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^post19 <= 0 /\ -is_aborted_next^post19 <= 0 /\ -1+is_aborted_next^post19 <= 0 /\ 1-n1^0 <= 0 /\ 1-y_next^post19+y^0 <= 0 /\ 1-pc_plan_next^post19 <= 0 /\ 1+x^0-x_next^post19 <= 0 /\ -2+pc_loop^post19 == 0 /\ 1-pc_drive_next^post19 <= 0 /\ y^post19-y_next^post19 == 0 /\ x^post19-x_next^post19 == 0 /\ 1+y^post19-n1^0 <= 0 /\ is_aborted^post19 <= 0 /\ pc_drive^post19-pc_drive_next^post19 == 0 /\ n1^0-n1^post19 == 0 /\ -pc_plan_next^post19+pc_plan^post19 == 0), cost: 1 19: l3 -> l4 : executed_drive^0'=executed_drive^post20, is_aborted^0'=is_aborted^post20, is_aborted_next^0'=is_aborted_next^post20, n0^0'=n0^post20, n1^0'=n1^post20, pc_drive^0'=pc_drive^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=pc_loop^post20, pc_plan^0'=pc_plan^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=x^post20, x_next^0'=x_next^post20, y^0'=y^post20, y_next^0'=y_next^post20, (0 == 0 /\ -7+pc_drive_next^post20 <= 0 /\ is_aborted^post20-is_aborted_next^post20 == 0 /\ y^post20-y_next^post20 == 0 /\ -n1^post20+n1^0 == 0 /\ is_aborted^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ x_next^post20-x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+x^post20-n0^0 <= 0 /\ -x_next^post20+x^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ pc_drive^post20-pc_drive_next^post20 == 0 /\ n0^0-n0^post20 == 0 /\ 1-pc_drive_next^post20 <= 0 /\ -y^0+y_next^post20 <= 0 /\ 1+y^post20-n1^0 <= 0 /\ executed_drive^0-executed_drive^post20 == 0 /\ pc_plan^post20-pc_plan_next^post20 == 0 /\ 1-executed_drive^0 <= 0 /\ -1+executed_drive^0 <= 0 /\ -2+pc_loop^post20 == 0 /\ y^0-y_next^post20 <= 0 /\ -7+pc_plan_next^post20 <= 0 /\ -1+is_aborted_next^post20 <= 0 /\ x^post20-x_next^post20 == 0 /\ -is_aborted_next^post20 <= 0), cost: 1 20: l3 -> l4 : executed_drive^0'=executed_drive^post21, is_aborted^0'=is_aborted^post21, is_aborted_next^0'=is_aborted_next^post21, n0^0'=n0^post21, n1^0'=n1^post21, pc_drive^0'=pc_drive^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=pc_loop^post21, pc_plan^0'=pc_plan^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^post21, x_next^0'=x_next^post21, y^0'=y^post21, y_next^0'=y_next^post21, (0 == 0 /\ -2+pc_loop^post21 == 0 /\ -x_next^post21+x^0 <= 0 /\ 1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1+y^post21-n1^0 <= 0 /\ 1-n0^0+x^post21 <= 0 /\ -x_next^post21+x^post21 == 0 /\ -7+pc_plan_next^post21 <= 0 /\ -n1^post21+n1^0 == 0 /\ y^post21-y_next^post21 == 0 /\ x_next^post21-x^0 <= 0 /\ n0^0-n0^post21 == 0 /\ 1-n1^0 <= 0 /\ -executed_drive^post21+executed_drive^0 == 0 /\ is_aborted^post21 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ y_next^post21-y^0 <= 0 /\ 1-executed_drive^0 <= 0 /\ -1+executed_drive^0 <= 0 /\ -1+is_aborted_next^post21 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -is_aborted_next^post21 <= 0 /\ pc_plan^post21-pc_plan_next^post21 == 0 /\ -3+pc_drive_next^post21 <= 0 /\ is_aborted^post21-is_aborted_next^post21 == 0 /\ -y_next^post21+y^0 <= 0 /\ -pc_drive_next^post21+pc_drive^post21 == 0), cost: 1 24: l4 -> l5 : executed_drive^0'=executed_drive^post25, is_aborted^0'=is_aborted^post25, is_aborted_next^0'=is_aborted_next^post25, n0^0'=n0^post25, n1^0'=n1^post25, pc_drive^0'=pc_drive^post25, pc_drive_next^0'=pc_drive_next^post25, pc_loop^0'=pc_loop^post25, pc_plan^0'=pc_plan^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=x^post25, x_next^0'=x_next^post25, y^0'=y^post25, y_next^0'=y_next^post25, (0 == 0 /\ -1+executed_drive^post25 == 0 /\ -7+pc_plan_next^post25 <= 0 /\ pc_plan^post25-pc_plan_next^post25 == 0 /\ -1+x_next^post25-x^0 <= 0 /\ -4+pc_drive_next^post25 <= 0 /\ 4-pc_drive_next^post25 <= 0 /\ -7+pc_drive_next^post25 <= 0 /\ -1+y_next^post25-y^0 <= 0 /\ -1+is_aborted_next^post25 <= 0 /\ -is_aborted_next^post25 <= 0 /\ -n1^post25+n1^0 == 0 /\ is_aborted^post25 <= 0 /\ is_aborted^post25-is_aborted_next^post25 == 0 /\ -y_next^post25+y^post25 == 0 /\ -3+pc_loop^post25 == 0 /\ 1-x_next^post25+x^0 <= 0 /\ 1-pc_plan_next^post25 <= 0 /\ pc_drive^post25-pc_drive_next^post25 == 0 /\ 1-pc_drive_next^post25 <= 0 /\ 1-y_next^post25+y^0 <= 0 /\ x^post25-x_next^post25 == 0 /\ n0^0-n0^post25 == 0), cost: 1 25: l4 -> l5 : executed_drive^0'=executed_drive^post26, is_aborted^0'=is_aborted^post26, is_aborted_next^0'=is_aborted_next^post26, n0^0'=n0^post26, n1^0'=n1^post26, pc_drive^0'=pc_drive^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=pc_loop^post26, pc_plan^0'=pc_plan^post26, pc_plan_next^0'=pc_plan_next^post26, x^0'=x^post26, x_next^0'=x_next^post26, y^0'=y^post26, y_next^0'=y_next^post26, (0 == 0 /\ y_next^post26-y^0 <= 0 /\ pc_plan^post26-pc_plan_next^post26 == 0 /\ 1-pc_drive_next^post26 <= 0 /\ x_next^post26-x^0 <= 0 /\ n0^0-n0^post26 == 0 /\ -y_next^post26+y^0 <= 0 /\ -is_aborted_next^post26+is_aborted^post26 == 0 /\ n1^0-n1^post26 == 0 /\ -x_next^post26+x^0 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -3+pc_loop^post26 == 0 /\ -7+pc_drive_next^post26 <= 0 /\ y^post26-y_next^post26 == 0 /\ pc_drive^post26-pc_drive_next^post26 == 0 /\ -is_aborted_next^post26 <= 0 /\ -1+is_aborted_next^post26 <= 0 /\ is_aborted^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ executed_drive^0-executed_drive^post26 == 0 /\ 1-pc_plan_next^post26 <= 0 /\ -x_next^post26+x^post26 == 0), cost: 1 26: l4 -> l5 : executed_drive^0'=executed_drive^post27, is_aborted^0'=is_aborted^post27, is_aborted_next^0'=is_aborted_next^post27, n0^0'=n0^post27, n1^0'=n1^post27, pc_drive^0'=pc_drive^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=pc_loop^post27, pc_plan^0'=pc_plan^post27, pc_plan_next^0'=pc_plan_next^post27, x^0'=x^post27, x_next^0'=x_next^post27, y^0'=y^post27, y_next^0'=y_next^post27, (0 == 0 /\ -y_next^post27+y^0 <= 0 /\ -y_next^post27+y^post27 == 0 /\ is_aborted^post27-is_aborted_next^post27 == 0 /\ -3+pc_drive_next^post27 <= 0 /\ pc_drive^post27-pc_drive_next^post27 == 0 /\ -1+is_aborted_next^post27 <= 0 /\ -is_aborted_next^post27 <= 0 /\ -n1^post27+n1^0 == 0 /\ -x_next^post27+x^0 <= 0 /\ -3+pc_loop^post27 == 0 /\ y_next^post27-y^0 <= 0 /\ is_aborted^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ x_next^post27-x^0 <= 0 /\ -executed_drive^post27+executed_drive^0 == 0 /\ x^post27-x_next^post27 == 0 /\ 1-pc_plan_next^post27 <= 0 /\ n0^0-n0^post27 == 0 /\ pc_plan^post27-pc_plan_next^post27 == 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 27: l4 -> l0 : executed_drive^0'=executed_drive^post28, is_aborted^0'=is_aborted^post28, is_aborted_next^0'=is_aborted_next^post28, n0^0'=n0^post28, n1^0'=n1^post28, pc_drive^0'=pc_drive^post28, pc_drive_next^0'=pc_drive_next^post28, pc_loop^0'=pc_loop^post28, pc_plan^0'=pc_plan^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=x^post28, x_next^0'=x_next^post28, y^0'=y^post28, y_next^0'=y_next^post28, (0 == 0 /\ 1+x^0-x_next^post28 <= 0 /\ -is_aborted_next^post28 <= 0 /\ -1+is_aborted_next^post28 <= 0 /\ 1-pc_plan_next^post28 <= 0 /\ 1-pc_drive_next^post28 <= 0 /\ -pc_drive_next^post28+pc_drive^post28 == 0 /\ -7+pc_loop^post28 == 0 /\ -1+y_next^post28-y^0 <= 0 /\ 1-is_aborted^post28 <= 0 /\ -1-x^0+x_next^post28 <= 0 /\ x^post28-x_next^post28 == 0 /\ -7+pc_plan_next^post28 <= 0 /\ n0^0-n0^post28 == 0 /\ -7+pc_drive_next^post28 <= 0 /\ -pc_plan_next^post28+pc_plan^post28 == 0 /\ -is_aborted_next^post28+is_aborted^post28 == 0 /\ -n1^post28+n1^0 == 0 /\ -1+executed_drive^post28 == 0 /\ -4+pc_drive_next^post28 <= 0 /\ 4-pc_drive_next^post28 <= 0 /\ 1-y_next^post28+y^0 <= 0 /\ y^post28-y_next^post28 == 0), cost: 1 28: l4 -> l0 : executed_drive^0'=executed_drive^post29, is_aborted^0'=is_aborted^post29, is_aborted_next^0'=is_aborted_next^post29, n0^0'=n0^post29, n1^0'=n1^post29, pc_drive^0'=pc_drive^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=pc_loop^post29, pc_plan^0'=pc_plan^post29, pc_plan_next^0'=pc_plan_next^post29, x^0'=x^post29, x_next^0'=x_next^post29, y^0'=y^post29, y_next^0'=y_next^post29, (0 == 0 /\ 1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ y^post29-y_next^post29 == 0 /\ n0^0-n0^post29 == 0 /\ -x_next^post29+x^post29 == 0 /\ -7+pc_loop^post29 == 0 /\ n1^0-n1^post29 == 0 /\ executed_drive^0-executed_drive^post29 == 0 /\ -1+is_aborted_next^post29 <= 0 /\ pc_plan^post29-pc_plan_next^post29 == 0 /\ -x_next^post29+x^0 <= 0 /\ -is_aborted_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ -y_next^post29+y^0 <= 0 /\ pc_drive^post29-pc_drive_next^post29 == 0 /\ 5-pc_drive_next^post29 <= 0 /\ x_next^post29-x^0 <= 0 /\ -is_aborted_next^post29+is_aborted^post29 == 0 /\ 1-is_aborted^post29 <= 0 /\ y_next^post29-y^0 <= 0), cost: 1 29: l4 -> l0 : executed_drive^0'=executed_drive^post30, is_aborted^0'=is_aborted^post30, is_aborted_next^0'=is_aborted_next^post30, n0^0'=n0^post30, n1^0'=n1^post30, pc_drive^0'=pc_drive^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=pc_loop^post30, pc_plan^0'=pc_plan^post30, pc_plan_next^0'=pc_plan_next^post30, x^0'=x^post30, x_next^0'=x_next^post30, y^0'=y^post30, y_next^0'=y_next^post30, (0 == 0 /\ y_next^post30-y^0 <= 0 /\ -n1^post30+n1^0 == 0 /\ -n0^post30+n0^0 == 0 /\ y^post30-y_next^post30 == 0 /\ pc_drive^post30-pc_drive_next^post30 == 0 /\ -7+pc_loop^post30 == 0 /\ -3+pc_drive_next^post30 <= 0 /\ -y_next^post30+y^0 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -1+is_aborted_next^post30 <= 0 /\ -is_aborted_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ -x^0+x_next^post30 <= 0 /\ is_aborted^post30-is_aborted_next^post30 == 0 /\ 1-is_aborted^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ x^0-x_next^post30 <= 0 /\ x^post30-x_next^post30 == 0 /\ pc_plan^post30-pc_plan_next^post30 == 0 /\ 1-pc_drive_next^post30 <= 0 /\ -executed_drive^post30+executed_drive^0 == 0), cost: 1 21: l5 -> l2 : executed_drive^0'=executed_drive^post22, is_aborted^0'=is_aborted^post22, is_aborted_next^0'=is_aborted_next^post22, n0^0'=n0^post22, n1^0'=n1^post22, pc_drive^0'=pc_drive^post22, pc_drive_next^0'=pc_drive_next^post22, pc_loop^0'=pc_loop^post22, pc_plan^0'=pc_plan^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=x^post22, x_next^0'=x_next^post22, y^0'=y^post22, y_next^0'=y_next^post22, (0 == 0 /\ -7+pc_drive_next^post22 <= 0 /\ x^post22-x_next^post22 == 0 /\ pc_drive^post22-pc_drive_next^post22 == 0 /\ -is_aborted_next^post22 <= 0 /\ -1+is_aborted_next^post22 <= 0 /\ -1+y_next^post22-y^0 <= 0 /\ -4+pc_drive_next^post22 <= 0 /\ 4-pc_drive_next^post22 <= 0 /\ -y_next^post22+y^post22 == 0 /\ 1-pc_plan_next^post22 <= 0 /\ 1-is_aborted^post22 <= 0 /\ -1+x_next^post22-x^0 <= 0 /\ is_aborted^post22-is_aborted_next^post22 == 0 /\ pc_plan^post22-pc_plan_next^post22 == 0 /\ 1-pc_drive_next^post22 <= 0 /\ -6+pc_loop^post22 == 0 /\ 1-y_next^post22+y^0 <= 0 /\ n0^0-n0^post22 == 0 /\ -1+executed_drive^post22 == 0 /\ -n1^post22+n1^0 == 0 /\ -7+pc_plan_next^post22 <= 0 /\ 1-x_next^post22+x^0 <= 0), cost: 1 22: l5 -> l2 : executed_drive^0'=executed_drive^post23, is_aborted^0'=is_aborted^post23, is_aborted_next^0'=is_aborted_next^post23, n0^0'=n0^post23, n1^0'=n1^post23, pc_drive^0'=pc_drive^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=pc_loop^post23, pc_plan^0'=pc_plan^post23, pc_plan_next^0'=pc_plan_next^post23, x^0'=x^post23, x_next^0'=x_next^post23, y^0'=y^post23, y_next^0'=y_next^post23, (0 == 0 /\ -pc_plan_next^post23+pc_plan^post23 == 0 /\ -pc_drive_next^post23+pc_drive^post23 == 0 /\ is_aborted^post23-is_aborted_next^post23 == 0 /\ -n1^post23+n1^0 == 0 /\ x^post23-x_next^post23 == 0 /\ 1-pc_plan_next^post23 <= 0 /\ 1-is_aborted^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ -6+pc_loop^post23 == 0 /\ -y_next^post23+y^0 <= 0 /\ n0^0-n0^post23 == 0 /\ -x^0+x_next^post23 <= 0 /\ executed_drive^0-executed_drive^post23 == 0 /\ 5-pc_drive_next^post23 <= 0 /\ y_next^post23-y^0 <= 0 /\ -y_next^post23+y^post23 == 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0 /\ -is_aborted_next^post23 <= 0 /\ x^0-x_next^post23 <= 0 /\ -1+is_aborted_next^post23 <= 0), cost: 1 23: l5 -> l2 : executed_drive^0'=executed_drive^post24, is_aborted^0'=is_aborted^post24, is_aborted_next^0'=is_aborted_next^post24, n0^0'=n0^post24, n1^0'=n1^post24, pc_drive^0'=pc_drive^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=pc_loop^post24, pc_plan^0'=pc_plan^post24, pc_plan_next^0'=pc_plan_next^post24, x^0'=x^post24, x_next^0'=x_next^post24, y^0'=y^post24, y_next^0'=y_next^post24, (0 == 0 /\ n0^0-n0^post24 == 0 /\ -3+pc_drive_next^post24 <= 0 /\ x^post24-x_next^post24 == 0 /\ -is_aborted_next^post24+is_aborted^post24 == 0 /\ -7+pc_plan_next^post24 <= 0 /\ executed_drive^0-executed_drive^post24 == 0 /\ n1^0-n1^post24 == 0 /\ pc_drive^post24-pc_drive_next^post24 == 0 /\ -7+pc_drive_next^post24 <= 0 /\ -1+is_aborted_next^post24 <= 0 /\ -is_aborted_next^post24 <= 0 /\ y^post24-y_next^post24 == 0 /\ x^0-x_next^post24 <= 0 /\ y_next^post24-y^0 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-is_aborted^post24 <= 0 /\ -x^0+x_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0 /\ -y_next^post24+y^0 <= 0 /\ pc_plan^post24-pc_plan_next^post24 == 0 /\ -6+pc_loop^post24 == 0), cost: 1 38: l7 -> l1 : executed_drive^0'=executed_drive^post37, is_aborted^0'=is_aborted^post37, is_aborted_next^0'=is_aborted_next^post37, n0^0'=n0^post37, n1^0'=n1^post37, pc_drive^0'=pc_drive^post37, pc_drive_next^0'=pc_drive_next^post37, pc_loop^0'=pc_loop^post37, pc_plan^0'=pc_plan^post37, pc_plan_next^0'=pc_plan_next^post37, x^0'=x^post37, x_next^0'=x_next^post37, y^0'=y^post37, y_next^0'=y_next^post37, (-n1^post37+n1^post38 == 0 /\ y_next^post38-y_next^post37 == 0 /\ -pc_plan_next^post38+pc_plan_next^0 == 0 /\ pc_plan_next^post38-pc_plan_next^post37 == 0 /\ -pc_loop^post37+pc_loop^post38 == 0 /\ y_next^0-y_next^post38 == 0 /\ -is_aborted^post38+is_aborted^0 == 0 /\ -is_aborted_next^post38+is_aborted_next^0 == 0 /\ -is_aborted_next^post37+is_aborted_next^post38 == 0 /\ -n1^post38+n1^0 == 0 /\ -pc_loop^post38+pc_loop^0 == 0 /\ n0^post38-n0^post37 == 0 /\ n0^0-n0^post38 == 0 /\ -pc_drive_next^post38+pc_drive_next^0 == 0 /\ y^post38-y^post37 == 0 /\ -is_aborted^post37+is_aborted^post38 == 0 /\ -executed_drive^post38+executed_drive^0 == 0 /\ -executed_drive^post37+executed_drive^post38 == 0 /\ -x_next^post38+x_next^0 == 0 /\ -x^post38+x^0 == 0 /\ pc_drive_next^post38-pc_drive_next^post37 == 0 /\ pc_drive^0-pc_drive^post38 == 0 /\ -y^post38+y^0 == 0 /\ pc_plan^0-pc_plan^post38 == 0 /\ -pc_drive^post37+pc_drive^post38 == 0 /\ -pc_plan^post37+pc_plan^post38 == 0 /\ -x^post37+x^post38 == 0 /\ -x_next^post37+x_next^post38 == 0), cost: 1 Eliminating location l6 by chaining: Applied chaining First rule: l7 -> l6 : executed_drive^0'=executed_drive^post38, is_aborted^0'=is_aborted^post38, is_aborted_next^0'=is_aborted_next^post38, n0^0'=n0^post38, n1^0'=n1^post38, pc_drive^0'=pc_drive^post38, pc_drive_next^0'=pc_drive_next^post38, pc_loop^0'=pc_loop^post38, pc_plan^0'=pc_plan^post38, pc_plan_next^0'=pc_plan_next^post38, x^0'=x^post38, x_next^0'=x_next^post38, y^0'=y^post38, y_next^0'=y_next^post38, (-pc_plan_next^post38+pc_plan_next^0 == 0 /\ y_next^0-y_next^post38 == 0 /\ -is_aborted^post38+is_aborted^0 == 0 /\ -is_aborted_next^post38+is_aborted_next^0 == 0 /\ -n1^post38+n1^0 == 0 /\ -pc_loop^post38+pc_loop^0 == 0 /\ n0^0-n0^post38 == 0 /\ -pc_drive_next^post38+pc_drive_next^0 == 0 /\ -executed_drive^post38+executed_drive^0 == 0 /\ -x_next^post38+x_next^0 == 0 /\ -x^post38+x^0 == 0 /\ pc_drive^0-pc_drive^post38 == 0 /\ -y^post38+y^0 == 0 /\ pc_plan^0-pc_plan^post38 == 0), cost: 1 Second rule: l6 -> l1 : executed_drive^0'=executed_drive^post37, is_aborted^0'=is_aborted^post37, is_aborted_next^0'=is_aborted_next^post37, n0^0'=n0^post37, n1^0'=n1^post37, pc_drive^0'=pc_drive^post37, pc_drive_next^0'=pc_drive_next^post37, pc_loop^0'=pc_loop^post37, pc_plan^0'=pc_plan^post37, pc_plan_next^0'=pc_plan_next^post37, x^0'=x^post37, x_next^0'=x_next^post37, y^0'=y^post37, y_next^0'=y_next^post37, (-x^post37+x^0 == 0 /\ y_next^0-y_next^post37 == 0 /\ -y^post37+y^0 == 0 /\ pc_plan_next^0-pc_plan_next^post37 == 0 /\ -is_aborted^post37+is_aborted^0 == 0 /\ -pc_loop^post37+pc_loop^0 == 0 /\ pc_drive^0-pc_drive^post37 == 0 /\ -n1^post37+n1^0 == 0 /\ -is_aborted_next^post37+is_aborted_next^0 == 0 /\ pc_plan^0-pc_plan^post37 == 0 /\ -executed_drive^post37+executed_drive^0 == 0 /\ -x_next^post37+x_next^0 == 0 /\ pc_drive_next^0-pc_drive_next^post37 == 0 /\ n0^0-n0^post37 == 0), cost: 1 New rule: l7 -> l1 : executed_drive^0'=executed_drive^post37, is_aborted^0'=is_aborted^post37, is_aborted_next^0'=is_aborted_next^post37, n0^0'=n0^post37, n1^0'=n1^post37, pc_drive^0'=pc_drive^post37, pc_drive_next^0'=pc_drive_next^post37, pc_loop^0'=pc_loop^post37, pc_plan^0'=pc_plan^post37, pc_plan_next^0'=pc_plan_next^post37, x^0'=x^post37, x_next^0'=x_next^post37, y^0'=y^post37, y_next^0'=y_next^post37, (-n1^post37+n1^post38 == 0 /\ y_next^post38-y_next^post37 == 0 /\ -pc_plan_next^post38+pc_plan_next^0 == 0 /\ pc_plan_next^post38-pc_plan_next^post37 == 0 /\ -pc_loop^post37+pc_loop^post38 == 0 /\ y_next^0-y_next^post38 == 0 /\ -is_aborted^post38+is_aborted^0 == 0 /\ -is_aborted_next^post38+is_aborted_next^0 == 0 /\ -is_aborted_next^post37+is_aborted_next^post38 == 0 /\ -n1^post38+n1^0 == 0 /\ -pc_loop^post38+pc_loop^0 == 0 /\ n0^post38-n0^post37 == 0 /\ n0^0-n0^post38 == 0 /\ -pc_drive_next^post38+pc_drive_next^0 == 0 /\ y^post38-y^post37 == 0 /\ -is_aborted^post37+is_aborted^post38 == 0 /\ -executed_drive^post38+executed_drive^0 == 0 /\ -executed_drive^post37+executed_drive^post38 == 0 /\ -x_next^post38+x_next^0 == 0 /\ -x^post38+x^0 == 0 /\ pc_drive_next^post38-pc_drive_next^post37 == 0 /\ pc_drive^0-pc_drive^post38 == 0 /\ -y^post38+y^0 == 0 /\ pc_plan^0-pc_plan^post38 == 0 /\ -pc_drive^post37+pc_drive^post38 == 0 /\ -pc_plan^post37+pc_plan^post38 == 0 /\ -x^post37+x^post38 == 0 /\ -x_next^post37+x_next^post38 == 0), cost: 1 Applied deletion Removed the following rules: 36 37 Simplified Transitions Start location: l7 Program variables: executed_drive^0 is_aborted^0 is_aborted_next^0 n0^0 n1^0 pc_drive^0 pc_drive_next^0 pc_loop^0 pc_plan^0 pc_plan_next^0 x^0 x_next^0 y^0 y_next^0 39: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 40: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 41: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 42: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post4, is_aborted_next^0'=is_aborted_next^post4, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 43: l0 -> l1 : is_aborted^0'=is_aborted_next^post5, is_aborted_next^0'=is_aborted_next^post5, pc_drive^0'=pc_drive_next^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 44: l0 -> l1 : is_aborted^0'=is_aborted_next^post6, is_aborted_next^0'=is_aborted_next^post6, pc_drive^0'=pc_drive_next^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 69: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, T, cost: 1 70: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0), cost: 1 71: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 72: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0), cost: 1 73: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 74: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 45: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post7, is_aborted_next^0'=is_aborted_next^post7, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 46: l2 -> l3 : is_aborted^0'=is_aborted_next^post8, is_aborted_next^0'=is_aborted_next^post8, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post8, pc_plan_next^0'=pc_plan_next^post8, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 47: l2 -> l3 : is_aborted^0'=is_aborted_next^post9, is_aborted_next^0'=is_aborted_next^post9, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post9, pc_plan_next^0'=pc_plan_next^post9, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 48: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post10, is_aborted_next^0'=is_aborted_next^post10, pc_drive^0'=2, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 49: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post11, is_aborted_next^0'=is_aborted_next^post11, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post11, pc_plan_next^0'=pc_plan_next^post11, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 50: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post12, pc_plan_next^0'=pc_plan_next^post12, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0), cost: 1 51: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 52: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0), cost: 1 53: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 54: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 55: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0), cost: 1 56: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0), cost: 1 57: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 58: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0), cost: 1 59: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 63: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0), cost: 1 64: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 65: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 66: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 67: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 68: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 60: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 61: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0), cost: 1 62: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 75: l7 -> l1 : T, cost: 1 made implied equalities explicit Original rule: l0 -> l1 : executed_drive^0'=executed_drive^post1, is_aborted^0'=is_aborted^post1, is_aborted_next^0'=is_aborted_next^post1, n0^0'=n0^post1, n1^0'=n1^post1, pc_drive^0'=pc_drive^post1, pc_drive_next^0'=pc_drive_next^post1, pc_loop^0'=pc_loop^post1, pc_plan^0'=pc_plan^post1, pc_plan_next^0'=pc_plan_next^post1, x^0'=x^post1, x_next^0'=x_next^post1, y^0'=y^post1, y_next^0'=y_next^post1, (0 == 0 /\ 1-y_next^post1+y^0 <= 0 /\ n0^0-n0^post1 == 0 /\ 1-x_next^post1+x^0 <= 0 /\ pc_drive^post1-pc_drive_next^post1 == 0 /\ n1^0-n1^post1 == 0 /\ -7+pc_plan_next^post1 <= 0 /\ 2-pc_plan^post1 <= 0 /\ -1+executed_drive^post1 == 0 /\ -4+pc_drive_next^post1 <= 0 /\ 4-pc_drive_next^post1 <= 0 /\ -7+pc_drive_next^post1 <= 0 /\ -x_next^post1+x^post1 == 0 /\ y^post1-y_next^post1 == 0 /\ -1+y_next^post1-y^0 <= 0 /\ 3-pc_plan_next^post1 <= 0 /\ -is_aborted_next^post1 <= 0 /\ 1-is_aborted_next^post1 <= 0 /\ -1+is_aborted_next^post1 <= 0 /\ -1+pc_loop^post1 == 0 /\ -1+x_next^post1-x^0 <= 0 /\ -is_aborted_next^post1+is_aborted^post1 == 0 /\ -2+pc_plan^post1 <= 0 /\ pc_plan^post1-pc_plan_next^post1 == 0 /\ 1-pc_plan_next^post1 <= 0 /\ 1-pc_drive_next^post1 <= 0), cost: 1 New rule: l0 -> l1 : executed_drive^0'=executed_drive^post1, is_aborted^0'=is_aborted^post1, is_aborted_next^0'=is_aborted_next^post1, n0^0'=n0^post1, n1^0'=n1^post1, pc_drive^0'=pc_drive^post1, pc_drive_next^0'=pc_drive_next^post1, pc_loop^0'=pc_loop^post1, pc_plan^0'=pc_plan^post1, pc_plan_next^0'=pc_plan_next^post1, x^0'=x^post1, x_next^0'=x_next^post1, y^0'=y^post1, y_next^0'=y_next^post1, (0 == 0 /\ 1-y_next^post1+y^0 <= 0 /\ 1-y_next^post1+y^0 == 0 /\ n0^0-n0^post1 == 0 /\ 1-x_next^post1+x^0 <= 0 /\ 1-x_next^post1+x^0 == 0 /\ pc_drive^post1-pc_drive_next^post1 == 0 /\ n1^0-n1^post1 == 0 /\ -7+pc_plan_next^post1 <= 0 /\ 2-pc_plan^post1 <= 0 /\ 2-pc_plan^post1 == 0 /\ -1+executed_drive^post1 == 0 /\ -4+pc_drive_next^post1 <= 0 /\ -4+pc_drive_next^post1 == 0 /\ 4-pc_drive_next^post1 <= 0 /\ -7+pc_drive_next^post1 <= 0 /\ -x_next^post1+x^post1 == 0 /\ y^post1-y_next^post1 == 0 /\ -1+y_next^post1-y^0 <= 0 /\ 3-pc_plan_next^post1 <= 0 /\ -is_aborted_next^post1 <= 0 /\ 1-is_aborted_next^post1 <= 0 /\ 1-is_aborted_next^post1 == 0 /\ -1+is_aborted_next^post1 <= 0 /\ -1+pc_loop^post1 == 0 /\ -1+x_next^post1-x^0 <= 0 /\ -is_aborted_next^post1+is_aborted^post1 == 0 /\ -2+pc_plan^post1 <= 0 /\ pc_plan^post1-pc_plan_next^post1 == 0 /\ 1-pc_plan_next^post1 <= 0 /\ 1-pc_drive_next^post1 <= 0), cost: 1 Propagated Equalities Original rule: l0 -> l1 : executed_drive^0'=executed_drive^post1, is_aborted^0'=is_aborted^post1, is_aborted_next^0'=is_aborted_next^post1, n0^0'=n0^post1, n1^0'=n1^post1, pc_drive^0'=pc_drive^post1, pc_drive_next^0'=pc_drive_next^post1, pc_loop^0'=pc_loop^post1, pc_plan^0'=pc_plan^post1, pc_plan_next^0'=pc_plan_next^post1, x^0'=x^post1, x_next^0'=x_next^post1, y^0'=y^post1, y_next^0'=y_next^post1, (0 == 0 /\ 1-y_next^post1+y^0 <= 0 /\ 1-y_next^post1+y^0 == 0 /\ n0^0-n0^post1 == 0 /\ 1-x_next^post1+x^0 <= 0 /\ 1-x_next^post1+x^0 == 0 /\ pc_drive^post1-pc_drive_next^post1 == 0 /\ n1^0-n1^post1 == 0 /\ -7+pc_plan_next^post1 <= 0 /\ 2-pc_plan^post1 <= 0 /\ 2-pc_plan^post1 == 0 /\ -1+executed_drive^post1 == 0 /\ -4+pc_drive_next^post1 <= 0 /\ -4+pc_drive_next^post1 == 0 /\ 4-pc_drive_next^post1 <= 0 /\ -7+pc_drive_next^post1 <= 0 /\ -x_next^post1+x^post1 == 0 /\ y^post1-y_next^post1 == 0 /\ -1+y_next^post1-y^0 <= 0 /\ 3-pc_plan_next^post1 <= 0 /\ -is_aborted_next^post1 <= 0 /\ 1-is_aborted_next^post1 <= 0 /\ 1-is_aborted_next^post1 == 0 /\ -1+is_aborted_next^post1 <= 0 /\ -1+pc_loop^post1 == 0 /\ -1+x_next^post1-x^0 <= 0 /\ -is_aborted_next^post1+is_aborted^post1 == 0 /\ -2+pc_plan^post1 <= 0 /\ pc_plan^post1-pc_plan_next^post1 == 0 /\ 1-pc_plan_next^post1 <= 0 /\ 1-pc_drive_next^post1 <= 0), cost: 1 New rule: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -3 <= 0 /\ 1 <= 0 /\ -5 <= 0 /\ -1 <= 0), cost: 1 propagated equality y_next^post1 = 1+y^0 propagated equality n0^post1 = n0^0 propagated equality x_next^post1 = 1+x^0 propagated equality pc_drive^post1 = pc_drive_next^post1 propagated equality n1^post1 = n1^0 propagated equality pc_plan^post1 = 2 propagated equality executed_drive^post1 = 1 propagated equality pc_drive_next^post1 = 4 propagated equality x^post1 = 1+x^0 propagated equality y^post1 = 1+y^0 propagated equality is_aborted_next^post1 = 1 propagated equality pc_loop^post1 = 1 propagated equality is_aborted^post1 = 1 propagated equality pc_plan_next^post1 = 2 Simplified Guard Original rule: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -3 <= 0 /\ 1 <= 0 /\ -5 <= 0 /\ -1 <= 0), cost: 1 New rule: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 Removed Trivial Updates Original rule: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 New rule: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 made implied equalities explicit Original rule: l0 -> l1 : executed_drive^0'=executed_drive^post2, is_aborted^0'=is_aborted^post2, is_aborted_next^0'=is_aborted_next^post2, n0^0'=n0^post2, n1^0'=n1^post2, pc_drive^0'=pc_drive^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=pc_loop^post2, pc_plan^0'=pc_plan^post2, pc_plan_next^0'=pc_plan_next^post2, x^0'=x^post2, x_next^0'=x_next^post2, y^0'=y^post2, y_next^0'=y_next^post2, (0 == 0 /\ is_aborted^post2-is_aborted_next^post2 == 0 /\ -7+pc_plan_next^post2 <= 0 /\ x^post2-x_next^post2 == 0 /\ -7+pc_drive_next^post2 <= 0 /\ 5-pc_drive_next^post2 <= 0 /\ -n1^post2+n1^0 == 0 /\ 2-pc_plan^post2 <= 0 /\ -is_aborted_next^post2 <= 0 /\ 1-is_aborted_next^post2 <= 0 /\ -1+is_aborted_next^post2 <= 0 /\ -1+pc_loop^post2 == 0 /\ x_next^post2-x^0 <= 0 /\ y_next^post2-y^0 <= 0 /\ 1-pc_plan_next^post2 <= 0 /\ pc_drive^post2-pc_drive_next^post2 == 0 /\ -x_next^post2+x^0 <= 0 /\ -y_next^post2+y^0 <= 0 /\ 1-pc_drive_next^post2 <= 0 /\ 3-pc_plan_next^post2 <= 0 /\ -2+pc_plan^post2 <= 0 /\ executed_drive^0-executed_drive^post2 == 0 /\ -y_next^post2+y^post2 == 0 /\ n0^0-n0^post2 == 0 /\ pc_plan^post2-pc_plan_next^post2 == 0), cost: 1 New rule: l0 -> l1 : executed_drive^0'=executed_drive^post2, is_aborted^0'=is_aborted^post2, is_aborted_next^0'=is_aborted_next^post2, n0^0'=n0^post2, n1^0'=n1^post2, pc_drive^0'=pc_drive^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=pc_loop^post2, pc_plan^0'=pc_plan^post2, pc_plan_next^0'=pc_plan_next^post2, x^0'=x^post2, x_next^0'=x_next^post2, y^0'=y^post2, y_next^0'=y_next^post2, (0 == 0 /\ is_aborted^post2-is_aborted_next^post2 == 0 /\ -7+pc_plan_next^post2 <= 0 /\ x^post2-x_next^post2 == 0 /\ -7+pc_drive_next^post2 <= 0 /\ 5-pc_drive_next^post2 <= 0 /\ -n1^post2+n1^0 == 0 /\ 2-pc_plan^post2 <= 0 /\ 2-pc_plan^post2 == 0 /\ -is_aborted_next^post2 <= 0 /\ 1-is_aborted_next^post2 <= 0 /\ 1-is_aborted_next^post2 == 0 /\ -1+is_aborted_next^post2 <= 0 /\ -1+pc_loop^post2 == 0 /\ x_next^post2-x^0 <= 0 /\ x_next^post2-x^0 == 0 /\ y_next^post2-y^0 <= 0 /\ y_next^post2-y^0 == 0 /\ 1-pc_plan_next^post2 <= 0 /\ pc_drive^post2-pc_drive_next^post2 == 0 /\ -x_next^post2+x^0 <= 0 /\ -y_next^post2+y^0 <= 0 /\ 1-pc_drive_next^post2 <= 0 /\ 3-pc_plan_next^post2 <= 0 /\ -2+pc_plan^post2 <= 0 /\ executed_drive^0-executed_drive^post2 == 0 /\ -y_next^post2+y^post2 == 0 /\ n0^0-n0^post2 == 0 /\ pc_plan^post2-pc_plan_next^post2 == 0), cost: 1 Propagated Equalities Original rule: l0 -> l1 : executed_drive^0'=executed_drive^post2, is_aborted^0'=is_aborted^post2, is_aborted_next^0'=is_aborted_next^post2, n0^0'=n0^post2, n1^0'=n1^post2, pc_drive^0'=pc_drive^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=pc_loop^post2, pc_plan^0'=pc_plan^post2, pc_plan_next^0'=pc_plan_next^post2, x^0'=x^post2, x_next^0'=x_next^post2, y^0'=y^post2, y_next^0'=y_next^post2, (0 == 0 /\ is_aborted^post2-is_aborted_next^post2 == 0 /\ -7+pc_plan_next^post2 <= 0 /\ x^post2-x_next^post2 == 0 /\ -7+pc_drive_next^post2 <= 0 /\ 5-pc_drive_next^post2 <= 0 /\ -n1^post2+n1^0 == 0 /\ 2-pc_plan^post2 <= 0 /\ 2-pc_plan^post2 == 0 /\ -is_aborted_next^post2 <= 0 /\ 1-is_aborted_next^post2 <= 0 /\ 1-is_aborted_next^post2 == 0 /\ -1+is_aborted_next^post2 <= 0 /\ -1+pc_loop^post2 == 0 /\ x_next^post2-x^0 <= 0 /\ x_next^post2-x^0 == 0 /\ y_next^post2-y^0 <= 0 /\ y_next^post2-y^0 == 0 /\ 1-pc_plan_next^post2 <= 0 /\ pc_drive^post2-pc_drive_next^post2 == 0 /\ -x_next^post2+x^0 <= 0 /\ -y_next^post2+y^0 <= 0 /\ 1-pc_drive_next^post2 <= 0 /\ 3-pc_plan_next^post2 <= 0 /\ -2+pc_plan^post2 <= 0 /\ executed_drive^0-executed_drive^post2 == 0 /\ -y_next^post2+y^post2 == 0 /\ n0^0-n0^post2 == 0 /\ pc_plan^post2-pc_plan_next^post2 == 0), cost: 1 New rule: l0 -> l1 : executed_drive^0'=executed_drive^0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1 <= 0 /\ -7+pc_drive_next^post2 <= 0 /\ 5-pc_drive_next^post2 <= 0 /\ -5 <= 0 /\ -1 <= 0 /\ 1-pc_drive_next^post2 <= 0), cost: 1 propagated equality is_aborted^post2 = is_aborted_next^post2 propagated equality x^post2 = x_next^post2 propagated equality n1^post2 = n1^0 propagated equality pc_plan^post2 = 2 propagated equality is_aborted_next^post2 = 1 propagated equality pc_loop^post2 = 1 propagated equality x_next^post2 = x^0 propagated equality y_next^post2 = y^0 propagated equality pc_drive^post2 = pc_drive_next^post2 propagated equality executed_drive^post2 = executed_drive^0 propagated equality y^post2 = y^0 propagated equality n0^post2 = n0^0 propagated equality pc_plan_next^post2 = 2 Simplified Guard Original rule: l0 -> l1 : executed_drive^0'=executed_drive^0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1 <= 0 /\ -7+pc_drive_next^post2 <= 0 /\ 5-pc_drive_next^post2 <= 0 /\ -5 <= 0 /\ -1 <= 0 /\ 1-pc_drive_next^post2 <= 0), cost: 1 New rule: l0 -> l1 : executed_drive^0'=executed_drive^0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, _|_, cost: 1 Removed Trivial Updates Original rule: l0 -> l1 : executed_drive^0'=executed_drive^0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, _|_, cost: 1 New rule: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 made implied equalities explicit Original rule: l0 -> l1 : executed_drive^0'=executed_drive^post3, is_aborted^0'=is_aborted^post3, is_aborted_next^0'=is_aborted_next^post3, n0^0'=n0^post3, n1^0'=n1^post3, pc_drive^0'=pc_drive^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=pc_loop^post3, pc_plan^0'=pc_plan^post3, pc_plan_next^0'=pc_plan_next^post3, x^0'=x^post3, x_next^0'=x_next^post3, y^0'=y^post3, y_next^0'=y_next^post3, (0 == 0 /\ -x_next^post3+x^post3 == 0 /\ 1-pc_plan_next^post3 <= 0 /\ 1-is_aborted_next^post3 <= 0 /\ -1+is_aborted_next^post3 <= 0 /\ -is_aborted_next^post3 <= 0 /\ 2-pc_plan^post3 <= 0 /\ 1-pc_drive_next^post3 <= 0 /\ y_next^post3-y^0 <= 0 /\ -is_aborted_next^post3+is_aborted^post3 == 0 /\ 3-pc_plan_next^post3 <= 0 /\ pc_drive^post3-pc_drive_next^post3 == 0 /\ n1^0-n1^post3 == 0 /\ -y_next^post3+y^0 <= 0 /\ -2+pc_plan^post3 <= 0 /\ -7+pc_plan_next^post3 <= 0 /\ n0^0-n0^post3 == 0 /\ -x_next^post3+x^0 <= 0 /\ pc_plan^post3-pc_plan_next^post3 == 0 /\ -7+pc_drive_next^post3 <= 0 /\ -1+pc_loop^post3 == 0 /\ executed_drive^0-executed_drive^post3 == 0 /\ y^post3-y_next^post3 == 0 /\ x_next^post3-x^0 <= 0 /\ -3+pc_drive_next^post3 <= 0), cost: 1 New rule: l0 -> l1 : executed_drive^0'=executed_drive^post3, is_aborted^0'=is_aborted^post3, is_aborted_next^0'=is_aborted_next^post3, n0^0'=n0^post3, n1^0'=n1^post3, pc_drive^0'=pc_drive^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=pc_loop^post3, pc_plan^0'=pc_plan^post3, pc_plan_next^0'=pc_plan_next^post3, x^0'=x^post3, x_next^0'=x_next^post3, y^0'=y^post3, y_next^0'=y_next^post3, (0 == 0 /\ -x_next^post3+x^post3 == 0 /\ 1-pc_plan_next^post3 <= 0 /\ 1-is_aborted_next^post3 <= 0 /\ 1-is_aborted_next^post3 == 0 /\ -1+is_aborted_next^post3 <= 0 /\ -is_aborted_next^post3 <= 0 /\ 2-pc_plan^post3 <= 0 /\ 2-pc_plan^post3 == 0 /\ 1-pc_drive_next^post3 <= 0 /\ y_next^post3-y^0 <= 0 /\ y_next^post3-y^0 == 0 /\ -is_aborted_next^post3+is_aborted^post3 == 0 /\ 3-pc_plan_next^post3 <= 0 /\ pc_drive^post3-pc_drive_next^post3 == 0 /\ n1^0-n1^post3 == 0 /\ -y_next^post3+y^0 <= 0 /\ -2+pc_plan^post3 <= 0 /\ -7+pc_plan_next^post3 <= 0 /\ n0^0-n0^post3 == 0 /\ -x_next^post3+x^0 <= 0 /\ -x_next^post3+x^0 == 0 /\ pc_plan^post3-pc_plan_next^post3 == 0 /\ -7+pc_drive_next^post3 <= 0 /\ -1+pc_loop^post3 == 0 /\ executed_drive^0-executed_drive^post3 == 0 /\ y^post3-y_next^post3 == 0 /\ x_next^post3-x^0 <= 0 /\ -3+pc_drive_next^post3 <= 0), cost: 1 Propagated Equalities Original rule: l0 -> l1 : executed_drive^0'=executed_drive^post3, is_aborted^0'=is_aborted^post3, is_aborted_next^0'=is_aborted_next^post3, n0^0'=n0^post3, n1^0'=n1^post3, pc_drive^0'=pc_drive^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=pc_loop^post3, pc_plan^0'=pc_plan^post3, pc_plan_next^0'=pc_plan_next^post3, x^0'=x^post3, x_next^0'=x_next^post3, y^0'=y^post3, y_next^0'=y_next^post3, (0 == 0 /\ -x_next^post3+x^post3 == 0 /\ 1-pc_plan_next^post3 <= 0 /\ 1-is_aborted_next^post3 <= 0 /\ 1-is_aborted_next^post3 == 0 /\ -1+is_aborted_next^post3 <= 0 /\ -is_aborted_next^post3 <= 0 /\ 2-pc_plan^post3 <= 0 /\ 2-pc_plan^post3 == 0 /\ 1-pc_drive_next^post3 <= 0 /\ y_next^post3-y^0 <= 0 /\ y_next^post3-y^0 == 0 /\ -is_aborted_next^post3+is_aborted^post3 == 0 /\ 3-pc_plan_next^post3 <= 0 /\ pc_drive^post3-pc_drive_next^post3 == 0 /\ n1^0-n1^post3 == 0 /\ -y_next^post3+y^0 <= 0 /\ -2+pc_plan^post3 <= 0 /\ -7+pc_plan_next^post3 <= 0 /\ n0^0-n0^post3 == 0 /\ -x_next^post3+x^0 <= 0 /\ -x_next^post3+x^0 == 0 /\ pc_plan^post3-pc_plan_next^post3 == 0 /\ -7+pc_drive_next^post3 <= 0 /\ -1+pc_loop^post3 == 0 /\ executed_drive^0-executed_drive^post3 == 0 /\ y^post3-y_next^post3 == 0 /\ x_next^post3-x^0 <= 0 /\ -3+pc_drive_next^post3 <= 0), cost: 1 New rule: l0 -> l1 : executed_drive^0'=executed_drive^0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1 <= 0 /\ 1-pc_drive_next^post3 <= 0 /\ -5 <= 0 /\ -7+pc_drive_next^post3 <= 0 /\ -1 <= 0 /\ -3+pc_drive_next^post3 <= 0), cost: 1 propagated equality x^post3 = x_next^post3 propagated equality is_aborted_next^post3 = 1 propagated equality pc_plan^post3 = 2 propagated equality y_next^post3 = y^0 propagated equality is_aborted^post3 = 1 propagated equality pc_drive^post3 = pc_drive_next^post3 propagated equality n1^post3 = n1^0 propagated equality n0^post3 = n0^0 propagated equality x_next^post3 = x^0 propagated equality pc_plan_next^post3 = 2 propagated equality pc_loop^post3 = 1 propagated equality executed_drive^post3 = executed_drive^0 propagated equality y^post3 = y^0 Simplified Guard Original rule: l0 -> l1 : executed_drive^0'=executed_drive^0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1 <= 0 /\ 1-pc_drive_next^post3 <= 0 /\ -5 <= 0 /\ -7+pc_drive_next^post3 <= 0 /\ -1 <= 0 /\ -3+pc_drive_next^post3 <= 0), cost: 1 New rule: l0 -> l1 : executed_drive^0'=executed_drive^0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, _|_, cost: 1 Removed Trivial Updates Original rule: l0 -> l1 : executed_drive^0'=executed_drive^0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, _|_, cost: 1 New rule: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 made implied equalities explicit Original rule: l0 -> l1 : executed_drive^0'=executed_drive^post4, is_aborted^0'=is_aborted^post4, is_aborted_next^0'=is_aborted_next^post4, n0^0'=n0^post4, n1^0'=n1^post4, pc_drive^0'=pc_drive^post4, pc_drive_next^0'=pc_drive_next^post4, pc_loop^0'=pc_loop^post4, pc_plan^0'=pc_plan^post4, pc_plan_next^0'=pc_plan_next^post4, x^0'=x^post4, x_next^0'=x_next^post4, y^0'=y^post4, y_next^0'=y_next^post4, (0 == 0 /\ -pc_drive_next^post4+pc_drive^post4 == 0 /\ 1-pc_drive_next^post4 <= 0 /\ pc_plan^post4-pc_plan_next^post4 == 0 /\ -1+executed_drive^post4 == 0 /\ 1-y_next^post4+y^0 <= 0 /\ 2-pc_plan^post4 <= 0 /\ 1+x^0-x_next^post4 <= 0 /\ is_aborted^post4-is_aborted_next^post4 == 0 /\ x^post4-x_next^post4 == 0 /\ -is_aborted_next^post4 <= 0 /\ -1+is_aborted_next^post4 <= 0 /\ -y_next^post4+y^post4 == 0 /\ -7+pc_plan_next^post4 <= 0 /\ -n1^post4+n1^0 == 0 /\ -7+pc_drive_next^post4 <= 0 /\ -1+pc_loop^post4 == 0 /\ -1+y_next^post4-y^0 <= 0 /\ -4+pc_drive_next^post4 <= 0 /\ 4-pc_drive_next^post4 <= 0 /\ -2+pc_plan^post4 <= 0 /\ -1-x^0+x_next^post4 <= 0 /\ 1-pc_plan_next^post4 <= 0 /\ -1+pc_plan_next^post4 <= 0 /\ n0^0-n0^post4 == 0), cost: 1 New rule: l0 -> l1 : executed_drive^0'=executed_drive^post4, is_aborted^0'=is_aborted^post4, is_aborted_next^0'=is_aborted_next^post4, n0^0'=n0^post4, n1^0'=n1^post4, pc_drive^0'=pc_drive^post4, pc_drive_next^0'=pc_drive_next^post4, pc_loop^0'=pc_loop^post4, pc_plan^0'=pc_plan^post4, pc_plan_next^0'=pc_plan_next^post4, x^0'=x^post4, x_next^0'=x_next^post4, y^0'=y^post4, y_next^0'=y_next^post4, (0 == 0 /\ -pc_drive_next^post4+pc_drive^post4 == 0 /\ 1-pc_drive_next^post4 <= 0 /\ pc_plan^post4-pc_plan_next^post4 == 0 /\ -1+executed_drive^post4 == 0 /\ 1-y_next^post4+y^0 <= 0 /\ 1-y_next^post4+y^0 == 0 /\ 2-pc_plan^post4 <= 0 /\ 2-pc_plan^post4 == 0 /\ 1+x^0-x_next^post4 <= 0 /\ 1+x^0-x_next^post4 == 0 /\ is_aborted^post4-is_aborted_next^post4 == 0 /\ x^post4-x_next^post4 == 0 /\ -is_aborted_next^post4 <= 0 /\ -1+is_aborted_next^post4 <= 0 /\ -y_next^post4+y^post4 == 0 /\ -7+pc_plan_next^post4 <= 0 /\ -n1^post4+n1^0 == 0 /\ -7+pc_drive_next^post4 <= 0 /\ -1+pc_loop^post4 == 0 /\ -1+y_next^post4-y^0 <= 0 /\ -4+pc_drive_next^post4 <= 0 /\ -4+pc_drive_next^post4 == 0 /\ 4-pc_drive_next^post4 <= 0 /\ -2+pc_plan^post4 <= 0 /\ -1-x^0+x_next^post4 <= 0 /\ 1-pc_plan_next^post4 <= 0 /\ 1-pc_plan_next^post4 == 0 /\ -1+pc_plan_next^post4 <= 0 /\ n0^0-n0^post4 == 0), cost: 1 Propagated Equalities Original rule: l0 -> l1 : executed_drive^0'=executed_drive^post4, is_aborted^0'=is_aborted^post4, is_aborted_next^0'=is_aborted_next^post4, n0^0'=n0^post4, n1^0'=n1^post4, pc_drive^0'=pc_drive^post4, pc_drive_next^0'=pc_drive_next^post4, pc_loop^0'=pc_loop^post4, pc_plan^0'=pc_plan^post4, pc_plan_next^0'=pc_plan_next^post4, x^0'=x^post4, x_next^0'=x_next^post4, y^0'=y^post4, y_next^0'=y_next^post4, (0 == 0 /\ -pc_drive_next^post4+pc_drive^post4 == 0 /\ 1-pc_drive_next^post4 <= 0 /\ pc_plan^post4-pc_plan_next^post4 == 0 /\ -1+executed_drive^post4 == 0 /\ 1-y_next^post4+y^0 <= 0 /\ 1-y_next^post4+y^0 == 0 /\ 2-pc_plan^post4 <= 0 /\ 2-pc_plan^post4 == 0 /\ 1+x^0-x_next^post4 <= 0 /\ 1+x^0-x_next^post4 == 0 /\ is_aborted^post4-is_aborted_next^post4 == 0 /\ x^post4-x_next^post4 == 0 /\ -is_aborted_next^post4 <= 0 /\ -1+is_aborted_next^post4 <= 0 /\ -y_next^post4+y^post4 == 0 /\ -7+pc_plan_next^post4 <= 0 /\ -n1^post4+n1^0 == 0 /\ -7+pc_drive_next^post4 <= 0 /\ -1+pc_loop^post4 == 0 /\ -1+y_next^post4-y^0 <= 0 /\ -4+pc_drive_next^post4 <= 0 /\ -4+pc_drive_next^post4 == 0 /\ 4-pc_drive_next^post4 <= 0 /\ -2+pc_plan^post4 <= 0 /\ -1-x^0+x_next^post4 <= 0 /\ 1-pc_plan_next^post4 <= 0 /\ 1-pc_plan_next^post4 == 0 /\ -1+pc_plan_next^post4 <= 0 /\ n0^0-n0^post4 == 0), cost: 1 New rule: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post4, is_aborted_next^0'=is_aborted_next^post4, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -3 <= 0 /\ 1 <= 0 /\ -is_aborted_next^post4 <= 0 /\ -1+is_aborted_next^post4 <= 0 /\ -5 <= 0 /\ -1 <= 0 /\ -1 == 0), cost: 1 propagated equality pc_drive^post4 = pc_drive_next^post4 propagated equality pc_plan^post4 = pc_plan_next^post4 propagated equality executed_drive^post4 = 1 propagated equality y_next^post4 = 1+y^0 propagated equality pc_plan_next^post4 = 2 propagated equality x_next^post4 = 1+x^0 propagated equality is_aborted^post4 = is_aborted_next^post4 propagated equality x^post4 = 1+x^0 propagated equality y^post4 = 1+y^0 propagated equality n1^post4 = n1^0 propagated equality pc_loop^post4 = 1 propagated equality pc_drive_next^post4 = 4 propagated equality n0^post4 = n0^0 Simplified Guard Original rule: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post4, is_aborted_next^0'=is_aborted_next^post4, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -3 <= 0 /\ 1 <= 0 /\ -is_aborted_next^post4 <= 0 /\ -1+is_aborted_next^post4 <= 0 /\ -5 <= 0 /\ -1 <= 0 /\ -1 == 0), cost: 1 New rule: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post4, is_aborted_next^0'=is_aborted_next^post4, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 Removed Trivial Updates Original rule: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post4, is_aborted_next^0'=is_aborted_next^post4, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 New rule: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post4, is_aborted_next^0'=is_aborted_next^post4, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 made implied equalities explicit Original rule: l0 -> l1 : executed_drive^0'=executed_drive^post5, is_aborted^0'=is_aborted^post5, is_aborted_next^0'=is_aborted_next^post5, n0^0'=n0^post5, n1^0'=n1^post5, pc_drive^0'=pc_drive^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=pc_loop^post5, pc_plan^0'=pc_plan^post5, pc_plan_next^0'=pc_plan_next^post5, x^0'=x^post5, x_next^0'=x_next^post5, y^0'=y^post5, y_next^0'=y_next^post5, (0 == 0 /\ 5-pc_drive_next^post5 <= 0 /\ x^post5-x_next^post5 == 0 /\ -y_next^post5+y^0 <= 0 /\ -7+pc_drive_next^post5 <= 0 /\ -is_aborted_next^post5 <= 0 /\ -1+is_aborted_next^post5 <= 0 /\ -pc_plan_next^post5+pc_plan^post5 == 0 /\ -2+pc_plan^post5 <= 0 /\ y_next^post5-y^0 <= 0 /\ 1-pc_plan_next^post5 <= 0 /\ -1+pc_plan_next^post5 <= 0 /\ -1+pc_loop^post5 == 0 /\ -x^0+x_next^post5 <= 0 /\ 1-pc_drive_next^post5 <= 0 /\ -7+pc_plan_next^post5 <= 0 /\ 2-pc_plan^post5 <= 0 /\ -is_aborted_next^post5+is_aborted^post5 == 0 /\ n0^0-n0^post5 == 0 /\ x^0-x_next^post5 <= 0 /\ y^post5-y_next^post5 == 0 /\ n1^0-n1^post5 == 0 /\ executed_drive^0-executed_drive^post5 == 0 /\ pc_drive^post5-pc_drive_next^post5 == 0), cost: 1 New rule: l0 -> l1 : executed_drive^0'=executed_drive^post5, is_aborted^0'=is_aborted^post5, is_aborted_next^0'=is_aborted_next^post5, n0^0'=n0^post5, n1^0'=n1^post5, pc_drive^0'=pc_drive^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=pc_loop^post5, pc_plan^0'=pc_plan^post5, pc_plan_next^0'=pc_plan_next^post5, x^0'=x^post5, x_next^0'=x_next^post5, y^0'=y^post5, y_next^0'=y_next^post5, (0 == 0 /\ 5-pc_drive_next^post5 <= 0 /\ x^post5-x_next^post5 == 0 /\ -y_next^post5+y^0 <= 0 /\ -y_next^post5+y^0 == 0 /\ -7+pc_drive_next^post5 <= 0 /\ -is_aborted_next^post5 <= 0 /\ -1+is_aborted_next^post5 <= 0 /\ -pc_plan_next^post5+pc_plan^post5 == 0 /\ -2+pc_plan^post5 <= 0 /\ -2+pc_plan^post5 == 0 /\ y_next^post5-y^0 <= 0 /\ 1-pc_plan_next^post5 <= 0 /\ 1-pc_plan_next^post5 == 0 /\ -1+pc_plan_next^post5 <= 0 /\ -1+pc_loop^post5 == 0 /\ -x^0+x_next^post5 <= 0 /\ -x^0+x_next^post5 == 0 /\ 1-pc_drive_next^post5 <= 0 /\ -7+pc_plan_next^post5 <= 0 /\ 2-pc_plan^post5 <= 0 /\ -is_aborted_next^post5+is_aborted^post5 == 0 /\ n0^0-n0^post5 == 0 /\ x^0-x_next^post5 <= 0 /\ y^post5-y_next^post5 == 0 /\ n1^0-n1^post5 == 0 /\ executed_drive^0-executed_drive^post5 == 0 /\ pc_drive^post5-pc_drive_next^post5 == 0), cost: 1 Propagated Equalities Original rule: l0 -> l1 : executed_drive^0'=executed_drive^post5, is_aborted^0'=is_aborted^post5, is_aborted_next^0'=is_aborted_next^post5, n0^0'=n0^post5, n1^0'=n1^post5, pc_drive^0'=pc_drive^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=pc_loop^post5, pc_plan^0'=pc_plan^post5, pc_plan_next^0'=pc_plan_next^post5, x^0'=x^post5, x_next^0'=x_next^post5, y^0'=y^post5, y_next^0'=y_next^post5, (0 == 0 /\ 5-pc_drive_next^post5 <= 0 /\ x^post5-x_next^post5 == 0 /\ -y_next^post5+y^0 <= 0 /\ -y_next^post5+y^0 == 0 /\ -7+pc_drive_next^post5 <= 0 /\ -is_aborted_next^post5 <= 0 /\ -1+is_aborted_next^post5 <= 0 /\ -pc_plan_next^post5+pc_plan^post5 == 0 /\ -2+pc_plan^post5 <= 0 /\ -2+pc_plan^post5 == 0 /\ y_next^post5-y^0 <= 0 /\ 1-pc_plan_next^post5 <= 0 /\ 1-pc_plan_next^post5 == 0 /\ -1+pc_plan_next^post5 <= 0 /\ -1+pc_loop^post5 == 0 /\ -x^0+x_next^post5 <= 0 /\ -x^0+x_next^post5 == 0 /\ 1-pc_drive_next^post5 <= 0 /\ -7+pc_plan_next^post5 <= 0 /\ 2-pc_plan^post5 <= 0 /\ -is_aborted_next^post5+is_aborted^post5 == 0 /\ n0^0-n0^post5 == 0 /\ x^0-x_next^post5 <= 0 /\ y^post5-y_next^post5 == 0 /\ n1^0-n1^post5 == 0 /\ executed_drive^0-executed_drive^post5 == 0 /\ pc_drive^post5-pc_drive_next^post5 == 0), cost: 1 New rule: l0 -> l1 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post5, is_aborted_next^0'=is_aborted_next^post5, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 5-pc_drive_next^post5 <= 0 /\ 1 <= 0 /\ -7+pc_drive_next^post5 <= 0 /\ -is_aborted_next^post5 <= 0 /\ -1+is_aborted_next^post5 <= 0 /\ -5 <= 0 /\ 1-pc_drive_next^post5 <= 0 /\ -1 <= 0 /\ -1 == 0), cost: 1 propagated equality x^post5 = x_next^post5 propagated equality y_next^post5 = y^0 propagated equality pc_plan^post5 = pc_plan_next^post5 propagated equality pc_plan_next^post5 = 2 propagated equality pc_loop^post5 = 1 propagated equality x_next^post5 = x^0 propagated equality is_aborted^post5 = is_aborted_next^post5 propagated equality n0^post5 = n0^0 propagated equality y^post5 = y^0 propagated equality n1^post5 = n1^0 propagated equality executed_drive^post5 = executed_drive^0 propagated equality pc_drive^post5 = pc_drive_next^post5 Simplified Guard Original rule: l0 -> l1 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post5, is_aborted_next^0'=is_aborted_next^post5, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 5-pc_drive_next^post5 <= 0 /\ 1 <= 0 /\ -7+pc_drive_next^post5 <= 0 /\ -is_aborted_next^post5 <= 0 /\ -1+is_aborted_next^post5 <= 0 /\ -5 <= 0 /\ 1-pc_drive_next^post5 <= 0 /\ -1 <= 0 /\ -1 == 0), cost: 1 New rule: l0 -> l1 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post5, is_aborted_next^0'=is_aborted_next^post5, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, _|_, cost: 1 Removed Trivial Updates Original rule: l0 -> l1 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post5, is_aborted_next^0'=is_aborted_next^post5, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, _|_, cost: 1 New rule: l0 -> l1 : is_aborted^0'=is_aborted_next^post5, is_aborted_next^0'=is_aborted_next^post5, pc_drive^0'=pc_drive_next^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 made implied equalities explicit Original rule: l0 -> l1 : executed_drive^0'=executed_drive^post6, is_aborted^0'=is_aborted^post6, is_aborted_next^0'=is_aborted_next^post6, n0^0'=n0^post6, n1^0'=n1^post6, pc_drive^0'=pc_drive^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=pc_loop^post6, pc_plan^0'=pc_plan^post6, pc_plan_next^0'=pc_plan_next^post6, x^0'=x^post6, x_next^0'=x_next^post6, y^0'=y^post6, y_next^0'=y_next^post6, (0 == 0 /\ -x_next^post6+x^post6 == 0 /\ 2-pc_plan^post6 <= 0 /\ pc_plan^post6-pc_plan_next^post6 == 0 /\ 1-pc_drive_next^post6 <= 0 /\ pc_drive^post6-pc_drive_next^post6 == 0 /\ n0^0-n0^post6 == 0 /\ -7+pc_plan_next^post6 <= 0 /\ n1^0-n1^post6 == 0 /\ executed_drive^0-executed_drive^post6 == 0 /\ x_next^post6-x^0 <= 0 /\ y^0-y_next^post6 <= 0 /\ -2+pc_plan^post6 <= 0 /\ -1+is_aborted_next^post6 <= 0 /\ -is_aborted_next^post6 <= 0 /\ -1+pc_loop^post6 == 0 /\ -7+pc_drive_next^post6 <= 0 /\ -x_next^post6+x^0 <= 0 /\ is_aborted^post6-is_aborted_next^post6 == 0 /\ y^post6-y_next^post6 == 0 /\ -y^0+y_next^post6 <= 0 /\ -3+pc_drive_next^post6 <= 0 /\ 1-pc_plan_next^post6 <= 0 /\ -1+pc_plan_next^post6 <= 0), cost: 1 New rule: l0 -> l1 : executed_drive^0'=executed_drive^post6, is_aborted^0'=is_aborted^post6, is_aborted_next^0'=is_aborted_next^post6, n0^0'=n0^post6, n1^0'=n1^post6, pc_drive^0'=pc_drive^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=pc_loop^post6, pc_plan^0'=pc_plan^post6, pc_plan_next^0'=pc_plan_next^post6, x^0'=x^post6, x_next^0'=x_next^post6, y^0'=y^post6, y_next^0'=y_next^post6, (0 == 0 /\ -x_next^post6+x^post6 == 0 /\ 2-pc_plan^post6 <= 0 /\ 2-pc_plan^post6 == 0 /\ pc_plan^post6-pc_plan_next^post6 == 0 /\ 1-pc_drive_next^post6 <= 0 /\ pc_drive^post6-pc_drive_next^post6 == 0 /\ n0^0-n0^post6 == 0 /\ -7+pc_plan_next^post6 <= 0 /\ n1^0-n1^post6 == 0 /\ executed_drive^0-executed_drive^post6 == 0 /\ x_next^post6-x^0 <= 0 /\ x_next^post6-x^0 == 0 /\ y^0-y_next^post6 <= 0 /\ y^0-y_next^post6 == 0 /\ -2+pc_plan^post6 <= 0 /\ -1+is_aborted_next^post6 <= 0 /\ -is_aborted_next^post6 <= 0 /\ -1+pc_loop^post6 == 0 /\ -7+pc_drive_next^post6 <= 0 /\ -x_next^post6+x^0 <= 0 /\ is_aborted^post6-is_aborted_next^post6 == 0 /\ y^post6-y_next^post6 == 0 /\ -y^0+y_next^post6 <= 0 /\ -3+pc_drive_next^post6 <= 0 /\ 1-pc_plan_next^post6 <= 0 /\ 1-pc_plan_next^post6 == 0 /\ -1+pc_plan_next^post6 <= 0), cost: 1 Propagated Equalities Original rule: l0 -> l1 : executed_drive^0'=executed_drive^post6, is_aborted^0'=is_aborted^post6, is_aborted_next^0'=is_aborted_next^post6, n0^0'=n0^post6, n1^0'=n1^post6, pc_drive^0'=pc_drive^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=pc_loop^post6, pc_plan^0'=pc_plan^post6, pc_plan_next^0'=pc_plan_next^post6, x^0'=x^post6, x_next^0'=x_next^post6, y^0'=y^post6, y_next^0'=y_next^post6, (0 == 0 /\ -x_next^post6+x^post6 == 0 /\ 2-pc_plan^post6 <= 0 /\ 2-pc_plan^post6 == 0 /\ pc_plan^post6-pc_plan_next^post6 == 0 /\ 1-pc_drive_next^post6 <= 0 /\ pc_drive^post6-pc_drive_next^post6 == 0 /\ n0^0-n0^post6 == 0 /\ -7+pc_plan_next^post6 <= 0 /\ n1^0-n1^post6 == 0 /\ executed_drive^0-executed_drive^post6 == 0 /\ x_next^post6-x^0 <= 0 /\ x_next^post6-x^0 == 0 /\ y^0-y_next^post6 <= 0 /\ y^0-y_next^post6 == 0 /\ -2+pc_plan^post6 <= 0 /\ -1+is_aborted_next^post6 <= 0 /\ -is_aborted_next^post6 <= 0 /\ -1+pc_loop^post6 == 0 /\ -7+pc_drive_next^post6 <= 0 /\ -x_next^post6+x^0 <= 0 /\ is_aborted^post6-is_aborted_next^post6 == 0 /\ y^post6-y_next^post6 == 0 /\ -y^0+y_next^post6 <= 0 /\ -3+pc_drive_next^post6 <= 0 /\ 1-pc_plan_next^post6 <= 0 /\ 1-pc_plan_next^post6 == 0 /\ -1+pc_plan_next^post6 <= 0), cost: 1 New rule: l0 -> l1 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post6, is_aborted_next^0'=is_aborted_next^post6, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1 <= 0 /\ 1-pc_drive_next^post6 <= 0 /\ -5 <= 0 /\ -1+is_aborted_next^post6 <= 0 /\ -is_aborted_next^post6 <= 0 /\ -7+pc_drive_next^post6 <= 0 /\ -1 <= 0 /\ -1 == 0 /\ -3+pc_drive_next^post6 <= 0), cost: 1 propagated equality x^post6 = x_next^post6 propagated equality pc_plan^post6 = 2 propagated equality pc_plan_next^post6 = 2 propagated equality pc_drive^post6 = pc_drive_next^post6 propagated equality n0^post6 = n0^0 propagated equality n1^post6 = n1^0 propagated equality executed_drive^post6 = executed_drive^0 propagated equality x_next^post6 = x^0 propagated equality y_next^post6 = y^0 propagated equality pc_loop^post6 = 1 propagated equality is_aborted^post6 = is_aborted_next^post6 propagated equality y^post6 = y^0 Simplified Guard Original rule: l0 -> l1 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post6, is_aborted_next^0'=is_aborted_next^post6, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1 <= 0 /\ 1-pc_drive_next^post6 <= 0 /\ -5 <= 0 /\ -1+is_aborted_next^post6 <= 0 /\ -is_aborted_next^post6 <= 0 /\ -7+pc_drive_next^post6 <= 0 /\ -1 <= 0 /\ -1 == 0 /\ -3+pc_drive_next^post6 <= 0), cost: 1 New rule: l0 -> l1 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post6, is_aborted_next^0'=is_aborted_next^post6, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, _|_, cost: 1 Removed Trivial Updates Original rule: l0 -> l1 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post6, is_aborted_next^0'=is_aborted_next^post6, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, _|_, cost: 1 New rule: l0 -> l1 : is_aborted^0'=is_aborted_next^post6, is_aborted_next^0'=is_aborted_next^post6, pc_drive^0'=pc_drive_next^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 made implied equalities explicit Original rule: l2 -> l3 : executed_drive^0'=executed_drive^post7, is_aborted^0'=is_aborted^post7, is_aborted_next^0'=is_aborted_next^post7, n0^0'=n0^post7, n1^0'=n1^post7, pc_drive^0'=pc_drive^post7, pc_drive_next^0'=pc_drive_next^post7, pc_loop^0'=pc_loop^post7, pc_plan^0'=pc_plan^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=x^post7, x_next^0'=x_next^post7, y^0'=y^post7, y_next^0'=y_next^post7, (0 == 0 /\ 1-pc_drive_next^post7 <= 0 /\ -4+pc_loop^post7 == 0 /\ is_aborted^post7-is_aborted_next^post7 == 0 /\ -pc_drive_next^post7+pc_drive^post7 == 0 /\ 1-executed_drive^post7 <= 0 /\ -1+executed_drive^post7 <= 0 /\ -1+executed_drive^post7 == 0 /\ -7+pc_plan_next^post7 <= 0 /\ y^post7-y_next^post7 == 0 /\ -n0^post7+n0^0 == 0 /\ 1-y_next^post7+y^0 <= 0 /\ 1+x^0-x_next^post7 <= 0 /\ -is_aborted_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ x^post7-x_next^post7 == 0 /\ -7+pc_drive_next^post7 <= 0 /\ -4+pc_drive_next^post7 <= 0 /\ 4-pc_drive_next^post7 <= 0 /\ pc_plan^post7-pc_plan_next^post7 == 0 /\ 1-pc_plan_next^post7 <= 0 /\ -n1^post7+n1^0 == 0 /\ -1+y_next^post7-y^0 <= 0 /\ -1-x^0+x_next^post7 <= 0 /\ -7+pc_drive^post7 <= 0 /\ 7-pc_drive^post7 <= 0), cost: 1 New rule: l2 -> l3 : executed_drive^0'=executed_drive^post7, is_aborted^0'=is_aborted^post7, is_aborted_next^0'=is_aborted_next^post7, n0^0'=n0^post7, n1^0'=n1^post7, pc_drive^0'=pc_drive^post7, pc_drive_next^0'=pc_drive_next^post7, pc_loop^0'=pc_loop^post7, pc_plan^0'=pc_plan^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=x^post7, x_next^0'=x_next^post7, y^0'=y^post7, y_next^0'=y_next^post7, (0 == 0 /\ 1-pc_drive_next^post7 <= 0 /\ -4+pc_loop^post7 == 0 /\ is_aborted^post7-is_aborted_next^post7 == 0 /\ -pc_drive_next^post7+pc_drive^post7 == 0 /\ 1-executed_drive^post7 <= 0 /\ 1-executed_drive^post7 == 0 /\ -1+executed_drive^post7 <= 0 /\ -1+executed_drive^post7 == 0 /\ -7+pc_plan_next^post7 <= 0 /\ y^post7-y_next^post7 == 0 /\ -n0^post7+n0^0 == 0 /\ 1-y_next^post7+y^0 <= 0 /\ 1-y_next^post7+y^0 == 0 /\ 1+x^0-x_next^post7 <= 0 /\ 1+x^0-x_next^post7 == 0 /\ -is_aborted_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ x^post7-x_next^post7 == 0 /\ -7+pc_drive_next^post7 <= 0 /\ -4+pc_drive_next^post7 <= 0 /\ -4+pc_drive_next^post7 == 0 /\ 4-pc_drive_next^post7 <= 0 /\ pc_plan^post7-pc_plan_next^post7 == 0 /\ 1-pc_plan_next^post7 <= 0 /\ -n1^post7+n1^0 == 0 /\ -1+y_next^post7-y^0 <= 0 /\ -1-x^0+x_next^post7 <= 0 /\ -7+pc_drive^post7 <= 0 /\ -7+pc_drive^post7 == 0 /\ 7-pc_drive^post7 <= 0), cost: 1 Propagated Equalities Original rule: l2 -> l3 : executed_drive^0'=executed_drive^post7, is_aborted^0'=is_aborted^post7, is_aborted_next^0'=is_aborted_next^post7, n0^0'=n0^post7, n1^0'=n1^post7, pc_drive^0'=pc_drive^post7, pc_drive_next^0'=pc_drive_next^post7, pc_loop^0'=pc_loop^post7, pc_plan^0'=pc_plan^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=x^post7, x_next^0'=x_next^post7, y^0'=y^post7, y_next^0'=y_next^post7, (0 == 0 /\ 1-pc_drive_next^post7 <= 0 /\ -4+pc_loop^post7 == 0 /\ is_aborted^post7-is_aborted_next^post7 == 0 /\ -pc_drive_next^post7+pc_drive^post7 == 0 /\ 1-executed_drive^post7 <= 0 /\ 1-executed_drive^post7 == 0 /\ -1+executed_drive^post7 <= 0 /\ -1+executed_drive^post7 == 0 /\ -7+pc_plan_next^post7 <= 0 /\ y^post7-y_next^post7 == 0 /\ -n0^post7+n0^0 == 0 /\ 1-y_next^post7+y^0 <= 0 /\ 1-y_next^post7+y^0 == 0 /\ 1+x^0-x_next^post7 <= 0 /\ 1+x^0-x_next^post7 == 0 /\ -is_aborted_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ x^post7-x_next^post7 == 0 /\ -7+pc_drive_next^post7 <= 0 /\ -4+pc_drive_next^post7 <= 0 /\ -4+pc_drive_next^post7 == 0 /\ 4-pc_drive_next^post7 <= 0 /\ pc_plan^post7-pc_plan_next^post7 == 0 /\ 1-pc_plan_next^post7 <= 0 /\ -n1^post7+n1^0 == 0 /\ -1+y_next^post7-y^0 <= 0 /\ -1-x^0+x_next^post7 <= 0 /\ -7+pc_drive^post7 <= 0 /\ -7+pc_drive^post7 == 0 /\ 7-pc_drive^post7 <= 0), cost: 1 New rule: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post7, is_aborted_next^0'=is_aborted_next^post7, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -3 <= 0 /\ -3 == 0 /\ 3 <= 0 /\ -7+pc_plan_next^post7 <= 0 /\ -is_aborted_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ 1-pc_plan_next^post7 <= 0), cost: 1 propagated equality pc_loop^post7 = 4 propagated equality is_aborted^post7 = is_aborted_next^post7 propagated equality pc_drive^post7 = pc_drive_next^post7 propagated equality executed_drive^post7 = 1 propagated equality y^post7 = y_next^post7 propagated equality n0^post7 = n0^0 propagated equality y_next^post7 = 1+y^0 propagated equality x_next^post7 = 1+x^0 propagated equality x^post7 = 1+x^0 propagated equality pc_drive_next^post7 = 4 propagated equality pc_plan^post7 = pc_plan_next^post7 propagated equality n1^post7 = n1^0 Simplified Guard Original rule: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post7, is_aborted_next^0'=is_aborted_next^post7, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -3 <= 0 /\ -3 == 0 /\ 3 <= 0 /\ -7+pc_plan_next^post7 <= 0 /\ -is_aborted_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ 1-pc_plan_next^post7 <= 0), cost: 1 New rule: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post7, is_aborted_next^0'=is_aborted_next^post7, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 Removed Trivial Updates Original rule: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post7, is_aborted_next^0'=is_aborted_next^post7, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 New rule: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post7, is_aborted_next^0'=is_aborted_next^post7, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 made implied equalities explicit Original rule: l2 -> l3 : executed_drive^0'=executed_drive^post8, is_aborted^0'=is_aborted^post8, is_aborted_next^0'=is_aborted_next^post8, n0^0'=n0^post8, n1^0'=n1^post8, pc_drive^0'=pc_drive^post8, pc_drive_next^0'=pc_drive_next^post8, pc_loop^0'=pc_loop^post8, pc_plan^0'=pc_plan^post8, pc_plan_next^0'=pc_plan_next^post8, x^0'=x^post8, x_next^0'=x_next^post8, y^0'=y^post8, y_next^0'=y_next^post8, (0 == 0 /\ 1-pc_plan_next^post8 <= 0 /\ -7+pc_drive^post8 <= 0 /\ 7-pc_drive^post8 <= 0 /\ -x_next^post8+x^post8 == 0 /\ pc_plan^post8-pc_plan_next^post8 == 0 /\ pc_drive^post8-pc_drive_next^post8 == 0 /\ -4+pc_loop^post8 == 0 /\ 1-pc_drive_next^post8 <= 0 /\ n0^0-n0^post8 == 0 /\ -n1^post8+n1^0 == 0 /\ y_next^post8-y^0 <= 0 /\ executed_drive^0-executed_drive^post8 == 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ -1+executed_drive^0 <= 0 /\ x_next^post8-x^0 <= 0 /\ -y_next^post8+y^0 <= 0 /\ -7+pc_drive_next^post8 <= 0 /\ is_aborted^post8-is_aborted_next^post8 == 0 /\ y^post8-y_next^post8 == 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 5-pc_drive_next^post8 <= 0 /\ -x_next^post8+x^0 <= 0), cost: 1 New rule: l2 -> l3 : executed_drive^0'=executed_drive^post8, is_aborted^0'=is_aborted^post8, is_aborted_next^0'=is_aborted_next^post8, n0^0'=n0^post8, n1^0'=n1^post8, pc_drive^0'=pc_drive^post8, pc_drive_next^0'=pc_drive_next^post8, pc_loop^0'=pc_loop^post8, pc_plan^0'=pc_plan^post8, pc_plan_next^0'=pc_plan_next^post8, x^0'=x^post8, x_next^0'=x_next^post8, y^0'=y^post8, y_next^0'=y_next^post8, (0 == 0 /\ 1-pc_plan_next^post8 <= 0 /\ -7+pc_drive^post8 <= 0 /\ -7+pc_drive^post8 == 0 /\ 7-pc_drive^post8 <= 0 /\ -x_next^post8+x^post8 == 0 /\ pc_plan^post8-pc_plan_next^post8 == 0 /\ pc_drive^post8-pc_drive_next^post8 == 0 /\ -4+pc_loop^post8 == 0 /\ 1-pc_drive_next^post8 <= 0 /\ n0^0-n0^post8 == 0 /\ -n1^post8+n1^0 == 0 /\ y_next^post8-y^0 <= 0 /\ y_next^post8-y^0 == 0 /\ executed_drive^0-executed_drive^post8 == 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ x_next^post8-x^0 <= 0 /\ x_next^post8-x^0 == 0 /\ -y_next^post8+y^0 <= 0 /\ -7+pc_drive_next^post8 <= 0 /\ is_aborted^post8-is_aborted_next^post8 == 0 /\ y^post8-y_next^post8 == 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 5-pc_drive_next^post8 <= 0 /\ -x_next^post8+x^0 <= 0), cost: 1 Propagated Equalities Original rule: l2 -> l3 : executed_drive^0'=executed_drive^post8, is_aborted^0'=is_aborted^post8, is_aborted_next^0'=is_aborted_next^post8, n0^0'=n0^post8, n1^0'=n1^post8, pc_drive^0'=pc_drive^post8, pc_drive_next^0'=pc_drive_next^post8, pc_loop^0'=pc_loop^post8, pc_plan^0'=pc_plan^post8, pc_plan_next^0'=pc_plan_next^post8, x^0'=x^post8, x_next^0'=x_next^post8, y^0'=y^post8, y_next^0'=y_next^post8, (0 == 0 /\ 1-pc_plan_next^post8 <= 0 /\ -7+pc_drive^post8 <= 0 /\ -7+pc_drive^post8 == 0 /\ 7-pc_drive^post8 <= 0 /\ -x_next^post8+x^post8 == 0 /\ pc_plan^post8-pc_plan_next^post8 == 0 /\ pc_drive^post8-pc_drive_next^post8 == 0 /\ -4+pc_loop^post8 == 0 /\ 1-pc_drive_next^post8 <= 0 /\ n0^0-n0^post8 == 0 /\ -n1^post8+n1^0 == 0 /\ y_next^post8-y^0 <= 0 /\ y_next^post8-y^0 == 0 /\ executed_drive^0-executed_drive^post8 == 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ x_next^post8-x^0 <= 0 /\ x_next^post8-x^0 == 0 /\ -y_next^post8+y^0 <= 0 /\ -7+pc_drive_next^post8 <= 0 /\ is_aborted^post8-is_aborted_next^post8 == 0 /\ y^post8-y_next^post8 == 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0 /\ 5-pc_drive_next^post8 <= 0 /\ -x_next^post8+x^0 <= 0), cost: 1 New rule: l2 -> l3 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post8, is_aborted_next^0'=is_aborted_next^post8, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post8, pc_plan_next^0'=pc_plan_next^post8, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post8 <= 0 /\ -2 <= 0 /\ -6 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 propagated equality pc_drive^post8 = 7 propagated equality x^post8 = x_next^post8 propagated equality pc_plan^post8 = pc_plan_next^post8 propagated equality pc_drive_next^post8 = 7 propagated equality pc_loop^post8 = 4 propagated equality n0^post8 = n0^0 propagated equality n1^post8 = n1^0 propagated equality y_next^post8 = y^0 propagated equality executed_drive^post8 = executed_drive^0 propagated equality x_next^post8 = x^0 propagated equality is_aborted^post8 = is_aborted_next^post8 propagated equality y^post8 = y^0 Simplified Guard Original rule: l2 -> l3 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post8, is_aborted_next^0'=is_aborted_next^post8, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post8, pc_plan_next^0'=pc_plan_next^post8, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post8 <= 0 /\ -2 <= 0 /\ -6 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 New rule: l2 -> l3 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post8, is_aborted_next^0'=is_aborted_next^post8, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post8, pc_plan_next^0'=pc_plan_next^post8, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 made implied equalities explicit Original rule: l2 -> l3 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post8, is_aborted_next^0'=is_aborted_next^post8, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post8, pc_plan_next^0'=pc_plan_next^post8, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 New rule: l2 -> l3 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post8, is_aborted_next^0'=is_aborted_next^post8, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post8, pc_plan_next^0'=pc_plan_next^post8, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 Removed Trivial Updates Original rule: l2 -> l3 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post8, is_aborted_next^0'=is_aborted_next^post8, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post8, pc_plan_next^0'=pc_plan_next^post8, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 New rule: l2 -> l3 : is_aborted^0'=is_aborted_next^post8, is_aborted_next^0'=is_aborted_next^post8, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post8, pc_plan_next^0'=pc_plan_next^post8, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 made implied equalities explicit Original rule: l2 -> l3 : executed_drive^0'=executed_drive^post9, is_aborted^0'=is_aborted^post9, is_aborted_next^0'=is_aborted_next^post9, n0^0'=n0^post9, n1^0'=n1^post9, pc_drive^0'=pc_drive^post9, pc_drive_next^0'=pc_drive_next^post9, pc_loop^0'=pc_loop^post9, pc_plan^0'=pc_plan^post9, pc_plan_next^0'=pc_plan_next^post9, x^0'=x^post9, x_next^0'=x_next^post9, y^0'=y^post9, y_next^0'=y_next^post9, (0 == 0 /\ 1-pc_plan_next^post9 <= 0 /\ -7+pc_drive^post9 <= 0 /\ 7-pc_drive^post9 <= 0 /\ x^0-x_next^post9 <= 0 /\ 1-pc_drive_next^post9 <= 0 /\ n0^0-n0^post9 == 0 /\ -pc_plan_next^post9+pc_plan^post9 == 0 /\ -executed_drive^post9+executed_drive^0 == 0 /\ x^post9-x_next^post9 == 0 /\ -x^0+x_next^post9 <= 0 /\ -4+pc_loop^post9 == 0 /\ -y_next^post9+y^0 <= 0 /\ -7+pc_plan_next^post9 <= 0 /\ -7+pc_drive_next^post9 <= 0 /\ -is_aborted_next^post9 <= 0 /\ -1+is_aborted_next^post9 <= 0 /\ 1-executed_drive^0 <= 0 /\ -1+executed_drive^0 <= 0 /\ -n1^post9+n1^0 == 0 /\ y_next^post9-y^0 <= 0 /\ -y_next^post9+y^post9 == 0 /\ -pc_drive_next^post9+pc_drive^post9 == 0 /\ -3+pc_drive_next^post9 <= 0 /\ is_aborted^post9-is_aborted_next^post9 == 0), cost: 1 New rule: l2 -> l3 : executed_drive^0'=executed_drive^post9, is_aborted^0'=is_aborted^post9, is_aborted_next^0'=is_aborted_next^post9, n0^0'=n0^post9, n1^0'=n1^post9, pc_drive^0'=pc_drive^post9, pc_drive_next^0'=pc_drive_next^post9, pc_loop^0'=pc_loop^post9, pc_plan^0'=pc_plan^post9, pc_plan_next^0'=pc_plan_next^post9, x^0'=x^post9, x_next^0'=x_next^post9, y^0'=y^post9, y_next^0'=y_next^post9, (0 == 0 /\ 1-pc_plan_next^post9 <= 0 /\ -7+pc_drive^post9 <= 0 /\ -7+pc_drive^post9 == 0 /\ 7-pc_drive^post9 <= 0 /\ x^0-x_next^post9 <= 0 /\ x^0-x_next^post9 == 0 /\ 1-pc_drive_next^post9 <= 0 /\ n0^0-n0^post9 == 0 /\ -pc_plan_next^post9+pc_plan^post9 == 0 /\ -executed_drive^post9+executed_drive^0 == 0 /\ x^post9-x_next^post9 == 0 /\ -x^0+x_next^post9 <= 0 /\ -4+pc_loop^post9 == 0 /\ -y_next^post9+y^0 <= 0 /\ -y_next^post9+y^0 == 0 /\ -7+pc_plan_next^post9 <= 0 /\ -7+pc_drive_next^post9 <= 0 /\ -is_aborted_next^post9 <= 0 /\ -1+is_aborted_next^post9 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -n1^post9+n1^0 == 0 /\ y_next^post9-y^0 <= 0 /\ -y_next^post9+y^post9 == 0 /\ -pc_drive_next^post9+pc_drive^post9 == 0 /\ -3+pc_drive_next^post9 <= 0 /\ is_aborted^post9-is_aborted_next^post9 == 0), cost: 1 Propagated Equalities Original rule: l2 -> l3 : executed_drive^0'=executed_drive^post9, is_aborted^0'=is_aborted^post9, is_aborted_next^0'=is_aborted_next^post9, n0^0'=n0^post9, n1^0'=n1^post9, pc_drive^0'=pc_drive^post9, pc_drive_next^0'=pc_drive_next^post9, pc_loop^0'=pc_loop^post9, pc_plan^0'=pc_plan^post9, pc_plan_next^0'=pc_plan_next^post9, x^0'=x^post9, x_next^0'=x_next^post9, y^0'=y^post9, y_next^0'=y_next^post9, (0 == 0 /\ 1-pc_plan_next^post9 <= 0 /\ -7+pc_drive^post9 <= 0 /\ -7+pc_drive^post9 == 0 /\ 7-pc_drive^post9 <= 0 /\ x^0-x_next^post9 <= 0 /\ x^0-x_next^post9 == 0 /\ 1-pc_drive_next^post9 <= 0 /\ n0^0-n0^post9 == 0 /\ -pc_plan_next^post9+pc_plan^post9 == 0 /\ -executed_drive^post9+executed_drive^0 == 0 /\ x^post9-x_next^post9 == 0 /\ -x^0+x_next^post9 <= 0 /\ -4+pc_loop^post9 == 0 /\ -y_next^post9+y^0 <= 0 /\ -y_next^post9+y^0 == 0 /\ -7+pc_plan_next^post9 <= 0 /\ -7+pc_drive_next^post9 <= 0 /\ -is_aborted_next^post9 <= 0 /\ -1+is_aborted_next^post9 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -n1^post9+n1^0 == 0 /\ y_next^post9-y^0 <= 0 /\ -y_next^post9+y^post9 == 0 /\ -pc_drive_next^post9+pc_drive^post9 == 0 /\ -3+pc_drive_next^post9 <= 0 /\ is_aborted^post9-is_aborted_next^post9 == 0), cost: 1 New rule: l2 -> l3 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post9, is_aborted_next^0'=is_aborted_next^post9, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post9, pc_plan_next^0'=pc_plan_next^post9, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post9 <= 0 /\ -6 <= 0 /\ -7+pc_plan_next^post9 <= 0 /\ -is_aborted_next^post9 <= 0 /\ 4 <= 0 /\ -1+is_aborted_next^post9 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0), cost: 1 propagated equality pc_drive^post9 = 7 propagated equality x_next^post9 = x^0 propagated equality n0^post9 = n0^0 propagated equality pc_plan^post9 = pc_plan_next^post9 propagated equality executed_drive^post9 = executed_drive^0 propagated equality x^post9 = x^0 propagated equality pc_loop^post9 = 4 propagated equality y_next^post9 = y^0 propagated equality n1^post9 = n1^0 propagated equality y^post9 = y^0 propagated equality pc_drive_next^post9 = 7 propagated equality is_aborted^post9 = is_aborted_next^post9 Simplified Guard Original rule: l2 -> l3 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post9, is_aborted_next^0'=is_aborted_next^post9, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post9, pc_plan_next^0'=pc_plan_next^post9, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post9 <= 0 /\ -6 <= 0 /\ -7+pc_plan_next^post9 <= 0 /\ -is_aborted_next^post9 <= 0 /\ 4 <= 0 /\ -1+is_aborted_next^post9 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0), cost: 1 New rule: l2 -> l3 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post9, is_aborted_next^0'=is_aborted_next^post9, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post9, pc_plan_next^0'=pc_plan_next^post9, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, _|_, cost: 1 Removed Trivial Updates Original rule: l2 -> l3 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post9, is_aborted_next^0'=is_aborted_next^post9, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post9, pc_plan_next^0'=pc_plan_next^post9, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, _|_, cost: 1 New rule: l2 -> l3 : is_aborted^0'=is_aborted_next^post9, is_aborted_next^0'=is_aborted_next^post9, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post9, pc_plan_next^0'=pc_plan_next^post9, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 made implied equalities explicit Original rule: l2 -> l3 : executed_drive^0'=executed_drive^post10, is_aborted^0'=is_aborted^post10, is_aborted_next^0'=is_aborted_next^post10, n0^0'=n0^post10, n1^0'=n1^post10, pc_drive^0'=pc_drive^post10, pc_drive_next^0'=pc_drive_next^post10, pc_loop^0'=pc_loop^post10, pc_plan^0'=pc_plan^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=x^post10, x_next^0'=x_next^post10, y^0'=y^post10, y_next^0'=y_next^post10, (0 == 0 /\ -pc_plan_next^post10+pc_plan^post10 == 0 /\ -4+pc_drive_next^post10 <= 0 /\ 4-pc_drive_next^post10 <= 0 /\ -is_aborted_next^post10 <= 0 /\ -1+is_aborted_next^post10 <= 0 /\ -1+executed_drive^post10 == 0 /\ -7+pc_drive_next^post10 <= 0 /\ y^post10-y_next^post10 == 0 /\ -1-x^0+x_next^post10 <= 0 /\ 1-y_next^post10+y^0 <= 0 /\ 1-pc_plan_next^post10 <= 0 /\ 2-pc_drive^post10 <= 0 /\ -4+pc_loop^post10 == 0 /\ -n1^post10+n1^0 == 0 /\ 1-pc_drive_next^post10 <= 0 /\ -is_aborted_next^post10+is_aborted^post10 == 0 /\ pc_drive^post10-pc_drive_next^post10 == 0 /\ n0^0-n0^post10 == 0 /\ 1+x^0-x_next^post10 <= 0 /\ x^post10-x_next^post10 == 0 /\ -7+pc_plan_next^post10 <= 0 /\ -1+y_next^post10-y^0 <= 0 /\ -2+pc_drive^post10 <= 0), cost: 1 New rule: l2 -> l3 : executed_drive^0'=executed_drive^post10, is_aborted^0'=is_aborted^post10, is_aborted_next^0'=is_aborted_next^post10, n0^0'=n0^post10, n1^0'=n1^post10, pc_drive^0'=pc_drive^post10, pc_drive_next^0'=pc_drive_next^post10, pc_loop^0'=pc_loop^post10, pc_plan^0'=pc_plan^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=x^post10, x_next^0'=x_next^post10, y^0'=y^post10, y_next^0'=y_next^post10, (0 == 0 /\ -pc_plan_next^post10+pc_plan^post10 == 0 /\ -4+pc_drive_next^post10 <= 0 /\ -4+pc_drive_next^post10 == 0 /\ 4-pc_drive_next^post10 <= 0 /\ -is_aborted_next^post10 <= 0 /\ -1+is_aborted_next^post10 <= 0 /\ -1+executed_drive^post10 == 0 /\ -7+pc_drive_next^post10 <= 0 /\ y^post10-y_next^post10 == 0 /\ -1-x^0+x_next^post10 <= 0 /\ -1-x^0+x_next^post10 == 0 /\ 1-y_next^post10+y^0 <= 0 /\ 1-y_next^post10+y^0 == 0 /\ 1-pc_plan_next^post10 <= 0 /\ 2-pc_drive^post10 <= 0 /\ 2-pc_drive^post10 == 0 /\ -4+pc_loop^post10 == 0 /\ -n1^post10+n1^0 == 0 /\ 1-pc_drive_next^post10 <= 0 /\ -is_aborted_next^post10+is_aborted^post10 == 0 /\ pc_drive^post10-pc_drive_next^post10 == 0 /\ n0^0-n0^post10 == 0 /\ 1+x^0-x_next^post10 <= 0 /\ x^post10-x_next^post10 == 0 /\ -7+pc_plan_next^post10 <= 0 /\ -1+y_next^post10-y^0 <= 0 /\ -2+pc_drive^post10 <= 0), cost: 1 Propagated Equalities Original rule: l2 -> l3 : executed_drive^0'=executed_drive^post10, is_aborted^0'=is_aborted^post10, is_aborted_next^0'=is_aborted_next^post10, n0^0'=n0^post10, n1^0'=n1^post10, pc_drive^0'=pc_drive^post10, pc_drive_next^0'=pc_drive_next^post10, pc_loop^0'=pc_loop^post10, pc_plan^0'=pc_plan^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=x^post10, x_next^0'=x_next^post10, y^0'=y^post10, y_next^0'=y_next^post10, (0 == 0 /\ -pc_plan_next^post10+pc_plan^post10 == 0 /\ -4+pc_drive_next^post10 <= 0 /\ -4+pc_drive_next^post10 == 0 /\ 4-pc_drive_next^post10 <= 0 /\ -is_aborted_next^post10 <= 0 /\ -1+is_aborted_next^post10 <= 0 /\ -1+executed_drive^post10 == 0 /\ -7+pc_drive_next^post10 <= 0 /\ y^post10-y_next^post10 == 0 /\ -1-x^0+x_next^post10 <= 0 /\ -1-x^0+x_next^post10 == 0 /\ 1-y_next^post10+y^0 <= 0 /\ 1-y_next^post10+y^0 == 0 /\ 1-pc_plan_next^post10 <= 0 /\ 2-pc_drive^post10 <= 0 /\ 2-pc_drive^post10 == 0 /\ -4+pc_loop^post10 == 0 /\ -n1^post10+n1^0 == 0 /\ 1-pc_drive_next^post10 <= 0 /\ -is_aborted_next^post10+is_aborted^post10 == 0 /\ pc_drive^post10-pc_drive_next^post10 == 0 /\ n0^0-n0^post10 == 0 /\ 1+x^0-x_next^post10 <= 0 /\ x^post10-x_next^post10 == 0 /\ -7+pc_plan_next^post10 <= 0 /\ -1+y_next^post10-y^0 <= 0 /\ -2+pc_drive^post10 <= 0), cost: 1 New rule: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post10, is_aborted_next^0'=is_aborted_next^post10, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=2, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -3 <= 0 /\ -is_aborted_next^post10 <= 0 /\ -2 == 0 /\ -1+is_aborted_next^post10 <= 0 /\ 1-pc_plan_next^post10 <= 0 /\ -7+pc_plan_next^post10 <= 0), cost: 1 propagated equality pc_plan^post10 = pc_plan_next^post10 propagated equality pc_drive_next^post10 = 4 propagated equality executed_drive^post10 = 1 propagated equality y^post10 = y_next^post10 propagated equality x_next^post10 = 1+x^0 propagated equality y_next^post10 = 1+y^0 propagated equality pc_drive^post10 = 2 propagated equality pc_loop^post10 = 4 propagated equality n1^post10 = n1^0 propagated equality is_aborted^post10 = is_aborted_next^post10 propagated equality n0^post10 = n0^0 propagated equality x^post10 = 1+x^0 Simplified Guard Original rule: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post10, is_aborted_next^0'=is_aborted_next^post10, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=2, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -3 <= 0 /\ -is_aborted_next^post10 <= 0 /\ -2 == 0 /\ -1+is_aborted_next^post10 <= 0 /\ 1-pc_plan_next^post10 <= 0 /\ -7+pc_plan_next^post10 <= 0), cost: 1 New rule: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post10, is_aborted_next^0'=is_aborted_next^post10, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=2, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 Removed Trivial Updates Original rule: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post10, is_aborted_next^0'=is_aborted_next^post10, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=2, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 New rule: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post10, is_aborted_next^0'=is_aborted_next^post10, pc_drive^0'=2, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 made implied equalities explicit Original rule: l2 -> l3 : executed_drive^0'=executed_drive^post11, is_aborted^0'=is_aborted^post11, is_aborted_next^0'=is_aborted_next^post11, n0^0'=n0^post11, n1^0'=n1^post11, pc_drive^0'=pc_drive^post11, pc_drive_next^0'=pc_drive_next^post11, pc_loop^0'=pc_loop^post11, pc_plan^0'=pc_plan^post11, pc_plan_next^0'=pc_plan_next^post11, x^0'=x^post11, x_next^0'=x_next^post11, y^0'=y^post11, y_next^0'=y_next^post11, (0 == 0 /\ -7+pc_drive_next^post11 <= 0 /\ -x_next^post11+x^0 <= 0 /\ -2+pc_drive^post11 <= 0 /\ pc_drive^post11-pc_drive_next^post11 == 0 /\ 5-pc_drive_next^post11 <= 0 /\ pc_plan^post11-pc_plan_next^post11 == 0 /\ 1-pc_plan_next^post11 <= 0 /\ x_next^post11-x^0 <= 0 /\ n0^0-n0^post11 == 0 /\ 1-pc_drive_next^post11 <= 0 /\ 2-pc_drive^post11 <= 0 /\ -y^0+y_next^post11 <= 0 /\ -4+pc_loop^post11 == 0 /\ -1+is_aborted_next^post11 <= 0 /\ -is_aborted_next^post11 <= 0 /\ executed_drive^post11 == 0 /\ -7+pc_plan_next^post11 <= 0 /\ is_aborted^post11-is_aborted_next^post11 == 0 /\ -n1^post11+n1^0 == 0 /\ y^post11-y_next^post11 == 0 /\ y^0-y_next^post11 <= 0 /\ -x_next^post11+x^post11 == 0), cost: 1 New rule: l2 -> l3 : executed_drive^0'=executed_drive^post11, is_aborted^0'=is_aborted^post11, is_aborted_next^0'=is_aborted_next^post11, n0^0'=n0^post11, n1^0'=n1^post11, pc_drive^0'=pc_drive^post11, pc_drive_next^0'=pc_drive_next^post11, pc_loop^0'=pc_loop^post11, pc_plan^0'=pc_plan^post11, pc_plan_next^0'=pc_plan_next^post11, x^0'=x^post11, x_next^0'=x_next^post11, y^0'=y^post11, y_next^0'=y_next^post11, (0 == 0 /\ -7+pc_drive_next^post11 <= 0 /\ -x_next^post11+x^0 <= 0 /\ -x_next^post11+x^0 == 0 /\ -2+pc_drive^post11 <= 0 /\ -2+pc_drive^post11 == 0 /\ pc_drive^post11-pc_drive_next^post11 == 0 /\ 5-pc_drive_next^post11 <= 0 /\ pc_plan^post11-pc_plan_next^post11 == 0 /\ 1-pc_plan_next^post11 <= 0 /\ x_next^post11-x^0 <= 0 /\ n0^0-n0^post11 == 0 /\ 1-pc_drive_next^post11 <= 0 /\ 2-pc_drive^post11 <= 0 /\ -y^0+y_next^post11 <= 0 /\ -y^0+y_next^post11 == 0 /\ -4+pc_loop^post11 == 0 /\ -1+is_aborted_next^post11 <= 0 /\ -is_aborted_next^post11 <= 0 /\ executed_drive^post11 == 0 /\ -7+pc_plan_next^post11 <= 0 /\ is_aborted^post11-is_aborted_next^post11 == 0 /\ -n1^post11+n1^0 == 0 /\ y^post11-y_next^post11 == 0 /\ y^0-y_next^post11 <= 0 /\ -x_next^post11+x^post11 == 0), cost: 1 Propagated Equalities Original rule: l2 -> l3 : executed_drive^0'=executed_drive^post11, is_aborted^0'=is_aborted^post11, is_aborted_next^0'=is_aborted_next^post11, n0^0'=n0^post11, n1^0'=n1^post11, pc_drive^0'=pc_drive^post11, pc_drive_next^0'=pc_drive_next^post11, pc_loop^0'=pc_loop^post11, pc_plan^0'=pc_plan^post11, pc_plan_next^0'=pc_plan_next^post11, x^0'=x^post11, x_next^0'=x_next^post11, y^0'=y^post11, y_next^0'=y_next^post11, (0 == 0 /\ -7+pc_drive_next^post11 <= 0 /\ -x_next^post11+x^0 <= 0 /\ -x_next^post11+x^0 == 0 /\ -2+pc_drive^post11 <= 0 /\ -2+pc_drive^post11 == 0 /\ pc_drive^post11-pc_drive_next^post11 == 0 /\ 5-pc_drive_next^post11 <= 0 /\ pc_plan^post11-pc_plan_next^post11 == 0 /\ 1-pc_plan_next^post11 <= 0 /\ x_next^post11-x^0 <= 0 /\ n0^0-n0^post11 == 0 /\ 1-pc_drive_next^post11 <= 0 /\ 2-pc_drive^post11 <= 0 /\ -y^0+y_next^post11 <= 0 /\ -y^0+y_next^post11 == 0 /\ -4+pc_loop^post11 == 0 /\ -1+is_aborted_next^post11 <= 0 /\ -is_aborted_next^post11 <= 0 /\ executed_drive^post11 == 0 /\ -7+pc_plan_next^post11 <= 0 /\ is_aborted^post11-is_aborted_next^post11 == 0 /\ -n1^post11+n1^0 == 0 /\ y^post11-y_next^post11 == 0 /\ y^0-y_next^post11 <= 0 /\ -x_next^post11+x^post11 == 0), cost: 1 New rule: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post11, is_aborted_next^0'=is_aborted_next^post11, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post11, pc_plan_next^0'=pc_plan_next^post11, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 3 <= 0 /\ 1-pc_plan_next^post11 <= 0 /\ -5 <= 0 /\ -1+is_aborted_next^post11 <= 0 /\ -is_aborted_next^post11 <= 0 /\ -7+pc_plan_next^post11 <= 0 /\ -1 <= 0), cost: 1 propagated equality x_next^post11 = x^0 propagated equality pc_drive^post11 = 2 propagated equality pc_drive_next^post11 = 2 propagated equality pc_plan^post11 = pc_plan_next^post11 propagated equality n0^post11 = n0^0 propagated equality y_next^post11 = y^0 propagated equality pc_loop^post11 = 4 propagated equality executed_drive^post11 = 0 propagated equality is_aborted^post11 = is_aborted_next^post11 propagated equality n1^post11 = n1^0 propagated equality y^post11 = y^0 propagated equality x^post11 = x^0 Simplified Guard Original rule: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post11, is_aborted_next^0'=is_aborted_next^post11, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post11, pc_plan_next^0'=pc_plan_next^post11, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 3 <= 0 /\ 1-pc_plan_next^post11 <= 0 /\ -5 <= 0 /\ -1+is_aborted_next^post11 <= 0 /\ -is_aborted_next^post11 <= 0 /\ -7+pc_plan_next^post11 <= 0 /\ -1 <= 0), cost: 1 New rule: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post11, is_aborted_next^0'=is_aborted_next^post11, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post11, pc_plan_next^0'=pc_plan_next^post11, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, _|_, cost: 1 Removed Trivial Updates Original rule: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post11, is_aborted_next^0'=is_aborted_next^post11, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post11, pc_plan_next^0'=pc_plan_next^post11, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, _|_, cost: 1 New rule: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post11, is_aborted_next^0'=is_aborted_next^post11, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post11, pc_plan_next^0'=pc_plan_next^post11, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 made implied equalities explicit Original rule: l2 -> l3 : executed_drive^0'=executed_drive^post12, is_aborted^0'=is_aborted^post12, is_aborted_next^0'=is_aborted_next^post12, n0^0'=n0^post12, n1^0'=n1^post12, pc_drive^0'=pc_drive^post12, pc_drive_next^0'=pc_drive_next^post12, pc_loop^0'=pc_loop^post12, pc_plan^0'=pc_plan^post12, pc_plan_next^0'=pc_plan_next^post12, x^0'=x^post12, x_next^0'=x_next^post12, y^0'=y^post12, y_next^0'=y_next^post12, (0 == 0 /\ -3+pc_drive_next^post12 <= 0 /\ -pc_drive_next^post12+pc_drive^post12 == 0 /\ x^post12-x_next^post12 == 0 /\ executed_drive^post12 == 0 /\ -7+pc_plan_next^post12 <= 0 /\ -7+pc_drive_next^post12 <= 0 /\ n0^0-n0^post12 == 0 /\ y^post12-y_next^post12 == 0 /\ -2+pc_drive^post12 <= 0 /\ y_next^post12-y^0 <= 0 /\ -n1^post12+n1^0 == 0 /\ x^0-x_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0 /\ 1-is_aborted_next^post12 <= 0 /\ -1+is_aborted_next^post12 <= 0 /\ -is_aborted_next^post12 <= 0 /\ -y_next^post12+y^0 <= 0 /\ -x^0+x_next^post12 <= 0 /\ pc_plan^post12-pc_plan_next^post12 == 0 /\ -4+pc_loop^post12 == 0 /\ 1-pc_drive_next^post12 <= 0 /\ is_aborted^post12-is_aborted_next^post12 == 0 /\ 2-pc_drive^post12 <= 0), cost: 1 New rule: l2 -> l3 : executed_drive^0'=executed_drive^post12, is_aborted^0'=is_aborted^post12, is_aborted_next^0'=is_aborted_next^post12, n0^0'=n0^post12, n1^0'=n1^post12, pc_drive^0'=pc_drive^post12, pc_drive_next^0'=pc_drive_next^post12, pc_loop^0'=pc_loop^post12, pc_plan^0'=pc_plan^post12, pc_plan_next^0'=pc_plan_next^post12, x^0'=x^post12, x_next^0'=x_next^post12, y^0'=y^post12, y_next^0'=y_next^post12, (0 == 0 /\ -3+pc_drive_next^post12 <= 0 /\ -pc_drive_next^post12+pc_drive^post12 == 0 /\ x^post12-x_next^post12 == 0 /\ executed_drive^post12 == 0 /\ -7+pc_plan_next^post12 <= 0 /\ -7+pc_drive_next^post12 <= 0 /\ n0^0-n0^post12 == 0 /\ y^post12-y_next^post12 == 0 /\ -2+pc_drive^post12 <= 0 /\ -2+pc_drive^post12 == 0 /\ y_next^post12-y^0 <= 0 /\ y_next^post12-y^0 == 0 /\ -n1^post12+n1^0 == 0 /\ x^0-x_next^post12 <= 0 /\ x^0-x_next^post12 == 0 /\ 1-pc_plan_next^post12 <= 0 /\ 1-is_aborted_next^post12 <= 0 /\ 1-is_aborted_next^post12 == 0 /\ -1+is_aborted_next^post12 <= 0 /\ -is_aborted_next^post12 <= 0 /\ -y_next^post12+y^0 <= 0 /\ -x^0+x_next^post12 <= 0 /\ pc_plan^post12-pc_plan_next^post12 == 0 /\ -4+pc_loop^post12 == 0 /\ 1-pc_drive_next^post12 <= 0 /\ is_aborted^post12-is_aborted_next^post12 == 0 /\ 2-pc_drive^post12 <= 0), cost: 1 Propagated Equalities Original rule: l2 -> l3 : executed_drive^0'=executed_drive^post12, is_aborted^0'=is_aborted^post12, is_aborted_next^0'=is_aborted_next^post12, n0^0'=n0^post12, n1^0'=n1^post12, pc_drive^0'=pc_drive^post12, pc_drive_next^0'=pc_drive_next^post12, pc_loop^0'=pc_loop^post12, pc_plan^0'=pc_plan^post12, pc_plan_next^0'=pc_plan_next^post12, x^0'=x^post12, x_next^0'=x_next^post12, y^0'=y^post12, y_next^0'=y_next^post12, (0 == 0 /\ -3+pc_drive_next^post12 <= 0 /\ -pc_drive_next^post12+pc_drive^post12 == 0 /\ x^post12-x_next^post12 == 0 /\ executed_drive^post12 == 0 /\ -7+pc_plan_next^post12 <= 0 /\ -7+pc_drive_next^post12 <= 0 /\ n0^0-n0^post12 == 0 /\ y^post12-y_next^post12 == 0 /\ -2+pc_drive^post12 <= 0 /\ -2+pc_drive^post12 == 0 /\ y_next^post12-y^0 <= 0 /\ y_next^post12-y^0 == 0 /\ -n1^post12+n1^0 == 0 /\ x^0-x_next^post12 <= 0 /\ x^0-x_next^post12 == 0 /\ 1-pc_plan_next^post12 <= 0 /\ 1-is_aborted_next^post12 <= 0 /\ 1-is_aborted_next^post12 == 0 /\ -1+is_aborted_next^post12 <= 0 /\ -is_aborted_next^post12 <= 0 /\ -y_next^post12+y^0 <= 0 /\ -x^0+x_next^post12 <= 0 /\ pc_plan^post12-pc_plan_next^post12 == 0 /\ -4+pc_loop^post12 == 0 /\ 1-pc_drive_next^post12 <= 0 /\ is_aborted^post12-is_aborted_next^post12 == 0 /\ 2-pc_drive^post12 <= 0), cost: 1 New rule: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post12, pc_plan_next^0'=pc_plan_next^post12, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -7+pc_plan_next^post12 <= 0 /\ -5 <= 0 /\ 1-pc_plan_next^post12 <= 0 /\ -1 <= 0), cost: 1 propagated equality pc_drive^post12 = pc_drive_next^post12 propagated equality x^post12 = x_next^post12 propagated equality executed_drive^post12 = 0 propagated equality n0^post12 = n0^0 propagated equality y^post12 = y_next^post12 propagated equality pc_drive_next^post12 = 2 propagated equality y_next^post12 = y^0 propagated equality n1^post12 = n1^0 propagated equality x_next^post12 = x^0 propagated equality is_aborted_next^post12 = 1 propagated equality pc_plan^post12 = pc_plan_next^post12 propagated equality pc_loop^post12 = 4 propagated equality is_aborted^post12 = 1 Simplified Guard Original rule: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post12, pc_plan_next^0'=pc_plan_next^post12, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -7+pc_plan_next^post12 <= 0 /\ -5 <= 0 /\ 1-pc_plan_next^post12 <= 0 /\ -1 <= 0), cost: 1 New rule: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post12, pc_plan_next^0'=pc_plan_next^post12, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0), cost: 1 Removed Trivial Updates Original rule: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post12, pc_plan_next^0'=pc_plan_next^post12, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0), cost: 1 New rule: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post12, pc_plan_next^0'=pc_plan_next^post12, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0), cost: 1 made implied equalities explicit Original rule: l3 -> l0 : executed_drive^0'=executed_drive^post13, is_aborted^0'=is_aborted^post13, is_aborted_next^0'=is_aborted_next^post13, n0^0'=n0^post13, n1^0'=n1^post13, pc_drive^0'=pc_drive^post13, pc_drive_next^0'=pc_drive_next^post13, pc_loop^0'=pc_loop^post13, pc_plan^0'=pc_plan^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=x^post13, x_next^0'=x_next^post13, y^0'=y^post13, y_next^0'=y_next^post13, (0 == 0 /\ pc_plan^post13-pc_plan_next^post13 == 0 /\ -is_aborted_next^post13 <= 0 /\ -1+is_aborted_next^post13 <= 0 /\ -1+y_next^post13-y^0 <= 0 /\ -7+pc_plan_next^post13 <= 0 /\ -1+x_next^post13-x^0 <= 0 /\ -n1^post13+n1^0 == 0 /\ -y_next^post13+y^post13 == 0 /\ 1-is_aborted^post13 <= 0 /\ 1-pc_drive_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0 /\ -7+pc_loop^post13 == 0 /\ 1-y_next^post13+y^0 <= 0 /\ n0^0-n0^post13 == 0 /\ is_aborted^post13-is_aborted_next^post13 == 0 /\ pc_drive^post13-pc_drive_next^post13 == 0 /\ 1-x_next^post13+x^0 <= 0 /\ -1+executed_drive^post13 == 0 /\ -4+pc_drive_next^post13 <= 0 /\ 4-pc_drive_next^post13 <= 0 /\ -7+pc_drive_next^post13 <= 0 /\ x^post13-x_next^post13 == 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=executed_drive^post13, is_aborted^0'=is_aborted^post13, is_aborted_next^0'=is_aborted_next^post13, n0^0'=n0^post13, n1^0'=n1^post13, pc_drive^0'=pc_drive^post13, pc_drive_next^0'=pc_drive_next^post13, pc_loop^0'=pc_loop^post13, pc_plan^0'=pc_plan^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=x^post13, x_next^0'=x_next^post13, y^0'=y^post13, y_next^0'=y_next^post13, (0 == 0 /\ pc_plan^post13-pc_plan_next^post13 == 0 /\ -is_aborted_next^post13 <= 0 /\ -1+is_aborted_next^post13 <= 0 /\ -1+y_next^post13-y^0 <= 0 /\ -1+y_next^post13-y^0 == 0 /\ -7+pc_plan_next^post13 <= 0 /\ -1+x_next^post13-x^0 <= 0 /\ -1+x_next^post13-x^0 == 0 /\ -n1^post13+n1^0 == 0 /\ -y_next^post13+y^post13 == 0 /\ 1-is_aborted^post13 <= 0 /\ 1-pc_drive_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0 /\ -7+pc_loop^post13 == 0 /\ 1-y_next^post13+y^0 <= 0 /\ n0^0-n0^post13 == 0 /\ is_aborted^post13-is_aborted_next^post13 == 0 /\ pc_drive^post13-pc_drive_next^post13 == 0 /\ 1-x_next^post13+x^0 <= 0 /\ -1+executed_drive^post13 == 0 /\ -4+pc_drive_next^post13 <= 0 /\ -4+pc_drive_next^post13 == 0 /\ 4-pc_drive_next^post13 <= 0 /\ -7+pc_drive_next^post13 <= 0 /\ x^post13-x_next^post13 == 0), cost: 1 Propagated Equalities Original rule: l3 -> l0 : executed_drive^0'=executed_drive^post13, is_aborted^0'=is_aborted^post13, is_aborted_next^0'=is_aborted_next^post13, n0^0'=n0^post13, n1^0'=n1^post13, pc_drive^0'=pc_drive^post13, pc_drive_next^0'=pc_drive_next^post13, pc_loop^0'=pc_loop^post13, pc_plan^0'=pc_plan^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=x^post13, x_next^0'=x_next^post13, y^0'=y^post13, y_next^0'=y_next^post13, (0 == 0 /\ pc_plan^post13-pc_plan_next^post13 == 0 /\ -is_aborted_next^post13 <= 0 /\ -1+is_aborted_next^post13 <= 0 /\ -1+y_next^post13-y^0 <= 0 /\ -1+y_next^post13-y^0 == 0 /\ -7+pc_plan_next^post13 <= 0 /\ -1+x_next^post13-x^0 <= 0 /\ -1+x_next^post13-x^0 == 0 /\ -n1^post13+n1^0 == 0 /\ -y_next^post13+y^post13 == 0 /\ 1-is_aborted^post13 <= 0 /\ 1-pc_drive_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0 /\ -7+pc_loop^post13 == 0 /\ 1-y_next^post13+y^0 <= 0 /\ n0^0-n0^post13 == 0 /\ is_aborted^post13-is_aborted_next^post13 == 0 /\ pc_drive^post13-pc_drive_next^post13 == 0 /\ 1-x_next^post13+x^0 <= 0 /\ -1+executed_drive^post13 == 0 /\ -4+pc_drive_next^post13 <= 0 /\ -4+pc_drive_next^post13 == 0 /\ 4-pc_drive_next^post13 <= 0 /\ -7+pc_drive_next^post13 <= 0 /\ x^post13-x_next^post13 == 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post13, is_aborted_next^0'=is_aborted_next^post13, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -is_aborted_next^post13 <= 0 /\ -3 <= 0 /\ 1-is_aborted_next^post13 <= 0 /\ -1+is_aborted_next^post13 <= 0 /\ -7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 propagated equality pc_plan^post13 = pc_plan_next^post13 propagated equality y_next^post13 = 1+y^0 propagated equality x_next^post13 = 1+x^0 propagated equality n1^post13 = n1^0 propagated equality y^post13 = 1+y^0 propagated equality pc_loop^post13 = 7 propagated equality n0^post13 = n0^0 propagated equality is_aborted^post13 = is_aborted_next^post13 propagated equality pc_drive^post13 = pc_drive_next^post13 propagated equality executed_drive^post13 = 1 propagated equality pc_drive_next^post13 = 4 propagated equality x^post13 = 1+x^0 Simplified Guard Original rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post13, is_aborted_next^0'=is_aborted_next^post13, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -is_aborted_next^post13 <= 0 /\ -3 <= 0 /\ 1-is_aborted_next^post13 <= 0 /\ -1+is_aborted_next^post13 <= 0 /\ -7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post13, is_aborted_next^0'=is_aborted_next^post13, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-is_aborted_next^post13 <= 0 /\ 1-is_aborted_next^post13 <= 0 /\ -1+is_aborted_next^post13 <= 0 /\ -7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 made implied equalities explicit Original rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post13, is_aborted_next^0'=is_aborted_next^post13, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-is_aborted_next^post13 <= 0 /\ 1-is_aborted_next^post13 <= 0 /\ -1+is_aborted_next^post13 <= 0 /\ -7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post13, is_aborted_next^0'=is_aborted_next^post13, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-is_aborted_next^post13 <= 0 /\ 1-is_aborted_next^post13 <= 0 /\ 1-is_aborted_next^post13 == 0 /\ -1+is_aborted_next^post13 <= 0 /\ -7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 Propagated Equalities Original rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post13, is_aborted_next^0'=is_aborted_next^post13, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-is_aborted_next^post13 <= 0 /\ 1-is_aborted_next^post13 <= 0 /\ 1-is_aborted_next^post13 == 0 /\ -1+is_aborted_next^post13 <= 0 /\ -7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0 /\ -1 <= 0), cost: 1 propagated equality is_aborted_next^post13 = 1 Simplified Guard Original rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0 /\ -1 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 Removed Trivial Updates Original rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post13, is_aborted_next^0'=is_aborted_next^post13, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-is_aborted_next^post13 <= 0 /\ 1-is_aborted_next^post13 <= 0 /\ -1+is_aborted_next^post13 <= 0 /\ -7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post13, is_aborted_next^0'=is_aborted_next^post13, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-is_aborted_next^post13 <= 0 /\ 1-is_aborted_next^post13 <= 0 /\ -1+is_aborted_next^post13 <= 0 /\ -7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 made implied equalities explicit Original rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post13, is_aborted_next^0'=is_aborted_next^post13, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-is_aborted_next^post13 <= 0 /\ 1-is_aborted_next^post13 <= 0 /\ -1+is_aborted_next^post13 <= 0 /\ -7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post13, is_aborted_next^0'=is_aborted_next^post13, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-is_aborted_next^post13 <= 0 /\ 1-is_aborted_next^post13 <= 0 /\ 1-is_aborted_next^post13 == 0 /\ -1+is_aborted_next^post13 <= 0 /\ -7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 Propagated Equalities Original rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post13, is_aborted_next^0'=is_aborted_next^post13, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-is_aborted_next^post13 <= 0 /\ 1-is_aborted_next^post13 <= 0 /\ 1-is_aborted_next^post13 == 0 /\ -1+is_aborted_next^post13 <= 0 /\ -7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0 /\ -1 <= 0), cost: 1 propagated equality is_aborted_next^post13 = 1 Simplified Guard Original rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0 /\ -1 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 made implied equalities explicit Original rule: l3 -> l0 : executed_drive^0'=executed_drive^post14, is_aborted^0'=is_aborted^post14, is_aborted_next^0'=is_aborted_next^post14, n0^0'=n0^post14, n1^0'=n1^post14, pc_drive^0'=pc_drive^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=pc_loop^post14, pc_plan^0'=pc_plan^post14, pc_plan_next^0'=pc_plan_next^post14, x^0'=x^post14, x_next^0'=x_next^post14, y^0'=y^post14, y_next^0'=y_next^post14, (0 == 0 /\ is_aborted^post14-is_aborted_next^post14 == 0 /\ -x^0+x_next^post14 <= 0 /\ -y_next^post14+y^post14 == 0 /\ y_next^post14-y^0 <= 0 /\ -pc_drive_next^post14+pc_drive^post14 == 0 /\ 1-pc_plan_next^post14 <= 0 /\ x^0-x_next^post14 <= 0 /\ 1-is_aborted^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -y_next^post14+y^0 <= 0 /\ -7+pc_loop^post14 == 0 /\ x^post14-x_next^post14 == 0 /\ -n1^post14+n1^0 == 0 /\ n0^0-n0^post14 == 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ -pc_plan_next^post14+pc_plan^post14 == 0 /\ -executed_drive^post14+executed_drive^0 == 0 /\ 5-pc_drive_next^post14 <= 0 /\ -is_aborted_next^post14 <= 0 /\ -1+is_aborted_next^post14 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=executed_drive^post14, is_aborted^0'=is_aborted^post14, is_aborted_next^0'=is_aborted_next^post14, n0^0'=n0^post14, n1^0'=n1^post14, pc_drive^0'=pc_drive^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=pc_loop^post14, pc_plan^0'=pc_plan^post14, pc_plan_next^0'=pc_plan_next^post14, x^0'=x^post14, x_next^0'=x_next^post14, y^0'=y^post14, y_next^0'=y_next^post14, (0 == 0 /\ is_aborted^post14-is_aborted_next^post14 == 0 /\ -x^0+x_next^post14 <= 0 /\ -x^0+x_next^post14 == 0 /\ -y_next^post14+y^post14 == 0 /\ y_next^post14-y^0 <= 0 /\ y_next^post14-y^0 == 0 /\ -pc_drive_next^post14+pc_drive^post14 == 0 /\ 1-pc_plan_next^post14 <= 0 /\ x^0-x_next^post14 <= 0 /\ 1-is_aborted^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -y_next^post14+y^0 <= 0 /\ -7+pc_loop^post14 == 0 /\ x^post14-x_next^post14 == 0 /\ -n1^post14+n1^0 == 0 /\ n0^0-n0^post14 == 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ -pc_plan_next^post14+pc_plan^post14 == 0 /\ -executed_drive^post14+executed_drive^0 == 0 /\ 5-pc_drive_next^post14 <= 0 /\ -is_aborted_next^post14 <= 0 /\ -1+is_aborted_next^post14 <= 0), cost: 1 Propagated Equalities Original rule: l3 -> l0 : executed_drive^0'=executed_drive^post14, is_aborted^0'=is_aborted^post14, is_aborted_next^0'=is_aborted_next^post14, n0^0'=n0^post14, n1^0'=n1^post14, pc_drive^0'=pc_drive^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=pc_loop^post14, pc_plan^0'=pc_plan^post14, pc_plan_next^0'=pc_plan_next^post14, x^0'=x^post14, x_next^0'=x_next^post14, y^0'=y^post14, y_next^0'=y_next^post14, (0 == 0 /\ is_aborted^post14-is_aborted_next^post14 == 0 /\ -x^0+x_next^post14 <= 0 /\ -x^0+x_next^post14 == 0 /\ -y_next^post14+y^post14 == 0 /\ y_next^post14-y^0 <= 0 /\ y_next^post14-y^0 == 0 /\ -pc_drive_next^post14+pc_drive^post14 == 0 /\ 1-pc_plan_next^post14 <= 0 /\ x^0-x_next^post14 <= 0 /\ 1-is_aborted^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -y_next^post14+y^0 <= 0 /\ -7+pc_loop^post14 == 0 /\ x^post14-x_next^post14 == 0 /\ -n1^post14+n1^0 == 0 /\ n0^0-n0^post14 == 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ -pc_plan_next^post14+pc_plan^post14 == 0 /\ -executed_drive^post14+executed_drive^0 == 0 /\ 5-pc_drive_next^post14 <= 0 /\ -is_aborted_next^post14 <= 0 /\ -1+is_aborted_next^post14 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post14, is_aborted_next^0'=is_aborted_next^post14, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0 /\ -is_aborted_next^post14 <= 0 /\ 1-is_aborted_next^post14 <= 0 /\ -1+is_aborted_next^post14 <= 0), cost: 1 propagated equality is_aborted^post14 = is_aborted_next^post14 propagated equality x_next^post14 = x^0 propagated equality y^post14 = y_next^post14 propagated equality y_next^post14 = y^0 propagated equality pc_drive^post14 = pc_drive_next^post14 propagated equality pc_loop^post14 = 7 propagated equality x^post14 = x^0 propagated equality n1^post14 = n1^0 propagated equality n0^post14 = n0^0 propagated equality pc_plan^post14 = pc_plan_next^post14 propagated equality executed_drive^post14 = executed_drive^0 Simplified Guard Original rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post14, is_aborted_next^0'=is_aborted_next^post14, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0 /\ -is_aborted_next^post14 <= 0 /\ 1-is_aborted_next^post14 <= 0 /\ -1+is_aborted_next^post14 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post14, is_aborted_next^0'=is_aborted_next^post14, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0 /\ -is_aborted_next^post14 <= 0 /\ 1-is_aborted_next^post14 <= 0 /\ -1+is_aborted_next^post14 <= 0), cost: 1 made implied equalities explicit Original rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post14, is_aborted_next^0'=is_aborted_next^post14, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0 /\ -is_aborted_next^post14 <= 0 /\ 1-is_aborted_next^post14 <= 0 /\ -1+is_aborted_next^post14 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post14, is_aborted_next^0'=is_aborted_next^post14, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0 /\ -is_aborted_next^post14 <= 0 /\ 1-is_aborted_next^post14 <= 0 /\ 1-is_aborted_next^post14 == 0 /\ -1+is_aborted_next^post14 <= 0), cost: 1 Propagated Equalities Original rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post14, is_aborted_next^0'=is_aborted_next^post14, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0 /\ -is_aborted_next^post14 <= 0 /\ 1-is_aborted_next^post14 <= 0 /\ 1-is_aborted_next^post14 == 0 /\ -1+is_aborted_next^post14 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ -1 <= 0 /\ 5-pc_drive_next^post14 <= 0), cost: 1 propagated equality is_aborted_next^post14 = 1 Simplified Guard Original rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ -1 <= 0 /\ 5-pc_drive_next^post14 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0), cost: 1 Removed Trivial Updates Original rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post14, is_aborted_next^0'=is_aborted_next^post14, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0 /\ -is_aborted_next^post14 <= 0 /\ 1-is_aborted_next^post14 <= 0 /\ -1+is_aborted_next^post14 <= 0), cost: 1 New rule: l3 -> l0 : is_aborted^0'=is_aborted_next^post14, is_aborted_next^0'=is_aborted_next^post14, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0 /\ -is_aborted_next^post14 <= 0 /\ 1-is_aborted_next^post14 <= 0 /\ -1+is_aborted_next^post14 <= 0), cost: 1 made implied equalities explicit Original rule: l3 -> l0 : is_aborted^0'=is_aborted_next^post14, is_aborted_next^0'=is_aborted_next^post14, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0 /\ -is_aborted_next^post14 <= 0 /\ 1-is_aborted_next^post14 <= 0 /\ -1+is_aborted_next^post14 <= 0), cost: 1 New rule: l3 -> l0 : is_aborted^0'=is_aborted_next^post14, is_aborted_next^0'=is_aborted_next^post14, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0 /\ -is_aborted_next^post14 <= 0 /\ 1-is_aborted_next^post14 <= 0 /\ 1-is_aborted_next^post14 == 0 /\ -1+is_aborted_next^post14 <= 0), cost: 1 Propagated Equalities Original rule: l3 -> l0 : is_aborted^0'=is_aborted_next^post14, is_aborted_next^0'=is_aborted_next^post14, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0 /\ -is_aborted_next^post14 <= 0 /\ 1-is_aborted_next^post14 <= 0 /\ 1-is_aborted_next^post14 == 0 /\ -1+is_aborted_next^post14 <= 0), cost: 1 New rule: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ -1 <= 0 /\ 5-pc_drive_next^post14 <= 0), cost: 1 propagated equality is_aborted_next^post14 = 1 Simplified Guard Original rule: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ -1 <= 0 /\ 5-pc_drive_next^post14 <= 0), cost: 1 New rule: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0), cost: 1 made implied equalities explicit Original rule: l3 -> l0 : executed_drive^0'=executed_drive^post15, is_aborted^0'=is_aborted^post15, is_aborted_next^0'=is_aborted_next^post15, n0^0'=n0^post15, n1^0'=n1^post15, pc_drive^0'=pc_drive^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=pc_loop^post15, pc_plan^0'=pc_plan^post15, pc_plan_next^0'=pc_plan_next^post15, x^0'=x^post15, x_next^0'=x_next^post15, y^0'=y^post15, y_next^0'=y_next^post15, (0 == 0 /\ n1^0-n1^post15 == 0 /\ -is_aborted_next^post15+is_aborted^post15 == 0 /\ executed_drive^0-executed_drive^post15 == 0 /\ -3+pc_drive_next^post15 <= 0 /\ -y_next^post15+y^0 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ x^post15-x_next^post15 == 0 /\ -1+is_aborted_next^post15 <= 0 /\ -is_aborted_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ y^post15-y_next^post15 == 0 /\ y_next^post15-y^0 <= 0 /\ x^0-x_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-is_aborted^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0 /\ pc_plan^post15-pc_plan_next^post15 == 0 /\ -x^0+x_next^post15 <= 0 /\ n0^0-n0^post15 == 0 /\ -7+pc_loop^post15 == 0 /\ pc_drive^post15-pc_drive_next^post15 == 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=executed_drive^post15, is_aborted^0'=is_aborted^post15, is_aborted_next^0'=is_aborted_next^post15, n0^0'=n0^post15, n1^0'=n1^post15, pc_drive^0'=pc_drive^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=pc_loop^post15, pc_plan^0'=pc_plan^post15, pc_plan_next^0'=pc_plan_next^post15, x^0'=x^post15, x_next^0'=x_next^post15, y^0'=y^post15, y_next^0'=y_next^post15, (0 == 0 /\ n1^0-n1^post15 == 0 /\ -is_aborted_next^post15+is_aborted^post15 == 0 /\ executed_drive^0-executed_drive^post15 == 0 /\ -3+pc_drive_next^post15 <= 0 /\ -y_next^post15+y^0 <= 0 /\ -y_next^post15+y^0 == 0 /\ -7+pc_plan_next^post15 <= 0 /\ x^post15-x_next^post15 == 0 /\ -1+is_aborted_next^post15 <= 0 /\ -is_aborted_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ y^post15-y_next^post15 == 0 /\ y_next^post15-y^0 <= 0 /\ x^0-x_next^post15 <= 0 /\ x^0-x_next^post15 == 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-is_aborted^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0 /\ pc_plan^post15-pc_plan_next^post15 == 0 /\ -x^0+x_next^post15 <= 0 /\ n0^0-n0^post15 == 0 /\ -7+pc_loop^post15 == 0 /\ pc_drive^post15-pc_drive_next^post15 == 0), cost: 1 Propagated Equalities Original rule: l3 -> l0 : executed_drive^0'=executed_drive^post15, is_aborted^0'=is_aborted^post15, is_aborted_next^0'=is_aborted_next^post15, n0^0'=n0^post15, n1^0'=n1^post15, pc_drive^0'=pc_drive^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=pc_loop^post15, pc_plan^0'=pc_plan^post15, pc_plan_next^0'=pc_plan_next^post15, x^0'=x^post15, x_next^0'=x_next^post15, y^0'=y^post15, y_next^0'=y_next^post15, (0 == 0 /\ n1^0-n1^post15 == 0 /\ -is_aborted_next^post15+is_aborted^post15 == 0 /\ executed_drive^0-executed_drive^post15 == 0 /\ -3+pc_drive_next^post15 <= 0 /\ -y_next^post15+y^0 <= 0 /\ -y_next^post15+y^0 == 0 /\ -7+pc_plan_next^post15 <= 0 /\ x^post15-x_next^post15 == 0 /\ -1+is_aborted_next^post15 <= 0 /\ -is_aborted_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ y^post15-y_next^post15 == 0 /\ y_next^post15-y^0 <= 0 /\ x^0-x_next^post15 <= 0 /\ x^0-x_next^post15 == 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-is_aborted^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0 /\ pc_plan^post15-pc_plan_next^post15 == 0 /\ -x^0+x_next^post15 <= 0 /\ n0^0-n0^post15 == 0 /\ -7+pc_loop^post15 == 0 /\ pc_drive^post15-pc_drive_next^post15 == 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post15, is_aborted_next^0'=is_aborted_next^post15, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ 1-is_aborted_next^post15 <= 0 /\ -1+is_aborted_next^post15 <= 0 /\ -is_aborted_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 propagated equality n1^post15 = n1^0 propagated equality is_aborted^post15 = is_aborted_next^post15 propagated equality executed_drive^post15 = executed_drive^0 propagated equality y_next^post15 = y^0 propagated equality x^post15 = x_next^post15 propagated equality y^post15 = y^0 propagated equality x_next^post15 = x^0 propagated equality pc_plan^post15 = pc_plan_next^post15 propagated equality n0^post15 = n0^0 propagated equality pc_loop^post15 = 7 propagated equality pc_drive^post15 = pc_drive_next^post15 Simplified Guard Original rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post15, is_aborted_next^0'=is_aborted_next^post15, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ 1-is_aborted_next^post15 <= 0 /\ -1+is_aborted_next^post15 <= 0 /\ -is_aborted_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post15, is_aborted_next^0'=is_aborted_next^post15, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ 1-is_aborted_next^post15 <= 0 /\ -1+is_aborted_next^post15 <= 0 /\ -is_aborted_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 made implied equalities explicit Original rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post15, is_aborted_next^0'=is_aborted_next^post15, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ 1-is_aborted_next^post15 <= 0 /\ -1+is_aborted_next^post15 <= 0 /\ -is_aborted_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post15, is_aborted_next^0'=is_aborted_next^post15, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ 1-is_aborted_next^post15 <= 0 /\ 1-is_aborted_next^post15 == 0 /\ -1+is_aborted_next^post15 <= 0 /\ -is_aborted_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 Propagated Equalities Original rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post15, is_aborted_next^0'=is_aborted_next^post15, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ 1-is_aborted_next^post15 <= 0 /\ 1-is_aborted_next^post15 == 0 /\ -1+is_aborted_next^post15 <= 0 /\ -is_aborted_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0 /\ -1 <= 0), cost: 1 propagated equality is_aborted_next^post15 = 1 Simplified Guard Original rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0 /\ -1 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 Removed Trivial Updates Original rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post15, is_aborted_next^0'=is_aborted_next^post15, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ 1-is_aborted_next^post15 <= 0 /\ -1+is_aborted_next^post15 <= 0 /\ -is_aborted_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 New rule: l3 -> l0 : is_aborted^0'=is_aborted_next^post15, is_aborted_next^0'=is_aborted_next^post15, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ 1-is_aborted_next^post15 <= 0 /\ -1+is_aborted_next^post15 <= 0 /\ -is_aborted_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 made implied equalities explicit Original rule: l3 -> l0 : is_aborted^0'=is_aborted_next^post15, is_aborted_next^0'=is_aborted_next^post15, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ 1-is_aborted_next^post15 <= 0 /\ -1+is_aborted_next^post15 <= 0 /\ -is_aborted_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 New rule: l3 -> l0 : is_aborted^0'=is_aborted_next^post15, is_aborted_next^0'=is_aborted_next^post15, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ 1-is_aborted_next^post15 <= 0 /\ 1-is_aborted_next^post15 == 0 /\ -1+is_aborted_next^post15 <= 0 /\ -is_aborted_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 Propagated Equalities Original rule: l3 -> l0 : is_aborted^0'=is_aborted_next^post15, is_aborted_next^0'=is_aborted_next^post15, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ 1-is_aborted_next^post15 <= 0 /\ 1-is_aborted_next^post15 == 0 /\ -1+is_aborted_next^post15 <= 0 /\ -is_aborted_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 New rule: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0 /\ -1 <= 0), cost: 1 propagated equality is_aborted_next^post15 = 1 Simplified Guard Original rule: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0 /\ -1 <= 0), cost: 1 New rule: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 made implied equalities explicit Original rule: l3 -> l0 : executed_drive^0'=executed_drive^post16, is_aborted^0'=is_aborted^post16, is_aborted_next^0'=is_aborted_next^post16, n0^0'=n0^post16, n1^0'=n1^post16, pc_drive^0'=pc_drive^post16, pc_drive_next^0'=pc_drive_next^post16, pc_loop^0'=pc_loop^post16, pc_plan^0'=pc_plan^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=x^post16, x_next^0'=x_next^post16, y^0'=y^post16, y_next^0'=y_next^post16, (0 == 0 /\ -4+pc_drive_next^post16 <= 0 /\ 4-pc_drive_next^post16 <= 0 /\ -7+pc_plan_next^post16 <= 0 /\ -1+is_aborted_next^post16 <= 0 /\ y^post16-y_next^post16 == 0 /\ -is_aborted_next^post16 <= 0 /\ pc_plan^post16-pc_plan_next^post16 == 0 /\ -7+pc_drive_next^post16 <= 0 /\ 1-x_next^post16+x^0 <= 0 /\ is_aborted^post16 <= 0 /\ -x^post16+n0^0 <= 0 /\ -1-y^0+y_next^post16 <= 0 /\ is_aborted^post16-is_aborted_next^post16 == 0 /\ -n1^post16+n1^0 == 0 /\ 1-pc_plan_next^post16 <= 0 /\ x^post16-x_next^post16 == 0 /\ 1-pc_drive_next^post16 <= 0 /\ -1+x_next^post16-x^0 <= 0 /\ n0^0-n0^post16 == 0 /\ -7+pc_loop^post16 == 0 /\ 1+y^0-y_next^post16 <= 0 /\ pc_drive^post16-pc_drive_next^post16 == 0 /\ -y^post16+n1^0 <= 0 /\ -1+executed_drive^post16 == 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=executed_drive^post16, is_aborted^0'=is_aborted^post16, is_aborted_next^0'=is_aborted_next^post16, n0^0'=n0^post16, n1^0'=n1^post16, pc_drive^0'=pc_drive^post16, pc_drive_next^0'=pc_drive_next^post16, pc_loop^0'=pc_loop^post16, pc_plan^0'=pc_plan^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=x^post16, x_next^0'=x_next^post16, y^0'=y^post16, y_next^0'=y_next^post16, (0 == 0 /\ -4+pc_drive_next^post16 <= 0 /\ -4+pc_drive_next^post16 == 0 /\ 4-pc_drive_next^post16 <= 0 /\ -7+pc_plan_next^post16 <= 0 /\ -1+is_aborted_next^post16 <= 0 /\ y^post16-y_next^post16 == 0 /\ -is_aborted_next^post16 <= 0 /\ pc_plan^post16-pc_plan_next^post16 == 0 /\ -7+pc_drive_next^post16 <= 0 /\ 1-x_next^post16+x^0 <= 0 /\ 1-x_next^post16+x^0 == 0 /\ is_aborted^post16 <= 0 /\ -x^post16+n0^0 <= 0 /\ -1-y^0+y_next^post16 <= 0 /\ -1-y^0+y_next^post16 == 0 /\ is_aborted^post16-is_aborted_next^post16 == 0 /\ -n1^post16+n1^0 == 0 /\ 1-pc_plan_next^post16 <= 0 /\ x^post16-x_next^post16 == 0 /\ 1-pc_drive_next^post16 <= 0 /\ -1+x_next^post16-x^0 <= 0 /\ n0^0-n0^post16 == 0 /\ -7+pc_loop^post16 == 0 /\ 1+y^0-y_next^post16 <= 0 /\ pc_drive^post16-pc_drive_next^post16 == 0 /\ -y^post16+n1^0 <= 0 /\ -1+executed_drive^post16 == 0), cost: 1 Propagated Equalities Original rule: l3 -> l0 : executed_drive^0'=executed_drive^post16, is_aborted^0'=is_aborted^post16, is_aborted_next^0'=is_aborted_next^post16, n0^0'=n0^post16, n1^0'=n1^post16, pc_drive^0'=pc_drive^post16, pc_drive_next^0'=pc_drive_next^post16, pc_loop^0'=pc_loop^post16, pc_plan^0'=pc_plan^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=x^post16, x_next^0'=x_next^post16, y^0'=y^post16, y_next^0'=y_next^post16, (0 == 0 /\ -4+pc_drive_next^post16 <= 0 /\ -4+pc_drive_next^post16 == 0 /\ 4-pc_drive_next^post16 <= 0 /\ -7+pc_plan_next^post16 <= 0 /\ -1+is_aborted_next^post16 <= 0 /\ y^post16-y_next^post16 == 0 /\ -is_aborted_next^post16 <= 0 /\ pc_plan^post16-pc_plan_next^post16 == 0 /\ -7+pc_drive_next^post16 <= 0 /\ 1-x_next^post16+x^0 <= 0 /\ 1-x_next^post16+x^0 == 0 /\ is_aborted^post16 <= 0 /\ -x^post16+n0^0 <= 0 /\ -1-y^0+y_next^post16 <= 0 /\ -1-y^0+y_next^post16 == 0 /\ is_aborted^post16-is_aborted_next^post16 == 0 /\ -n1^post16+n1^0 == 0 /\ 1-pc_plan_next^post16 <= 0 /\ x^post16-x_next^post16 == 0 /\ 1-pc_drive_next^post16 <= 0 /\ -1+x_next^post16-x^0 <= 0 /\ n0^0-n0^post16 == 0 /\ -7+pc_loop^post16 == 0 /\ 1+y^0-y_next^post16 <= 0 /\ pc_drive^post16-pc_drive_next^post16 == 0 /\ -y^post16+n1^0 <= 0 /\ -1+executed_drive^post16 == 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post16, is_aborted_next^0'=is_aborted_next^post16, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -3 <= 0 /\ -7+pc_plan_next^post16 <= 0 /\ -1+is_aborted_next^post16 <= 0 /\ -is_aborted_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ is_aborted_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 propagated equality pc_drive_next^post16 = 4 propagated equality y^post16 = y_next^post16 propagated equality pc_plan^post16 = pc_plan_next^post16 propagated equality x_next^post16 = 1+x^0 propagated equality y_next^post16 = 1+y^0 propagated equality is_aborted^post16 = is_aborted_next^post16 propagated equality n1^post16 = n1^0 propagated equality x^post16 = 1+x^0 propagated equality n0^post16 = n0^0 propagated equality pc_loop^post16 = 7 propagated equality pc_drive^post16 = 4 propagated equality executed_drive^post16 = 1 Simplified Guard Original rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post16, is_aborted_next^0'=is_aborted_next^post16, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -3 <= 0 /\ -7+pc_plan_next^post16 <= 0 /\ -1+is_aborted_next^post16 <= 0 /\ -is_aborted_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ is_aborted_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post16, is_aborted_next^0'=is_aborted_next^post16, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ -1+is_aborted_next^post16 <= 0 /\ -is_aborted_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ is_aborted_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 made implied equalities explicit Original rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post16, is_aborted_next^0'=is_aborted_next^post16, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ -1+is_aborted_next^post16 <= 0 /\ -is_aborted_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ is_aborted_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post16, is_aborted_next^0'=is_aborted_next^post16, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ -1+is_aborted_next^post16 <= 0 /\ -is_aborted_next^post16 <= 0 /\ -is_aborted_next^post16 == 0 /\ 1-pc_plan_next^post16 <= 0 /\ is_aborted_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 Propagated Equalities Original rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post16, is_aborted_next^0'=is_aborted_next^post16, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ -1+is_aborted_next^post16 <= 0 /\ -is_aborted_next^post16 <= 0 /\ -is_aborted_next^post16 == 0 /\ 1-pc_plan_next^post16 <= 0 /\ is_aborted_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 propagated equality is_aborted_next^post16 = 0 Simplified Guard Original rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 Removed Trivial Updates Original rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post16, is_aborted_next^0'=is_aborted_next^post16, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ -1+is_aborted_next^post16 <= 0 /\ -is_aborted_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ is_aborted_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post16, is_aborted_next^0'=is_aborted_next^post16, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ -1+is_aborted_next^post16 <= 0 /\ -is_aborted_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ is_aborted_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 made implied equalities explicit Original rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post16, is_aborted_next^0'=is_aborted_next^post16, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ -1+is_aborted_next^post16 <= 0 /\ -is_aborted_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ is_aborted_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post16, is_aborted_next^0'=is_aborted_next^post16, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ -1+is_aborted_next^post16 <= 0 /\ -is_aborted_next^post16 <= 0 /\ -is_aborted_next^post16 == 0 /\ 1-pc_plan_next^post16 <= 0 /\ is_aborted_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 Propagated Equalities Original rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post16, is_aborted_next^0'=is_aborted_next^post16, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ -1+is_aborted_next^post16 <= 0 /\ -is_aborted_next^post16 <= 0 /\ -is_aborted_next^post16 == 0 /\ 1-pc_plan_next^post16 <= 0 /\ is_aborted_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 propagated equality is_aborted_next^post16 = 0 Simplified Guard Original rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 made implied equalities explicit Original rule: l3 -> l0 : executed_drive^0'=executed_drive^post17, is_aborted^0'=is_aborted^post17, is_aborted_next^0'=is_aborted_next^post17, n0^0'=n0^post17, n1^0'=n1^post17, pc_drive^0'=pc_drive^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=pc_loop^post17, pc_plan^0'=pc_plan^post17, pc_plan_next^0'=pc_plan_next^post17, x^0'=x^post17, x_next^0'=x_next^post17, y^0'=y^post17, y_next^0'=y_next^post17, (0 == 0 /\ -n1^post17+n1^0 == 0 /\ -x_next^post17+x^0 <= 0 /\ is_aborted^post17 <= 0 /\ is_aborted^post17-is_aborted_next^post17 == 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ x_next^post17-x^0 <= 0 /\ -y^post17+n1^0 <= 0 /\ pc_plan^post17-pc_plan_next^post17 == 0 /\ n0^0-n0^post17 == 0 /\ y^0-y_next^post17 <= 0 /\ pc_drive^post17-pc_drive_next^post17 == 0 /\ -7+pc_loop^post17 == 0 /\ executed_drive^0-executed_drive^post17 == 0 /\ -x_next^post17+x^post17 == 0 /\ -y^0+y_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ y^post17-y_next^post17 == 0 /\ n0^0-x^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0 /\ -is_aborted_next^post17 <= 0 /\ -1+is_aborted_next^post17 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=executed_drive^post17, is_aborted^0'=is_aborted^post17, is_aborted_next^0'=is_aborted_next^post17, n0^0'=n0^post17, n1^0'=n1^post17, pc_drive^0'=pc_drive^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=pc_loop^post17, pc_plan^0'=pc_plan^post17, pc_plan_next^0'=pc_plan_next^post17, x^0'=x^post17, x_next^0'=x_next^post17, y^0'=y^post17, y_next^0'=y_next^post17, (0 == 0 /\ -n1^post17+n1^0 == 0 /\ -x_next^post17+x^0 <= 0 /\ -x_next^post17+x^0 == 0 /\ is_aborted^post17 <= 0 /\ is_aborted^post17-is_aborted_next^post17 == 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ x_next^post17-x^0 <= 0 /\ -y^post17+n1^0 <= 0 /\ pc_plan^post17-pc_plan_next^post17 == 0 /\ n0^0-n0^post17 == 0 /\ y^0-y_next^post17 <= 0 /\ y^0-y_next^post17 == 0 /\ pc_drive^post17-pc_drive_next^post17 == 0 /\ -7+pc_loop^post17 == 0 /\ executed_drive^0-executed_drive^post17 == 0 /\ -x_next^post17+x^post17 == 0 /\ -y^0+y_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ y^post17-y_next^post17 == 0 /\ n0^0-x^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0 /\ -is_aborted_next^post17 <= 0 /\ -1+is_aborted_next^post17 <= 0), cost: 1 Propagated Equalities Original rule: l3 -> l0 : executed_drive^0'=executed_drive^post17, is_aborted^0'=is_aborted^post17, is_aborted_next^0'=is_aborted_next^post17, n0^0'=n0^post17, n1^0'=n1^post17, pc_drive^0'=pc_drive^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=pc_loop^post17, pc_plan^0'=pc_plan^post17, pc_plan_next^0'=pc_plan_next^post17, x^0'=x^post17, x_next^0'=x_next^post17, y^0'=y^post17, y_next^0'=y_next^post17, (0 == 0 /\ -n1^post17+n1^0 == 0 /\ -x_next^post17+x^0 <= 0 /\ -x_next^post17+x^0 == 0 /\ is_aborted^post17 <= 0 /\ is_aborted^post17-is_aborted_next^post17 == 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ x_next^post17-x^0 <= 0 /\ -y^post17+n1^0 <= 0 /\ pc_plan^post17-pc_plan_next^post17 == 0 /\ n0^0-n0^post17 == 0 /\ y^0-y_next^post17 <= 0 /\ y^0-y_next^post17 == 0 /\ pc_drive^post17-pc_drive_next^post17 == 0 /\ -7+pc_loop^post17 == 0 /\ executed_drive^0-executed_drive^post17 == 0 /\ -x_next^post17+x^post17 == 0 /\ -y^0+y_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ y^post17-y_next^post17 == 0 /\ n0^0-x^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0 /\ -is_aborted_next^post17 <= 0 /\ -1+is_aborted_next^post17 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post17, is_aborted_next^0'=is_aborted_next^post17, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ is_aborted_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0 /\ -is_aborted_next^post17 <= 0 /\ -1+is_aborted_next^post17 <= 0), cost: 1 propagated equality n1^post17 = n1^0 propagated equality x_next^post17 = x^0 propagated equality is_aborted^post17 = is_aborted_next^post17 propagated equality pc_plan^post17 = pc_plan_next^post17 propagated equality n0^post17 = n0^0 propagated equality y_next^post17 = y^0 propagated equality pc_drive^post17 = pc_drive_next^post17 propagated equality pc_loop^post17 = 7 propagated equality executed_drive^post17 = executed_drive^0 propagated equality x^post17 = x^0 propagated equality y^post17 = y^0 Simplified Guard Original rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post17, is_aborted_next^0'=is_aborted_next^post17, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ is_aborted_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0 /\ -is_aborted_next^post17 <= 0 /\ -1+is_aborted_next^post17 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post17, is_aborted_next^0'=is_aborted_next^post17, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ is_aborted_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0 /\ -is_aborted_next^post17 <= 0 /\ -1+is_aborted_next^post17 <= 0), cost: 1 made implied equalities explicit Original rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post17, is_aborted_next^0'=is_aborted_next^post17, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ is_aborted_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0 /\ -is_aborted_next^post17 <= 0 /\ -1+is_aborted_next^post17 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post17, is_aborted_next^0'=is_aborted_next^post17, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ is_aborted_next^post17 <= 0 /\ is_aborted_next^post17 == 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0 /\ -is_aborted_next^post17 <= 0 /\ -1+is_aborted_next^post17 <= 0), cost: 1 Propagated Equalities Original rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post17, is_aborted_next^0'=is_aborted_next^post17, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ is_aborted_next^post17 <= 0 /\ is_aborted_next^post17 == 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0 /\ -is_aborted_next^post17 <= 0 /\ -1+is_aborted_next^post17 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -1 <= 0 /\ -7+pc_drive_next^post17 <= 0), cost: 1 propagated equality is_aborted_next^post17 = 0 Simplified Guard Original rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -1 <= 0 /\ -7+pc_drive_next^post17 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0), cost: 1 Removed Trivial Updates Original rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post17, is_aborted_next^0'=is_aborted_next^post17, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ is_aborted_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0 /\ -is_aborted_next^post17 <= 0 /\ -1+is_aborted_next^post17 <= 0), cost: 1 New rule: l3 -> l0 : is_aborted^0'=is_aborted_next^post17, is_aborted_next^0'=is_aborted_next^post17, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ is_aborted_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0 /\ -is_aborted_next^post17 <= 0 /\ -1+is_aborted_next^post17 <= 0), cost: 1 made implied equalities explicit Original rule: l3 -> l0 : is_aborted^0'=is_aborted_next^post17, is_aborted_next^0'=is_aborted_next^post17, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ is_aborted_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0 /\ -is_aborted_next^post17 <= 0 /\ -1+is_aborted_next^post17 <= 0), cost: 1 New rule: l3 -> l0 : is_aborted^0'=is_aborted_next^post17, is_aborted_next^0'=is_aborted_next^post17, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ is_aborted_next^post17 <= 0 /\ is_aborted_next^post17 == 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0 /\ -is_aborted_next^post17 <= 0 /\ -1+is_aborted_next^post17 <= 0), cost: 1 Propagated Equalities Original rule: l3 -> l0 : is_aborted^0'=is_aborted_next^post17, is_aborted_next^0'=is_aborted_next^post17, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ is_aborted_next^post17 <= 0 /\ is_aborted_next^post17 == 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0 /\ -is_aborted_next^post17 <= 0 /\ -1+is_aborted_next^post17 <= 0), cost: 1 New rule: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -1 <= 0 /\ -7+pc_drive_next^post17 <= 0), cost: 1 propagated equality is_aborted_next^post17 = 0 Simplified Guard Original rule: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -1 <= 0 /\ -7+pc_drive_next^post17 <= 0), cost: 1 New rule: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0), cost: 1 made implied equalities explicit Original rule: l3 -> l0 : executed_drive^0'=executed_drive^post18, is_aborted^0'=is_aborted^post18, is_aborted_next^0'=is_aborted_next^post18, n0^0'=n0^post18, n1^0'=n1^post18, pc_drive^0'=pc_drive^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=pc_loop^post18, pc_plan^0'=pc_plan^post18, pc_plan_next^0'=pc_plan_next^post18, x^0'=x^post18, x_next^0'=x_next^post18, y^0'=y^post18, y_next^0'=y_next^post18, (0 == 0 /\ -pc_drive_next^post18+pc_drive^post18 == 0 /\ x^0-x_next^post18 <= 0 /\ -executed_drive^post18+executed_drive^0 == 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ is_aborted^post18-is_aborted_next^post18 == 0 /\ -n1^post18+n1^0 == 0 /\ -x^0+x_next^post18 <= 0 /\ n0^0-n0^post18 == 0 /\ n1^0-y^post18 <= 0 /\ -7+pc_loop^post18 == 0 /\ is_aborted^post18 <= 0 /\ x^post18-x_next^post18 == 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -y_next^post18+y^0 <= 0 /\ n0^0-x^post18 <= 0 /\ -is_aborted_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0 /\ -1+is_aborted_next^post18 <= 0 /\ -y_next^post18+y^post18 == 0 /\ -pc_plan_next^post18+pc_plan^post18 == 0 /\ y_next^post18-y^0 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=executed_drive^post18, is_aborted^0'=is_aborted^post18, is_aborted_next^0'=is_aborted_next^post18, n0^0'=n0^post18, n1^0'=n1^post18, pc_drive^0'=pc_drive^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=pc_loop^post18, pc_plan^0'=pc_plan^post18, pc_plan_next^0'=pc_plan_next^post18, x^0'=x^post18, x_next^0'=x_next^post18, y^0'=y^post18, y_next^0'=y_next^post18, (0 == 0 /\ -pc_drive_next^post18+pc_drive^post18 == 0 /\ x^0-x_next^post18 <= 0 /\ x^0-x_next^post18 == 0 /\ -executed_drive^post18+executed_drive^0 == 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ is_aborted^post18-is_aborted_next^post18 == 0 /\ -n1^post18+n1^0 == 0 /\ -x^0+x_next^post18 <= 0 /\ n0^0-n0^post18 == 0 /\ n1^0-y^post18 <= 0 /\ -7+pc_loop^post18 == 0 /\ is_aborted^post18 <= 0 /\ x^post18-x_next^post18 == 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -y_next^post18+y^0 <= 0 /\ -y_next^post18+y^0 == 0 /\ n0^0-x^post18 <= 0 /\ -is_aborted_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0 /\ -1+is_aborted_next^post18 <= 0 /\ -y_next^post18+y^post18 == 0 /\ -pc_plan_next^post18+pc_plan^post18 == 0 /\ y_next^post18-y^0 <= 0), cost: 1 Propagated Equalities Original rule: l3 -> l0 : executed_drive^0'=executed_drive^post18, is_aborted^0'=is_aborted^post18, is_aborted_next^0'=is_aborted_next^post18, n0^0'=n0^post18, n1^0'=n1^post18, pc_drive^0'=pc_drive^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=pc_loop^post18, pc_plan^0'=pc_plan^post18, pc_plan_next^0'=pc_plan_next^post18, x^0'=x^post18, x_next^0'=x_next^post18, y^0'=y^post18, y_next^0'=y_next^post18, (0 == 0 /\ -pc_drive_next^post18+pc_drive^post18 == 0 /\ x^0-x_next^post18 <= 0 /\ x^0-x_next^post18 == 0 /\ -executed_drive^post18+executed_drive^0 == 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ is_aborted^post18-is_aborted_next^post18 == 0 /\ -n1^post18+n1^0 == 0 /\ -x^0+x_next^post18 <= 0 /\ n0^0-n0^post18 == 0 /\ n1^0-y^post18 <= 0 /\ -7+pc_loop^post18 == 0 /\ is_aborted^post18 <= 0 /\ x^post18-x_next^post18 == 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -y_next^post18+y^0 <= 0 /\ -y_next^post18+y^0 == 0 /\ n0^0-x^post18 <= 0 /\ -is_aborted_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0 /\ -1+is_aborted_next^post18 <= 0 /\ -y_next^post18+y^post18 == 0 /\ -pc_plan_next^post18+pc_plan^post18 == 0 /\ y_next^post18-y^0 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post18, is_aborted_next^0'=is_aborted_next^post18, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -is_aborted_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0 /\ -1+is_aborted_next^post18 <= 0 /\ is_aborted_next^post18 <= 0), cost: 1 propagated equality pc_drive^post18 = pc_drive_next^post18 propagated equality x_next^post18 = x^0 propagated equality executed_drive^post18 = executed_drive^0 propagated equality is_aborted^post18 = is_aborted_next^post18 propagated equality n1^post18 = n1^0 propagated equality n0^post18 = n0^0 propagated equality pc_loop^post18 = 7 propagated equality x^post18 = x^0 propagated equality y_next^post18 = y^0 propagated equality y^post18 = y^0 propagated equality pc_plan^post18 = pc_plan_next^post18 Simplified Guard Original rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post18, is_aborted_next^0'=is_aborted_next^post18, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -is_aborted_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0 /\ -1+is_aborted_next^post18 <= 0 /\ is_aborted_next^post18 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post18, is_aborted_next^0'=is_aborted_next^post18, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -is_aborted_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0 /\ -1+is_aborted_next^post18 <= 0 /\ is_aborted_next^post18 <= 0), cost: 1 made implied equalities explicit Original rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post18, is_aborted_next^0'=is_aborted_next^post18, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -is_aborted_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0 /\ -1+is_aborted_next^post18 <= 0 /\ is_aborted_next^post18 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post18, is_aborted_next^0'=is_aborted_next^post18, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -is_aborted_next^post18 <= 0 /\ -is_aborted_next^post18 == 0 /\ -7+pc_drive_next^post18 <= 0 /\ -1+is_aborted_next^post18 <= 0 /\ is_aborted_next^post18 <= 0), cost: 1 Propagated Equalities Original rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post18, is_aborted_next^0'=is_aborted_next^post18, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -is_aborted_next^post18 <= 0 /\ -is_aborted_next^post18 == 0 /\ -7+pc_drive_next^post18 <= 0 /\ -1+is_aborted_next^post18 <= 0 /\ is_aborted_next^post18 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -1 <= 0 /\ -7+pc_drive_next^post18 <= 0), cost: 1 propagated equality is_aborted_next^post18 = 0 Simplified Guard Original rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -1 <= 0 /\ -7+pc_drive_next^post18 <= 0), cost: 1 New rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0), cost: 1 Removed Trivial Updates Original rule: l3 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post18, is_aborted_next^0'=is_aborted_next^post18, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -is_aborted_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0 /\ -1+is_aborted_next^post18 <= 0 /\ is_aborted_next^post18 <= 0), cost: 1 New rule: l3 -> l0 : is_aborted^0'=is_aborted_next^post18, is_aborted_next^0'=is_aborted_next^post18, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -is_aborted_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0 /\ -1+is_aborted_next^post18 <= 0 /\ is_aborted_next^post18 <= 0), cost: 1 made implied equalities explicit Original rule: l3 -> l0 : is_aborted^0'=is_aborted_next^post18, is_aborted_next^0'=is_aborted_next^post18, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -is_aborted_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0 /\ -1+is_aborted_next^post18 <= 0 /\ is_aborted_next^post18 <= 0), cost: 1 New rule: l3 -> l0 : is_aborted^0'=is_aborted_next^post18, is_aborted_next^0'=is_aborted_next^post18, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -is_aborted_next^post18 <= 0 /\ -is_aborted_next^post18 == 0 /\ -7+pc_drive_next^post18 <= 0 /\ -1+is_aborted_next^post18 <= 0 /\ is_aborted_next^post18 <= 0), cost: 1 Propagated Equalities Original rule: l3 -> l0 : is_aborted^0'=is_aborted_next^post18, is_aborted_next^0'=is_aborted_next^post18, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -is_aborted_next^post18 <= 0 /\ -is_aborted_next^post18 == 0 /\ -7+pc_drive_next^post18 <= 0 /\ -1+is_aborted_next^post18 <= 0 /\ is_aborted_next^post18 <= 0), cost: 1 New rule: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -1 <= 0 /\ -7+pc_drive_next^post18 <= 0), cost: 1 propagated equality is_aborted_next^post18 = 0 Simplified Guard Original rule: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -1 <= 0 /\ -7+pc_drive_next^post18 <= 0), cost: 1 New rule: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0), cost: 1 made implied equalities explicit Original rule: l3 -> l4 : executed_drive^0'=executed_drive^post19, is_aborted^0'=is_aborted^post19, is_aborted_next^0'=is_aborted_next^post19, n0^0'=n0^post19, n1^0'=n1^post19, pc_drive^0'=pc_drive^post19, pc_drive_next^0'=pc_drive_next^post19, pc_loop^0'=pc_loop^post19, pc_plan^0'=pc_plan^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^post19, x_next^0'=x_next^post19, y^0'=y^post19, y_next^0'=y_next^post19, (0 == 0 /\ -7+pc_plan_next^post19 <= 0 /\ -1+y_next^post19-y^0 <= 0 /\ -is_aborted_next^post19+is_aborted^post19 == 0 /\ -4+pc_drive_next^post19 <= 0 /\ 4-pc_drive_next^post19 <= 0 /\ n0^0-n0^post19 == 0 /\ -1-x^0+x_next^post19 <= 0 /\ -7+pc_drive_next^post19 <= 0 /\ 1-executed_drive^post19 <= 0 /\ -1+executed_drive^post19 <= 0 /\ -1+executed_drive^post19 == 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^post19 <= 0 /\ -is_aborted_next^post19 <= 0 /\ -1+is_aborted_next^post19 <= 0 /\ 1-n1^0 <= 0 /\ 1-y_next^post19+y^0 <= 0 /\ 1-pc_plan_next^post19 <= 0 /\ 1+x^0-x_next^post19 <= 0 /\ -2+pc_loop^post19 == 0 /\ 1-pc_drive_next^post19 <= 0 /\ y^post19-y_next^post19 == 0 /\ x^post19-x_next^post19 == 0 /\ 1+y^post19-n1^0 <= 0 /\ is_aborted^post19 <= 0 /\ pc_drive^post19-pc_drive_next^post19 == 0 /\ n1^0-n1^post19 == 0 /\ -pc_plan_next^post19+pc_plan^post19 == 0), cost: 1 New rule: l3 -> l4 : executed_drive^0'=executed_drive^post19, is_aborted^0'=is_aborted^post19, is_aborted_next^0'=is_aborted_next^post19, n0^0'=n0^post19, n1^0'=n1^post19, pc_drive^0'=pc_drive^post19, pc_drive_next^0'=pc_drive_next^post19, pc_loop^0'=pc_loop^post19, pc_plan^0'=pc_plan^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^post19, x_next^0'=x_next^post19, y^0'=y^post19, y_next^0'=y_next^post19, (0 == 0 /\ -7+pc_plan_next^post19 <= 0 /\ -1+y_next^post19-y^0 <= 0 /\ -1+y_next^post19-y^0 == 0 /\ -is_aborted_next^post19+is_aborted^post19 == 0 /\ -4+pc_drive_next^post19 <= 0 /\ -4+pc_drive_next^post19 == 0 /\ 4-pc_drive_next^post19 <= 0 /\ n0^0-n0^post19 == 0 /\ -1-x^0+x_next^post19 <= 0 /\ -1-x^0+x_next^post19 == 0 /\ -7+pc_drive_next^post19 <= 0 /\ 1-executed_drive^post19 <= 0 /\ 1-executed_drive^post19 == 0 /\ -1+executed_drive^post19 <= 0 /\ -1+executed_drive^post19 == 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^post19 <= 0 /\ -is_aborted_next^post19 <= 0 /\ -1+is_aborted_next^post19 <= 0 /\ 1-n1^0 <= 0 /\ 1-y_next^post19+y^0 <= 0 /\ 1-pc_plan_next^post19 <= 0 /\ 1+x^0-x_next^post19 <= 0 /\ -2+pc_loop^post19 == 0 /\ 1-pc_drive_next^post19 <= 0 /\ y^post19-y_next^post19 == 0 /\ x^post19-x_next^post19 == 0 /\ 1+y^post19-n1^0 <= 0 /\ is_aborted^post19 <= 0 /\ pc_drive^post19-pc_drive_next^post19 == 0 /\ n1^0-n1^post19 == 0 /\ -pc_plan_next^post19+pc_plan^post19 == 0), cost: 1 Propagated Equalities Original rule: l3 -> l4 : executed_drive^0'=executed_drive^post19, is_aborted^0'=is_aborted^post19, is_aborted_next^0'=is_aborted_next^post19, n0^0'=n0^post19, n1^0'=n1^post19, pc_drive^0'=pc_drive^post19, pc_drive_next^0'=pc_drive_next^post19, pc_loop^0'=pc_loop^post19, pc_plan^0'=pc_plan^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^post19, x_next^0'=x_next^post19, y^0'=y^post19, y_next^0'=y_next^post19, (0 == 0 /\ -7+pc_plan_next^post19 <= 0 /\ -1+y_next^post19-y^0 <= 0 /\ -1+y_next^post19-y^0 == 0 /\ -is_aborted_next^post19+is_aborted^post19 == 0 /\ -4+pc_drive_next^post19 <= 0 /\ -4+pc_drive_next^post19 == 0 /\ 4-pc_drive_next^post19 <= 0 /\ n0^0-n0^post19 == 0 /\ -1-x^0+x_next^post19 <= 0 /\ -1-x^0+x_next^post19 == 0 /\ -7+pc_drive_next^post19 <= 0 /\ 1-executed_drive^post19 <= 0 /\ 1-executed_drive^post19 == 0 /\ -1+executed_drive^post19 <= 0 /\ -1+executed_drive^post19 == 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^post19 <= 0 /\ -is_aborted_next^post19 <= 0 /\ -1+is_aborted_next^post19 <= 0 /\ 1-n1^0 <= 0 /\ 1-y_next^post19+y^0 <= 0 /\ 1-pc_plan_next^post19 <= 0 /\ 1+x^0-x_next^post19 <= 0 /\ -2+pc_loop^post19 == 0 /\ 1-pc_drive_next^post19 <= 0 /\ y^post19-y_next^post19 == 0 /\ x^post19-x_next^post19 == 0 /\ 1+y^post19-n1^0 <= 0 /\ is_aborted^post19 <= 0 /\ pc_drive^post19-pc_drive_next^post19 == 0 /\ n1^0-n1^post19 == 0 /\ -pc_plan_next^post19+pc_plan^post19 == 0), cost: 1 New rule: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post19, is_aborted_next^0'=is_aborted_next^post19, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ 2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ -3 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ is_aborted_next^post19 <= 0 /\ -is_aborted_next^post19 <= 0 /\ -1+is_aborted_next^post19 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 propagated equality y_next^post19 = 1+y^0 propagated equality is_aborted^post19 = is_aborted_next^post19 propagated equality pc_drive_next^post19 = 4 propagated equality n0^post19 = n0^0 propagated equality x_next^post19 = 1+x^0 propagated equality executed_drive^post19 = 1 propagated equality pc_loop^post19 = 2 propagated equality y^post19 = 1+y^0 propagated equality x^post19 = 1+x^0 propagated equality pc_drive^post19 = 4 propagated equality n1^post19 = n1^0 propagated equality pc_plan^post19 = pc_plan_next^post19 Simplified Guard Original rule: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post19, is_aborted_next^0'=is_aborted_next^post19, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ 2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ -3 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ is_aborted_next^post19 <= 0 /\ -is_aborted_next^post19 <= 0 /\ -1+is_aborted_next^post19 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 New rule: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post19, is_aborted_next^0'=is_aborted_next^post19, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ is_aborted_next^post19 <= 0 /\ -is_aborted_next^post19 <= 0 /\ -1+is_aborted_next^post19 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 made implied equalities explicit Original rule: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post19, is_aborted_next^0'=is_aborted_next^post19, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ is_aborted_next^post19 <= 0 /\ -is_aborted_next^post19 <= 0 /\ -1+is_aborted_next^post19 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 New rule: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post19, is_aborted_next^0'=is_aborted_next^post19, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ is_aborted_next^post19 <= 0 /\ is_aborted_next^post19 == 0 /\ -is_aborted_next^post19 <= 0 /\ -1+is_aborted_next^post19 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 Propagated Equalities Original rule: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post19, is_aborted_next^0'=is_aborted_next^post19, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ is_aborted_next^post19 <= 0 /\ is_aborted_next^post19 == 0 /\ -is_aborted_next^post19 <= 0 /\ -1+is_aborted_next^post19 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 New rule: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ 2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0 /\ -1 <= 0), cost: 1 propagated equality is_aborted_next^post19 = 0 Simplified Guard Original rule: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ 2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0 /\ -1 <= 0), cost: 1 New rule: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 Removed Trivial Updates Original rule: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post19, is_aborted_next^0'=is_aborted_next^post19, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ is_aborted_next^post19 <= 0 /\ -is_aborted_next^post19 <= 0 /\ -1+is_aborted_next^post19 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 New rule: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post19, is_aborted_next^0'=is_aborted_next^post19, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ is_aborted_next^post19 <= 0 /\ -is_aborted_next^post19 <= 0 /\ -1+is_aborted_next^post19 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 made implied equalities explicit Original rule: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post19, is_aborted_next^0'=is_aborted_next^post19, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ is_aborted_next^post19 <= 0 /\ -is_aborted_next^post19 <= 0 /\ -1+is_aborted_next^post19 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 New rule: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post19, is_aborted_next^0'=is_aborted_next^post19, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ is_aborted_next^post19 <= 0 /\ is_aborted_next^post19 == 0 /\ -is_aborted_next^post19 <= 0 /\ -1+is_aborted_next^post19 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 Propagated Equalities Original rule: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post19, is_aborted_next^0'=is_aborted_next^post19, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ is_aborted_next^post19 <= 0 /\ is_aborted_next^post19 == 0 /\ -is_aborted_next^post19 <= 0 /\ -1+is_aborted_next^post19 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 New rule: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ 2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0 /\ -1 <= 0), cost: 1 propagated equality is_aborted_next^post19 = 0 Simplified Guard Original rule: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ 2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0 /\ -1 <= 0), cost: 1 New rule: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 made implied equalities explicit Original rule: l3 -> l4 : executed_drive^0'=executed_drive^post20, is_aborted^0'=is_aborted^post20, is_aborted_next^0'=is_aborted_next^post20, n0^0'=n0^post20, n1^0'=n1^post20, pc_drive^0'=pc_drive^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=pc_loop^post20, pc_plan^0'=pc_plan^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=x^post20, x_next^0'=x_next^post20, y^0'=y^post20, y_next^0'=y_next^post20, (0 == 0 /\ -7+pc_drive_next^post20 <= 0 /\ is_aborted^post20-is_aborted_next^post20 == 0 /\ y^post20-y_next^post20 == 0 /\ -n1^post20+n1^0 == 0 /\ is_aborted^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ x_next^post20-x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1+x^post20-n0^0 <= 0 /\ -x_next^post20+x^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ pc_drive^post20-pc_drive_next^post20 == 0 /\ n0^0-n0^post20 == 0 /\ 1-pc_drive_next^post20 <= 0 /\ -y^0+y_next^post20 <= 0 /\ 1+y^post20-n1^0 <= 0 /\ executed_drive^0-executed_drive^post20 == 0 /\ pc_plan^post20-pc_plan_next^post20 == 0 /\ 1-executed_drive^0 <= 0 /\ -1+executed_drive^0 <= 0 /\ -2+pc_loop^post20 == 0 /\ y^0-y_next^post20 <= 0 /\ -7+pc_plan_next^post20 <= 0 /\ -1+is_aborted_next^post20 <= 0 /\ x^post20-x_next^post20 == 0 /\ -is_aborted_next^post20 <= 0), cost: 1 New rule: l3 -> l4 : executed_drive^0'=executed_drive^post20, is_aborted^0'=is_aborted^post20, is_aborted_next^0'=is_aborted_next^post20, n0^0'=n0^post20, n1^0'=n1^post20, pc_drive^0'=pc_drive^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=pc_loop^post20, pc_plan^0'=pc_plan^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=x^post20, x_next^0'=x_next^post20, y^0'=y^post20, y_next^0'=y_next^post20, (0 == 0 /\ -7+pc_drive_next^post20 <= 0 /\ is_aborted^post20-is_aborted_next^post20 == 0 /\ y^post20-y_next^post20 == 0 /\ -n1^post20+n1^0 == 0 /\ is_aborted^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ x_next^post20-x^0 <= 0 /\ x_next^post20-x^0 == 0 /\ 1-n0^0 <= 0 /\ 1+x^post20-n0^0 <= 0 /\ -x_next^post20+x^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ pc_drive^post20-pc_drive_next^post20 == 0 /\ n0^0-n0^post20 == 0 /\ 1-pc_drive_next^post20 <= 0 /\ -y^0+y_next^post20 <= 0 /\ -y^0+y_next^post20 == 0 /\ 1+y^post20-n1^0 <= 0 /\ executed_drive^0-executed_drive^post20 == 0 /\ pc_plan^post20-pc_plan_next^post20 == 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -2+pc_loop^post20 == 0 /\ y^0-y_next^post20 <= 0 /\ -7+pc_plan_next^post20 <= 0 /\ -1+is_aborted_next^post20 <= 0 /\ x^post20-x_next^post20 == 0 /\ -is_aborted_next^post20 <= 0), cost: 1 Propagated Equalities Original rule: l3 -> l4 : executed_drive^0'=executed_drive^post20, is_aborted^0'=is_aborted^post20, is_aborted_next^0'=is_aborted_next^post20, n0^0'=n0^post20, n1^0'=n1^post20, pc_drive^0'=pc_drive^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=pc_loop^post20, pc_plan^0'=pc_plan^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=x^post20, x_next^0'=x_next^post20, y^0'=y^post20, y_next^0'=y_next^post20, (0 == 0 /\ -7+pc_drive_next^post20 <= 0 /\ is_aborted^post20-is_aborted_next^post20 == 0 /\ y^post20-y_next^post20 == 0 /\ -n1^post20+n1^0 == 0 /\ is_aborted^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ x_next^post20-x^0 <= 0 /\ x_next^post20-x^0 == 0 /\ 1-n0^0 <= 0 /\ 1+x^post20-n0^0 <= 0 /\ -x_next^post20+x^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ pc_drive^post20-pc_drive_next^post20 == 0 /\ n0^0-n0^post20 == 0 /\ 1-pc_drive_next^post20 <= 0 /\ -y^0+y_next^post20 <= 0 /\ -y^0+y_next^post20 == 0 /\ 1+y^post20-n1^0 <= 0 /\ executed_drive^0-executed_drive^post20 == 0 /\ pc_plan^post20-pc_plan_next^post20 == 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -2+pc_loop^post20 == 0 /\ y^0-y_next^post20 <= 0 /\ -7+pc_plan_next^post20 <= 0 /\ -1+is_aborted_next^post20 <= 0 /\ x^post20-x_next^post20 == 0 /\ -is_aborted_next^post20 <= 0), cost: 1 New rule: l3 -> l4 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post20, is_aborted_next^0'=is_aborted_next^post20, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ is_aborted_next^post20 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0 /\ -1+is_aborted_next^post20 <= 0 /\ -is_aborted_next^post20 <= 0), cost: 1 propagated equality is_aborted^post20 = is_aborted_next^post20 propagated equality y^post20 = y_next^post20 propagated equality n1^post20 = n1^0 propagated equality x_next^post20 = x^0 propagated equality pc_drive^post20 = pc_drive_next^post20 propagated equality n0^post20 = n0^0 propagated equality y_next^post20 = y^0 propagated equality executed_drive^post20 = executed_drive^0 propagated equality pc_plan^post20 = pc_plan_next^post20 propagated equality pc_loop^post20 = 2 propagated equality x^post20 = x^0 Simplified Guard Original rule: l3 -> l4 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post20, is_aborted_next^0'=is_aborted_next^post20, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ is_aborted_next^post20 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0 /\ -1+is_aborted_next^post20 <= 0 /\ -is_aborted_next^post20 <= 0), cost: 1 New rule: l3 -> l4 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post20, is_aborted_next^0'=is_aborted_next^post20, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ is_aborted_next^post20 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0 /\ -1+is_aborted_next^post20 <= 0 /\ -is_aborted_next^post20 <= 0), cost: 1 made implied equalities explicit Original rule: l3 -> l4 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post20, is_aborted_next^0'=is_aborted_next^post20, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ is_aborted_next^post20 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0 /\ -1+is_aborted_next^post20 <= 0 /\ -is_aborted_next^post20 <= 0), cost: 1 New rule: l3 -> l4 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post20, is_aborted_next^0'=is_aborted_next^post20, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ is_aborted_next^post20 <= 0 /\ is_aborted_next^post20 == 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0 /\ -1+is_aborted_next^post20 <= 0 /\ -is_aborted_next^post20 <= 0), cost: 1 Propagated Equalities Original rule: l3 -> l4 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post20, is_aborted_next^0'=is_aborted_next^post20, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ is_aborted_next^post20 <= 0 /\ is_aborted_next^post20 == 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0 /\ -1+is_aborted_next^post20 <= 0 /\ -is_aborted_next^post20 <= 0), cost: 1 New rule: l3 -> l4 : executed_drive^0'=executed_drive^0, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -1 <= 0 /\ -7+pc_plan_next^post20 <= 0), cost: 1 propagated equality is_aborted_next^post20 = 0 Simplified Guard Original rule: l3 -> l4 : executed_drive^0'=executed_drive^0, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -1 <= 0 /\ -7+pc_plan_next^post20 <= 0), cost: 1 New rule: l3 -> l4 : executed_drive^0'=executed_drive^0, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0), cost: 1 Removed Trivial Updates Original rule: l3 -> l4 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post20, is_aborted_next^0'=is_aborted_next^post20, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ is_aborted_next^post20 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0 /\ -1+is_aborted_next^post20 <= 0 /\ -is_aborted_next^post20 <= 0), cost: 1 New rule: l3 -> l4 : is_aborted^0'=is_aborted_next^post20, is_aborted_next^0'=is_aborted_next^post20, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ is_aborted_next^post20 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0 /\ -1+is_aborted_next^post20 <= 0 /\ -is_aborted_next^post20 <= 0), cost: 1 made implied equalities explicit Original rule: l3 -> l4 : is_aborted^0'=is_aborted_next^post20, is_aborted_next^0'=is_aborted_next^post20, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ is_aborted_next^post20 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0 /\ -1+is_aborted_next^post20 <= 0 /\ -is_aborted_next^post20 <= 0), cost: 1 New rule: l3 -> l4 : is_aborted^0'=is_aborted_next^post20, is_aborted_next^0'=is_aborted_next^post20, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ is_aborted_next^post20 <= 0 /\ is_aborted_next^post20 == 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0 /\ -1+is_aborted_next^post20 <= 0 /\ -is_aborted_next^post20 <= 0), cost: 1 Propagated Equalities Original rule: l3 -> l4 : is_aborted^0'=is_aborted_next^post20, is_aborted_next^0'=is_aborted_next^post20, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ is_aborted_next^post20 <= 0 /\ is_aborted_next^post20 == 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0 /\ -1+is_aborted_next^post20 <= 0 /\ -is_aborted_next^post20 <= 0), cost: 1 New rule: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -1 <= 0 /\ -7+pc_plan_next^post20 <= 0), cost: 1 propagated equality is_aborted_next^post20 = 0 Simplified Guard Original rule: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -1 <= 0 /\ -7+pc_plan_next^post20 <= 0), cost: 1 New rule: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0), cost: 1 made implied equalities explicit Original rule: l3 -> l4 : executed_drive^0'=executed_drive^post21, is_aborted^0'=is_aborted^post21, is_aborted_next^0'=is_aborted_next^post21, n0^0'=n0^post21, n1^0'=n1^post21, pc_drive^0'=pc_drive^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=pc_loop^post21, pc_plan^0'=pc_plan^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^post21, x_next^0'=x_next^post21, y^0'=y^post21, y_next^0'=y_next^post21, (0 == 0 /\ -2+pc_loop^post21 == 0 /\ -x_next^post21+x^0 <= 0 /\ 1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1+y^post21-n1^0 <= 0 /\ 1-n0^0+x^post21 <= 0 /\ -x_next^post21+x^post21 == 0 /\ -7+pc_plan_next^post21 <= 0 /\ -n1^post21+n1^0 == 0 /\ y^post21-y_next^post21 == 0 /\ x_next^post21-x^0 <= 0 /\ n0^0-n0^post21 == 0 /\ 1-n1^0 <= 0 /\ -executed_drive^post21+executed_drive^0 == 0 /\ is_aborted^post21 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ y_next^post21-y^0 <= 0 /\ 1-executed_drive^0 <= 0 /\ -1+executed_drive^0 <= 0 /\ -1+is_aborted_next^post21 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -is_aborted_next^post21 <= 0 /\ pc_plan^post21-pc_plan_next^post21 == 0 /\ -3+pc_drive_next^post21 <= 0 /\ is_aborted^post21-is_aborted_next^post21 == 0 /\ -y_next^post21+y^0 <= 0 /\ -pc_drive_next^post21+pc_drive^post21 == 0), cost: 1 New rule: l3 -> l4 : executed_drive^0'=executed_drive^post21, is_aborted^0'=is_aborted^post21, is_aborted_next^0'=is_aborted_next^post21, n0^0'=n0^post21, n1^0'=n1^post21, pc_drive^0'=pc_drive^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=pc_loop^post21, pc_plan^0'=pc_plan^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^post21, x_next^0'=x_next^post21, y^0'=y^post21, y_next^0'=y_next^post21, (0 == 0 /\ -2+pc_loop^post21 == 0 /\ -x_next^post21+x^0 <= 0 /\ -x_next^post21+x^0 == 0 /\ 1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1+y^post21-n1^0 <= 0 /\ 1-n0^0+x^post21 <= 0 /\ -x_next^post21+x^post21 == 0 /\ -7+pc_plan_next^post21 <= 0 /\ -n1^post21+n1^0 == 0 /\ y^post21-y_next^post21 == 0 /\ x_next^post21-x^0 <= 0 /\ n0^0-n0^post21 == 0 /\ 1-n1^0 <= 0 /\ -executed_drive^post21+executed_drive^0 == 0 /\ is_aborted^post21 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ y_next^post21-y^0 <= 0 /\ y_next^post21-y^0 == 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -1+is_aborted_next^post21 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -is_aborted_next^post21 <= 0 /\ pc_plan^post21-pc_plan_next^post21 == 0 /\ -3+pc_drive_next^post21 <= 0 /\ is_aborted^post21-is_aborted_next^post21 == 0 /\ -y_next^post21+y^0 <= 0 /\ -pc_drive_next^post21+pc_drive^post21 == 0), cost: 1 Propagated Equalities Original rule: l3 -> l4 : executed_drive^0'=executed_drive^post21, is_aborted^0'=is_aborted^post21, is_aborted_next^0'=is_aborted_next^post21, n0^0'=n0^post21, n1^0'=n1^post21, pc_drive^0'=pc_drive^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=pc_loop^post21, pc_plan^0'=pc_plan^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^post21, x_next^0'=x_next^post21, y^0'=y^post21, y_next^0'=y_next^post21, (0 == 0 /\ -2+pc_loop^post21 == 0 /\ -x_next^post21+x^0 <= 0 /\ -x_next^post21+x^0 == 0 /\ 1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1+y^post21-n1^0 <= 0 /\ 1-n0^0+x^post21 <= 0 /\ -x_next^post21+x^post21 == 0 /\ -7+pc_plan_next^post21 <= 0 /\ -n1^post21+n1^0 == 0 /\ y^post21-y_next^post21 == 0 /\ x_next^post21-x^0 <= 0 /\ n0^0-n0^post21 == 0 /\ 1-n1^0 <= 0 /\ -executed_drive^post21+executed_drive^0 == 0 /\ is_aborted^post21 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ y_next^post21-y^0 <= 0 /\ y_next^post21-y^0 == 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -1+is_aborted_next^post21 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -is_aborted_next^post21 <= 0 /\ pc_plan^post21-pc_plan_next^post21 == 0 /\ -3+pc_drive_next^post21 <= 0 /\ is_aborted^post21-is_aborted_next^post21 == 0 /\ -y_next^post21+y^0 <= 0 /\ -pc_drive_next^post21+pc_drive^post21 == 0), cost: 1 New rule: l3 -> l4 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post21, is_aborted_next^0'=is_aborted_next^post21, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -1+is_aborted_next^post21 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -is_aborted_next^post21 <= 0 /\ is_aborted_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 propagated equality pc_loop^post21 = 2 propagated equality x_next^post21 = x^0 propagated equality x^post21 = x^0 propagated equality n1^post21 = n1^0 propagated equality y^post21 = y_next^post21 propagated equality n0^post21 = n0^0 propagated equality executed_drive^post21 = executed_drive^0 propagated equality y_next^post21 = y^0 propagated equality pc_plan^post21 = pc_plan_next^post21 propagated equality is_aborted^post21 = is_aborted_next^post21 propagated equality pc_drive^post21 = pc_drive_next^post21 Simplified Guard Original rule: l3 -> l4 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post21, is_aborted_next^0'=is_aborted_next^post21, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -1+is_aborted_next^post21 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -is_aborted_next^post21 <= 0 /\ is_aborted_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 New rule: l3 -> l4 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post21, is_aborted_next^0'=is_aborted_next^post21, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -1+is_aborted_next^post21 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -is_aborted_next^post21 <= 0 /\ is_aborted_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 made implied equalities explicit Original rule: l3 -> l4 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post21, is_aborted_next^0'=is_aborted_next^post21, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -1+is_aborted_next^post21 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -is_aborted_next^post21 <= 0 /\ is_aborted_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 New rule: l3 -> l4 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post21, is_aborted_next^0'=is_aborted_next^post21, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -1+is_aborted_next^post21 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -is_aborted_next^post21 <= 0 /\ -is_aborted_next^post21 == 0 /\ is_aborted_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 Propagated Equalities Original rule: l3 -> l4 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post21, is_aborted_next^0'=is_aborted_next^post21, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -1+is_aborted_next^post21 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -is_aborted_next^post21 <= 0 /\ -is_aborted_next^post21 == 0 /\ is_aborted_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 New rule: l3 -> l4 : executed_drive^0'=executed_drive^0, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -1 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 propagated equality is_aborted_next^post21 = 0 Simplified Guard Original rule: l3 -> l4 : executed_drive^0'=executed_drive^0, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -1 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 New rule: l3 -> l4 : executed_drive^0'=executed_drive^0, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 Removed Trivial Updates Original rule: l3 -> l4 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post21, is_aborted_next^0'=is_aborted_next^post21, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -1+is_aborted_next^post21 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -is_aborted_next^post21 <= 0 /\ is_aborted_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 New rule: l3 -> l4 : is_aborted^0'=is_aborted_next^post21, is_aborted_next^0'=is_aborted_next^post21, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -1+is_aborted_next^post21 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -is_aborted_next^post21 <= 0 /\ is_aborted_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 made implied equalities explicit Original rule: l3 -> l4 : is_aborted^0'=is_aborted_next^post21, is_aborted_next^0'=is_aborted_next^post21, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -1+is_aborted_next^post21 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -is_aborted_next^post21 <= 0 /\ is_aborted_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 New rule: l3 -> l4 : is_aborted^0'=is_aborted_next^post21, is_aborted_next^0'=is_aborted_next^post21, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -1+is_aborted_next^post21 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -is_aborted_next^post21 <= 0 /\ -is_aborted_next^post21 == 0 /\ is_aborted_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 Propagated Equalities Original rule: l3 -> l4 : is_aborted^0'=is_aborted_next^post21, is_aborted_next^0'=is_aborted_next^post21, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -1+is_aborted_next^post21 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -is_aborted_next^post21 <= 0 /\ -is_aborted_next^post21 == 0 /\ is_aborted_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 New rule: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -1 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 propagated equality is_aborted_next^post21 = 0 Simplified Guard Original rule: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -1 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 New rule: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 made implied equalities explicit Original rule: l5 -> l2 : executed_drive^0'=executed_drive^post22, is_aborted^0'=is_aborted^post22, is_aborted_next^0'=is_aborted_next^post22, n0^0'=n0^post22, n1^0'=n1^post22, pc_drive^0'=pc_drive^post22, pc_drive_next^0'=pc_drive_next^post22, pc_loop^0'=pc_loop^post22, pc_plan^0'=pc_plan^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=x^post22, x_next^0'=x_next^post22, y^0'=y^post22, y_next^0'=y_next^post22, (0 == 0 /\ -7+pc_drive_next^post22 <= 0 /\ x^post22-x_next^post22 == 0 /\ pc_drive^post22-pc_drive_next^post22 == 0 /\ -is_aborted_next^post22 <= 0 /\ -1+is_aborted_next^post22 <= 0 /\ -1+y_next^post22-y^0 <= 0 /\ -4+pc_drive_next^post22 <= 0 /\ 4-pc_drive_next^post22 <= 0 /\ -y_next^post22+y^post22 == 0 /\ 1-pc_plan_next^post22 <= 0 /\ 1-is_aborted^post22 <= 0 /\ -1+x_next^post22-x^0 <= 0 /\ is_aborted^post22-is_aborted_next^post22 == 0 /\ pc_plan^post22-pc_plan_next^post22 == 0 /\ 1-pc_drive_next^post22 <= 0 /\ -6+pc_loop^post22 == 0 /\ 1-y_next^post22+y^0 <= 0 /\ n0^0-n0^post22 == 0 /\ -1+executed_drive^post22 == 0 /\ -n1^post22+n1^0 == 0 /\ -7+pc_plan_next^post22 <= 0 /\ 1-x_next^post22+x^0 <= 0), cost: 1 New rule: l5 -> l2 : executed_drive^0'=executed_drive^post22, is_aborted^0'=is_aborted^post22, is_aborted_next^0'=is_aborted_next^post22, n0^0'=n0^post22, n1^0'=n1^post22, pc_drive^0'=pc_drive^post22, pc_drive_next^0'=pc_drive_next^post22, pc_loop^0'=pc_loop^post22, pc_plan^0'=pc_plan^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=x^post22, x_next^0'=x_next^post22, y^0'=y^post22, y_next^0'=y_next^post22, (0 == 0 /\ -7+pc_drive_next^post22 <= 0 /\ x^post22-x_next^post22 == 0 /\ pc_drive^post22-pc_drive_next^post22 == 0 /\ -is_aborted_next^post22 <= 0 /\ -1+is_aborted_next^post22 <= 0 /\ -1+y_next^post22-y^0 <= 0 /\ -1+y_next^post22-y^0 == 0 /\ -4+pc_drive_next^post22 <= 0 /\ -4+pc_drive_next^post22 == 0 /\ 4-pc_drive_next^post22 <= 0 /\ -y_next^post22+y^post22 == 0 /\ 1-pc_plan_next^post22 <= 0 /\ 1-is_aborted^post22 <= 0 /\ -1+x_next^post22-x^0 <= 0 /\ -1+x_next^post22-x^0 == 0 /\ is_aborted^post22-is_aborted_next^post22 == 0 /\ pc_plan^post22-pc_plan_next^post22 == 0 /\ 1-pc_drive_next^post22 <= 0 /\ -6+pc_loop^post22 == 0 /\ 1-y_next^post22+y^0 <= 0 /\ n0^0-n0^post22 == 0 /\ -1+executed_drive^post22 == 0 /\ -n1^post22+n1^0 == 0 /\ -7+pc_plan_next^post22 <= 0 /\ 1-x_next^post22+x^0 <= 0), cost: 1 Propagated Equalities Original rule: l5 -> l2 : executed_drive^0'=executed_drive^post22, is_aborted^0'=is_aborted^post22, is_aborted_next^0'=is_aborted_next^post22, n0^0'=n0^post22, n1^0'=n1^post22, pc_drive^0'=pc_drive^post22, pc_drive_next^0'=pc_drive_next^post22, pc_loop^0'=pc_loop^post22, pc_plan^0'=pc_plan^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=x^post22, x_next^0'=x_next^post22, y^0'=y^post22, y_next^0'=y_next^post22, (0 == 0 /\ -7+pc_drive_next^post22 <= 0 /\ x^post22-x_next^post22 == 0 /\ pc_drive^post22-pc_drive_next^post22 == 0 /\ -is_aborted_next^post22 <= 0 /\ -1+is_aborted_next^post22 <= 0 /\ -1+y_next^post22-y^0 <= 0 /\ -1+y_next^post22-y^0 == 0 /\ -4+pc_drive_next^post22 <= 0 /\ -4+pc_drive_next^post22 == 0 /\ 4-pc_drive_next^post22 <= 0 /\ -y_next^post22+y^post22 == 0 /\ 1-pc_plan_next^post22 <= 0 /\ 1-is_aborted^post22 <= 0 /\ -1+x_next^post22-x^0 <= 0 /\ -1+x_next^post22-x^0 == 0 /\ is_aborted^post22-is_aborted_next^post22 == 0 /\ pc_plan^post22-pc_plan_next^post22 == 0 /\ 1-pc_drive_next^post22 <= 0 /\ -6+pc_loop^post22 == 0 /\ 1-y_next^post22+y^0 <= 0 /\ n0^0-n0^post22 == 0 /\ -1+executed_drive^post22 == 0 /\ -n1^post22+n1^0 == 0 /\ -7+pc_plan_next^post22 <= 0 /\ 1-x_next^post22+x^0 <= 0), cost: 1 New rule: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post22, is_aborted_next^0'=is_aborted_next^post22, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -3 <= 0 /\ -is_aborted_next^post22 <= 0 /\ 1-is_aborted_next^post22 <= 0 /\ -1+is_aborted_next^post22 <= 0 /\ 1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 propagated equality x^post22 = x_next^post22 propagated equality pc_drive^post22 = pc_drive_next^post22 propagated equality y_next^post22 = 1+y^0 propagated equality pc_drive_next^post22 = 4 propagated equality y^post22 = 1+y^0 propagated equality x_next^post22 = 1+x^0 propagated equality is_aborted^post22 = is_aborted_next^post22 propagated equality pc_plan^post22 = pc_plan_next^post22 propagated equality pc_loop^post22 = 6 propagated equality n0^post22 = n0^0 propagated equality executed_drive^post22 = 1 propagated equality n1^post22 = n1^0 Simplified Guard Original rule: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post22, is_aborted_next^0'=is_aborted_next^post22, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -3 <= 0 /\ -is_aborted_next^post22 <= 0 /\ 1-is_aborted_next^post22 <= 0 /\ -1+is_aborted_next^post22 <= 0 /\ 1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 New rule: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post22, is_aborted_next^0'=is_aborted_next^post22, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-is_aborted_next^post22 <= 0 /\ 1-is_aborted_next^post22 <= 0 /\ -1+is_aborted_next^post22 <= 0 /\ 1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 made implied equalities explicit Original rule: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post22, is_aborted_next^0'=is_aborted_next^post22, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-is_aborted_next^post22 <= 0 /\ 1-is_aborted_next^post22 <= 0 /\ -1+is_aborted_next^post22 <= 0 /\ 1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 New rule: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post22, is_aborted_next^0'=is_aborted_next^post22, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-is_aborted_next^post22 <= 0 /\ 1-is_aborted_next^post22 <= 0 /\ 1-is_aborted_next^post22 == 0 /\ -1+is_aborted_next^post22 <= 0 /\ 1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 Propagated Equalities Original rule: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post22, is_aborted_next^0'=is_aborted_next^post22, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-is_aborted_next^post22 <= 0 /\ 1-is_aborted_next^post22 <= 0 /\ 1-is_aborted_next^post22 == 0 /\ -1+is_aborted_next^post22 <= 0 /\ 1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 New rule: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post22 <= 0 /\ -1 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 propagated equality is_aborted_next^post22 = 1 Simplified Guard Original rule: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post22 <= 0 /\ -1 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 New rule: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 Removed Trivial Updates Original rule: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post22, is_aborted_next^0'=is_aborted_next^post22, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-is_aborted_next^post22 <= 0 /\ 1-is_aborted_next^post22 <= 0 /\ -1+is_aborted_next^post22 <= 0 /\ 1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 New rule: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post22, is_aborted_next^0'=is_aborted_next^post22, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-is_aborted_next^post22 <= 0 /\ 1-is_aborted_next^post22 <= 0 /\ -1+is_aborted_next^post22 <= 0 /\ 1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 made implied equalities explicit Original rule: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post22, is_aborted_next^0'=is_aborted_next^post22, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-is_aborted_next^post22 <= 0 /\ 1-is_aborted_next^post22 <= 0 /\ -1+is_aborted_next^post22 <= 0 /\ 1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 New rule: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post22, is_aborted_next^0'=is_aborted_next^post22, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-is_aborted_next^post22 <= 0 /\ 1-is_aborted_next^post22 <= 0 /\ 1-is_aborted_next^post22 == 0 /\ -1+is_aborted_next^post22 <= 0 /\ 1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 Propagated Equalities Original rule: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post22, is_aborted_next^0'=is_aborted_next^post22, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-is_aborted_next^post22 <= 0 /\ 1-is_aborted_next^post22 <= 0 /\ 1-is_aborted_next^post22 == 0 /\ -1+is_aborted_next^post22 <= 0 /\ 1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 New rule: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post22 <= 0 /\ -1 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 propagated equality is_aborted_next^post22 = 1 Simplified Guard Original rule: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post22 <= 0 /\ -1 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 New rule: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 made implied equalities explicit Original rule: l5 -> l2 : executed_drive^0'=executed_drive^post23, is_aborted^0'=is_aborted^post23, is_aborted_next^0'=is_aborted_next^post23, n0^0'=n0^post23, n1^0'=n1^post23, pc_drive^0'=pc_drive^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=pc_loop^post23, pc_plan^0'=pc_plan^post23, pc_plan_next^0'=pc_plan_next^post23, x^0'=x^post23, x_next^0'=x_next^post23, y^0'=y^post23, y_next^0'=y_next^post23, (0 == 0 /\ -pc_plan_next^post23+pc_plan^post23 == 0 /\ -pc_drive_next^post23+pc_drive^post23 == 0 /\ is_aborted^post23-is_aborted_next^post23 == 0 /\ -n1^post23+n1^0 == 0 /\ x^post23-x_next^post23 == 0 /\ 1-pc_plan_next^post23 <= 0 /\ 1-is_aborted^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ -6+pc_loop^post23 == 0 /\ -y_next^post23+y^0 <= 0 /\ n0^0-n0^post23 == 0 /\ -x^0+x_next^post23 <= 0 /\ executed_drive^0-executed_drive^post23 == 0 /\ 5-pc_drive_next^post23 <= 0 /\ y_next^post23-y^0 <= 0 /\ -y_next^post23+y^post23 == 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0 /\ -is_aborted_next^post23 <= 0 /\ x^0-x_next^post23 <= 0 /\ -1+is_aborted_next^post23 <= 0), cost: 1 New rule: l5 -> l2 : executed_drive^0'=executed_drive^post23, is_aborted^0'=is_aborted^post23, is_aborted_next^0'=is_aborted_next^post23, n0^0'=n0^post23, n1^0'=n1^post23, pc_drive^0'=pc_drive^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=pc_loop^post23, pc_plan^0'=pc_plan^post23, pc_plan_next^0'=pc_plan_next^post23, x^0'=x^post23, x_next^0'=x_next^post23, y^0'=y^post23, y_next^0'=y_next^post23, (0 == 0 /\ -pc_plan_next^post23+pc_plan^post23 == 0 /\ -pc_drive_next^post23+pc_drive^post23 == 0 /\ is_aborted^post23-is_aborted_next^post23 == 0 /\ -n1^post23+n1^0 == 0 /\ x^post23-x_next^post23 == 0 /\ 1-pc_plan_next^post23 <= 0 /\ 1-is_aborted^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ -6+pc_loop^post23 == 0 /\ -y_next^post23+y^0 <= 0 /\ -y_next^post23+y^0 == 0 /\ n0^0-n0^post23 == 0 /\ -x^0+x_next^post23 <= 0 /\ -x^0+x_next^post23 == 0 /\ executed_drive^0-executed_drive^post23 == 0 /\ 5-pc_drive_next^post23 <= 0 /\ y_next^post23-y^0 <= 0 /\ -y_next^post23+y^post23 == 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0 /\ -is_aborted_next^post23 <= 0 /\ x^0-x_next^post23 <= 0 /\ -1+is_aborted_next^post23 <= 0), cost: 1 Propagated Equalities Original rule: l5 -> l2 : executed_drive^0'=executed_drive^post23, is_aborted^0'=is_aborted^post23, is_aborted_next^0'=is_aborted_next^post23, n0^0'=n0^post23, n1^0'=n1^post23, pc_drive^0'=pc_drive^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=pc_loop^post23, pc_plan^0'=pc_plan^post23, pc_plan_next^0'=pc_plan_next^post23, x^0'=x^post23, x_next^0'=x_next^post23, y^0'=y^post23, y_next^0'=y_next^post23, (0 == 0 /\ -pc_plan_next^post23+pc_plan^post23 == 0 /\ -pc_drive_next^post23+pc_drive^post23 == 0 /\ is_aborted^post23-is_aborted_next^post23 == 0 /\ -n1^post23+n1^0 == 0 /\ x^post23-x_next^post23 == 0 /\ 1-pc_plan_next^post23 <= 0 /\ 1-is_aborted^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ -6+pc_loop^post23 == 0 /\ -y_next^post23+y^0 <= 0 /\ -y_next^post23+y^0 == 0 /\ n0^0-n0^post23 == 0 /\ -x^0+x_next^post23 <= 0 /\ -x^0+x_next^post23 == 0 /\ executed_drive^0-executed_drive^post23 == 0 /\ 5-pc_drive_next^post23 <= 0 /\ y_next^post23-y^0 <= 0 /\ -y_next^post23+y^post23 == 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0 /\ -is_aborted_next^post23 <= 0 /\ x^0-x_next^post23 <= 0 /\ -1+is_aborted_next^post23 <= 0), cost: 1 New rule: l5 -> l2 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post23, is_aborted_next^0'=is_aborted_next^post23, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0 /\ -is_aborted_next^post23 <= 0 /\ 1-is_aborted_next^post23 <= 0 /\ -1+is_aborted_next^post23 <= 0), cost: 1 propagated equality pc_plan^post23 = pc_plan_next^post23 propagated equality pc_drive^post23 = pc_drive_next^post23 propagated equality is_aborted^post23 = is_aborted_next^post23 propagated equality n1^post23 = n1^0 propagated equality x^post23 = x_next^post23 propagated equality pc_loop^post23 = 6 propagated equality y_next^post23 = y^0 propagated equality n0^post23 = n0^0 propagated equality x_next^post23 = x^0 propagated equality executed_drive^post23 = executed_drive^0 propagated equality y^post23 = y^0 Simplified Guard Original rule: l5 -> l2 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post23, is_aborted_next^0'=is_aborted_next^post23, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0 /\ -is_aborted_next^post23 <= 0 /\ 1-is_aborted_next^post23 <= 0 /\ -1+is_aborted_next^post23 <= 0), cost: 1 New rule: l5 -> l2 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post23, is_aborted_next^0'=is_aborted_next^post23, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0 /\ -is_aborted_next^post23 <= 0 /\ 1-is_aborted_next^post23 <= 0 /\ -1+is_aborted_next^post23 <= 0), cost: 1 made implied equalities explicit Original rule: l5 -> l2 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post23, is_aborted_next^0'=is_aborted_next^post23, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0 /\ -is_aborted_next^post23 <= 0 /\ 1-is_aborted_next^post23 <= 0 /\ -1+is_aborted_next^post23 <= 0), cost: 1 New rule: l5 -> l2 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post23, is_aborted_next^0'=is_aborted_next^post23, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0 /\ -is_aborted_next^post23 <= 0 /\ 1-is_aborted_next^post23 <= 0 /\ 1-is_aborted_next^post23 == 0 /\ -1+is_aborted_next^post23 <= 0), cost: 1 Propagated Equalities Original rule: l5 -> l2 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post23, is_aborted_next^0'=is_aborted_next^post23, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0 /\ -is_aborted_next^post23 <= 0 /\ 1-is_aborted_next^post23 <= 0 /\ 1-is_aborted_next^post23 == 0 /\ -1+is_aborted_next^post23 <= 0), cost: 1 New rule: l5 -> l2 : executed_drive^0'=executed_drive^0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -1 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0), cost: 1 propagated equality is_aborted_next^post23 = 1 Simplified Guard Original rule: l5 -> l2 : executed_drive^0'=executed_drive^0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -1 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0), cost: 1 New rule: l5 -> l2 : executed_drive^0'=executed_drive^0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0), cost: 1 Removed Trivial Updates Original rule: l5 -> l2 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post23, is_aborted_next^0'=is_aborted_next^post23, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0 /\ -is_aborted_next^post23 <= 0 /\ 1-is_aborted_next^post23 <= 0 /\ -1+is_aborted_next^post23 <= 0), cost: 1 New rule: l5 -> l2 : is_aborted^0'=is_aborted_next^post23, is_aborted_next^0'=is_aborted_next^post23, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0 /\ -is_aborted_next^post23 <= 0 /\ 1-is_aborted_next^post23 <= 0 /\ -1+is_aborted_next^post23 <= 0), cost: 1 made implied equalities explicit Original rule: l5 -> l2 : is_aborted^0'=is_aborted_next^post23, is_aborted_next^0'=is_aborted_next^post23, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0 /\ -is_aborted_next^post23 <= 0 /\ 1-is_aborted_next^post23 <= 0 /\ -1+is_aborted_next^post23 <= 0), cost: 1 New rule: l5 -> l2 : is_aborted^0'=is_aborted_next^post23, is_aborted_next^0'=is_aborted_next^post23, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0 /\ -is_aborted_next^post23 <= 0 /\ 1-is_aborted_next^post23 <= 0 /\ 1-is_aborted_next^post23 == 0 /\ -1+is_aborted_next^post23 <= 0), cost: 1 Propagated Equalities Original rule: l5 -> l2 : is_aborted^0'=is_aborted_next^post23, is_aborted_next^0'=is_aborted_next^post23, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0 /\ -is_aborted_next^post23 <= 0 /\ 1-is_aborted_next^post23 <= 0 /\ 1-is_aborted_next^post23 == 0 /\ -1+is_aborted_next^post23 <= 0), cost: 1 New rule: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -1 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0), cost: 1 propagated equality is_aborted_next^post23 = 1 Simplified Guard Original rule: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -1 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0), cost: 1 New rule: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0), cost: 1 made implied equalities explicit Original rule: l5 -> l2 : executed_drive^0'=executed_drive^post24, is_aborted^0'=is_aborted^post24, is_aborted_next^0'=is_aborted_next^post24, n0^0'=n0^post24, n1^0'=n1^post24, pc_drive^0'=pc_drive^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=pc_loop^post24, pc_plan^0'=pc_plan^post24, pc_plan_next^0'=pc_plan_next^post24, x^0'=x^post24, x_next^0'=x_next^post24, y^0'=y^post24, y_next^0'=y_next^post24, (0 == 0 /\ n0^0-n0^post24 == 0 /\ -3+pc_drive_next^post24 <= 0 /\ x^post24-x_next^post24 == 0 /\ -is_aborted_next^post24+is_aborted^post24 == 0 /\ -7+pc_plan_next^post24 <= 0 /\ executed_drive^0-executed_drive^post24 == 0 /\ n1^0-n1^post24 == 0 /\ pc_drive^post24-pc_drive_next^post24 == 0 /\ -7+pc_drive_next^post24 <= 0 /\ -1+is_aborted_next^post24 <= 0 /\ -is_aborted_next^post24 <= 0 /\ y^post24-y_next^post24 == 0 /\ x^0-x_next^post24 <= 0 /\ y_next^post24-y^0 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-is_aborted^post24 <= 0 /\ -x^0+x_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0 /\ -y_next^post24+y^0 <= 0 /\ pc_plan^post24-pc_plan_next^post24 == 0 /\ -6+pc_loop^post24 == 0), cost: 1 New rule: l5 -> l2 : executed_drive^0'=executed_drive^post24, is_aborted^0'=is_aborted^post24, is_aborted_next^0'=is_aborted_next^post24, n0^0'=n0^post24, n1^0'=n1^post24, pc_drive^0'=pc_drive^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=pc_loop^post24, pc_plan^0'=pc_plan^post24, pc_plan_next^0'=pc_plan_next^post24, x^0'=x^post24, x_next^0'=x_next^post24, y^0'=y^post24, y_next^0'=y_next^post24, (0 == 0 /\ n0^0-n0^post24 == 0 /\ -3+pc_drive_next^post24 <= 0 /\ x^post24-x_next^post24 == 0 /\ -is_aborted_next^post24+is_aborted^post24 == 0 /\ -7+pc_plan_next^post24 <= 0 /\ executed_drive^0-executed_drive^post24 == 0 /\ n1^0-n1^post24 == 0 /\ pc_drive^post24-pc_drive_next^post24 == 0 /\ -7+pc_drive_next^post24 <= 0 /\ -1+is_aborted_next^post24 <= 0 /\ -is_aborted_next^post24 <= 0 /\ y^post24-y_next^post24 == 0 /\ x^0-x_next^post24 <= 0 /\ x^0-x_next^post24 == 0 /\ y_next^post24-y^0 <= 0 /\ y_next^post24-y^0 == 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-is_aborted^post24 <= 0 /\ -x^0+x_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0 /\ -y_next^post24+y^0 <= 0 /\ pc_plan^post24-pc_plan_next^post24 == 0 /\ -6+pc_loop^post24 == 0), cost: 1 Propagated Equalities Original rule: l5 -> l2 : executed_drive^0'=executed_drive^post24, is_aborted^0'=is_aborted^post24, is_aborted_next^0'=is_aborted_next^post24, n0^0'=n0^post24, n1^0'=n1^post24, pc_drive^0'=pc_drive^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=pc_loop^post24, pc_plan^0'=pc_plan^post24, pc_plan_next^0'=pc_plan_next^post24, x^0'=x^post24, x_next^0'=x_next^post24, y^0'=y^post24, y_next^0'=y_next^post24, (0 == 0 /\ n0^0-n0^post24 == 0 /\ -3+pc_drive_next^post24 <= 0 /\ x^post24-x_next^post24 == 0 /\ -is_aborted_next^post24+is_aborted^post24 == 0 /\ -7+pc_plan_next^post24 <= 0 /\ executed_drive^0-executed_drive^post24 == 0 /\ n1^0-n1^post24 == 0 /\ pc_drive^post24-pc_drive_next^post24 == 0 /\ -7+pc_drive_next^post24 <= 0 /\ -1+is_aborted_next^post24 <= 0 /\ -is_aborted_next^post24 <= 0 /\ y^post24-y_next^post24 == 0 /\ x^0-x_next^post24 <= 0 /\ x^0-x_next^post24 == 0 /\ y_next^post24-y^0 <= 0 /\ y_next^post24-y^0 == 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-is_aborted^post24 <= 0 /\ -x^0+x_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0 /\ -y_next^post24+y^0 <= 0 /\ pc_plan^post24-pc_plan_next^post24 == 0 /\ -6+pc_loop^post24 == 0), cost: 1 New rule: l5 -> l2 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post24, is_aborted_next^0'=is_aborted_next^post24, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-is_aborted_next^post24 <= 0 /\ -1+is_aborted_next^post24 <= 0 /\ -is_aborted_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 propagated equality n0^post24 = n0^0 propagated equality x^post24 = x_next^post24 propagated equality is_aborted^post24 = is_aborted_next^post24 propagated equality executed_drive^post24 = executed_drive^0 propagated equality n1^post24 = n1^0 propagated equality pc_drive^post24 = pc_drive_next^post24 propagated equality y^post24 = y_next^post24 propagated equality x_next^post24 = x^0 propagated equality y_next^post24 = y^0 propagated equality pc_plan^post24 = pc_plan_next^post24 propagated equality pc_loop^post24 = 6 Simplified Guard Original rule: l5 -> l2 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post24, is_aborted_next^0'=is_aborted_next^post24, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-is_aborted_next^post24 <= 0 /\ -1+is_aborted_next^post24 <= 0 /\ -is_aborted_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 New rule: l5 -> l2 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post24, is_aborted_next^0'=is_aborted_next^post24, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-is_aborted_next^post24 <= 0 /\ -1+is_aborted_next^post24 <= 0 /\ -is_aborted_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 made implied equalities explicit Original rule: l5 -> l2 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post24, is_aborted_next^0'=is_aborted_next^post24, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-is_aborted_next^post24 <= 0 /\ -1+is_aborted_next^post24 <= 0 /\ -is_aborted_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 New rule: l5 -> l2 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post24, is_aborted_next^0'=is_aborted_next^post24, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-is_aborted_next^post24 <= 0 /\ 1-is_aborted_next^post24 == 0 /\ -1+is_aborted_next^post24 <= 0 /\ -is_aborted_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 Propagated Equalities Original rule: l5 -> l2 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post24, is_aborted_next^0'=is_aborted_next^post24, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-is_aborted_next^post24 <= 0 /\ 1-is_aborted_next^post24 == 0 /\ -1+is_aborted_next^post24 <= 0 /\ -is_aborted_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 New rule: l5 -> l2 : executed_drive^0'=executed_drive^0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0 /\ -1 <= 0), cost: 1 propagated equality is_aborted_next^post24 = 1 Simplified Guard Original rule: l5 -> l2 : executed_drive^0'=executed_drive^0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0 /\ -1 <= 0), cost: 1 New rule: l5 -> l2 : executed_drive^0'=executed_drive^0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 Removed Trivial Updates Original rule: l5 -> l2 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post24, is_aborted_next^0'=is_aborted_next^post24, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-is_aborted_next^post24 <= 0 /\ -1+is_aborted_next^post24 <= 0 /\ -is_aborted_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 New rule: l5 -> l2 : is_aborted^0'=is_aborted_next^post24, is_aborted_next^0'=is_aborted_next^post24, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-is_aborted_next^post24 <= 0 /\ -1+is_aborted_next^post24 <= 0 /\ -is_aborted_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 made implied equalities explicit Original rule: l5 -> l2 : is_aborted^0'=is_aborted_next^post24, is_aborted_next^0'=is_aborted_next^post24, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-is_aborted_next^post24 <= 0 /\ -1+is_aborted_next^post24 <= 0 /\ -is_aborted_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 New rule: l5 -> l2 : is_aborted^0'=is_aborted_next^post24, is_aborted_next^0'=is_aborted_next^post24, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-is_aborted_next^post24 <= 0 /\ 1-is_aborted_next^post24 == 0 /\ -1+is_aborted_next^post24 <= 0 /\ -is_aborted_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 Propagated Equalities Original rule: l5 -> l2 : is_aborted^0'=is_aborted_next^post24, is_aborted_next^0'=is_aborted_next^post24, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-is_aborted_next^post24 <= 0 /\ 1-is_aborted_next^post24 == 0 /\ -1+is_aborted_next^post24 <= 0 /\ -is_aborted_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 New rule: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0 /\ -1 <= 0), cost: 1 propagated equality is_aborted_next^post24 = 1 Simplified Guard Original rule: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0 /\ -1 <= 0), cost: 1 New rule: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 made implied equalities explicit Original rule: l4 -> l5 : executed_drive^0'=executed_drive^post25, is_aborted^0'=is_aborted^post25, is_aborted_next^0'=is_aborted_next^post25, n0^0'=n0^post25, n1^0'=n1^post25, pc_drive^0'=pc_drive^post25, pc_drive_next^0'=pc_drive_next^post25, pc_loop^0'=pc_loop^post25, pc_plan^0'=pc_plan^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=x^post25, x_next^0'=x_next^post25, y^0'=y^post25, y_next^0'=y_next^post25, (0 == 0 /\ -1+executed_drive^post25 == 0 /\ -7+pc_plan_next^post25 <= 0 /\ pc_plan^post25-pc_plan_next^post25 == 0 /\ -1+x_next^post25-x^0 <= 0 /\ -4+pc_drive_next^post25 <= 0 /\ 4-pc_drive_next^post25 <= 0 /\ -7+pc_drive_next^post25 <= 0 /\ -1+y_next^post25-y^0 <= 0 /\ -1+is_aborted_next^post25 <= 0 /\ -is_aborted_next^post25 <= 0 /\ -n1^post25+n1^0 == 0 /\ is_aborted^post25 <= 0 /\ is_aborted^post25-is_aborted_next^post25 == 0 /\ -y_next^post25+y^post25 == 0 /\ -3+pc_loop^post25 == 0 /\ 1-x_next^post25+x^0 <= 0 /\ 1-pc_plan_next^post25 <= 0 /\ pc_drive^post25-pc_drive_next^post25 == 0 /\ 1-pc_drive_next^post25 <= 0 /\ 1-y_next^post25+y^0 <= 0 /\ x^post25-x_next^post25 == 0 /\ n0^0-n0^post25 == 0), cost: 1 New rule: l4 -> l5 : executed_drive^0'=executed_drive^post25, is_aborted^0'=is_aborted^post25, is_aborted_next^0'=is_aborted_next^post25, n0^0'=n0^post25, n1^0'=n1^post25, pc_drive^0'=pc_drive^post25, pc_drive_next^0'=pc_drive_next^post25, pc_loop^0'=pc_loop^post25, pc_plan^0'=pc_plan^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=x^post25, x_next^0'=x_next^post25, y^0'=y^post25, y_next^0'=y_next^post25, (0 == 0 /\ -1+executed_drive^post25 == 0 /\ -7+pc_plan_next^post25 <= 0 /\ pc_plan^post25-pc_plan_next^post25 == 0 /\ -1+x_next^post25-x^0 <= 0 /\ -1+x_next^post25-x^0 == 0 /\ -4+pc_drive_next^post25 <= 0 /\ -4+pc_drive_next^post25 == 0 /\ 4-pc_drive_next^post25 <= 0 /\ -7+pc_drive_next^post25 <= 0 /\ -1+y_next^post25-y^0 <= 0 /\ -1+y_next^post25-y^0 == 0 /\ -1+is_aborted_next^post25 <= 0 /\ -is_aborted_next^post25 <= 0 /\ -n1^post25+n1^0 == 0 /\ is_aborted^post25 <= 0 /\ is_aborted^post25-is_aborted_next^post25 == 0 /\ -y_next^post25+y^post25 == 0 /\ -3+pc_loop^post25 == 0 /\ 1-x_next^post25+x^0 <= 0 /\ 1-pc_plan_next^post25 <= 0 /\ pc_drive^post25-pc_drive_next^post25 == 0 /\ 1-pc_drive_next^post25 <= 0 /\ 1-y_next^post25+y^0 <= 0 /\ x^post25-x_next^post25 == 0 /\ n0^0-n0^post25 == 0), cost: 1 Propagated Equalities Original rule: l4 -> l5 : executed_drive^0'=executed_drive^post25, is_aborted^0'=is_aborted^post25, is_aborted_next^0'=is_aborted_next^post25, n0^0'=n0^post25, n1^0'=n1^post25, pc_drive^0'=pc_drive^post25, pc_drive_next^0'=pc_drive_next^post25, pc_loop^0'=pc_loop^post25, pc_plan^0'=pc_plan^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=x^post25, x_next^0'=x_next^post25, y^0'=y^post25, y_next^0'=y_next^post25, (0 == 0 /\ -1+executed_drive^post25 == 0 /\ -7+pc_plan_next^post25 <= 0 /\ pc_plan^post25-pc_plan_next^post25 == 0 /\ -1+x_next^post25-x^0 <= 0 /\ -1+x_next^post25-x^0 == 0 /\ -4+pc_drive_next^post25 <= 0 /\ -4+pc_drive_next^post25 == 0 /\ 4-pc_drive_next^post25 <= 0 /\ -7+pc_drive_next^post25 <= 0 /\ -1+y_next^post25-y^0 <= 0 /\ -1+y_next^post25-y^0 == 0 /\ -1+is_aborted_next^post25 <= 0 /\ -is_aborted_next^post25 <= 0 /\ -n1^post25+n1^0 == 0 /\ is_aborted^post25 <= 0 /\ is_aborted^post25-is_aborted_next^post25 == 0 /\ -y_next^post25+y^post25 == 0 /\ -3+pc_loop^post25 == 0 /\ 1-x_next^post25+x^0 <= 0 /\ 1-pc_plan_next^post25 <= 0 /\ pc_drive^post25-pc_drive_next^post25 == 0 /\ 1-pc_drive_next^post25 <= 0 /\ 1-y_next^post25+y^0 <= 0 /\ x^post25-x_next^post25 == 0 /\ n0^0-n0^post25 == 0), cost: 1 New rule: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post25, is_aborted_next^0'=is_aborted_next^post25, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -3 <= 0 /\ -7+pc_plan_next^post25 <= 0 /\ -1+is_aborted_next^post25 <= 0 /\ -is_aborted_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0 /\ is_aborted_next^post25 <= 0), cost: 1 propagated equality executed_drive^post25 = 1 propagated equality pc_plan^post25 = pc_plan_next^post25 propagated equality x_next^post25 = 1+x^0 propagated equality pc_drive_next^post25 = 4 propagated equality y_next^post25 = 1+y^0 propagated equality n1^post25 = n1^0 propagated equality is_aborted^post25 = is_aborted_next^post25 propagated equality y^post25 = 1+y^0 propagated equality pc_loop^post25 = 3 propagated equality pc_drive^post25 = 4 propagated equality x^post25 = 1+x^0 propagated equality n0^post25 = n0^0 Simplified Guard Original rule: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post25, is_aborted_next^0'=is_aborted_next^post25, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -3 <= 0 /\ -7+pc_plan_next^post25 <= 0 /\ -1+is_aborted_next^post25 <= 0 /\ -is_aborted_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0 /\ is_aborted_next^post25 <= 0), cost: 1 New rule: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post25, is_aborted_next^0'=is_aborted_next^post25, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ -1+is_aborted_next^post25 <= 0 /\ -is_aborted_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0 /\ is_aborted_next^post25 <= 0), cost: 1 made implied equalities explicit Original rule: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post25, is_aborted_next^0'=is_aborted_next^post25, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ -1+is_aborted_next^post25 <= 0 /\ -is_aborted_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0 /\ is_aborted_next^post25 <= 0), cost: 1 New rule: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post25, is_aborted_next^0'=is_aborted_next^post25, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ -1+is_aborted_next^post25 <= 0 /\ -is_aborted_next^post25 <= 0 /\ -is_aborted_next^post25 == 0 /\ 1-pc_plan_next^post25 <= 0 /\ is_aborted_next^post25 <= 0), cost: 1 Propagated Equalities Original rule: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post25, is_aborted_next^0'=is_aborted_next^post25, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ -1+is_aborted_next^post25 <= 0 /\ -is_aborted_next^post25 <= 0 /\ -is_aborted_next^post25 == 0 /\ 1-pc_plan_next^post25 <= 0 /\ is_aborted_next^post25 <= 0), cost: 1 New rule: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0 /\ -1 <= 0), cost: 1 propagated equality is_aborted_next^post25 = 0 Simplified Guard Original rule: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0 /\ -1 <= 0), cost: 1 New rule: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0), cost: 1 Removed Trivial Updates Original rule: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post25, is_aborted_next^0'=is_aborted_next^post25, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ -1+is_aborted_next^post25 <= 0 /\ -is_aborted_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0 /\ is_aborted_next^post25 <= 0), cost: 1 New rule: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post25, is_aborted_next^0'=is_aborted_next^post25, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ -1+is_aborted_next^post25 <= 0 /\ -is_aborted_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0 /\ is_aborted_next^post25 <= 0), cost: 1 made implied equalities explicit Original rule: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post25, is_aborted_next^0'=is_aborted_next^post25, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ -1+is_aborted_next^post25 <= 0 /\ -is_aborted_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0 /\ is_aborted_next^post25 <= 0), cost: 1 New rule: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post25, is_aborted_next^0'=is_aborted_next^post25, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ -1+is_aborted_next^post25 <= 0 /\ -is_aborted_next^post25 <= 0 /\ -is_aborted_next^post25 == 0 /\ 1-pc_plan_next^post25 <= 0 /\ is_aborted_next^post25 <= 0), cost: 1 Propagated Equalities Original rule: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post25, is_aborted_next^0'=is_aborted_next^post25, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ -1+is_aborted_next^post25 <= 0 /\ -is_aborted_next^post25 <= 0 /\ -is_aborted_next^post25 == 0 /\ 1-pc_plan_next^post25 <= 0 /\ is_aborted_next^post25 <= 0), cost: 1 New rule: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0 /\ -1 <= 0), cost: 1 propagated equality is_aborted_next^post25 = 0 Simplified Guard Original rule: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0 /\ -1 <= 0), cost: 1 New rule: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0), cost: 1 made implied equalities explicit Original rule: l4 -> l5 : executed_drive^0'=executed_drive^post26, is_aborted^0'=is_aborted^post26, is_aborted_next^0'=is_aborted_next^post26, n0^0'=n0^post26, n1^0'=n1^post26, pc_drive^0'=pc_drive^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=pc_loop^post26, pc_plan^0'=pc_plan^post26, pc_plan_next^0'=pc_plan_next^post26, x^0'=x^post26, x_next^0'=x_next^post26, y^0'=y^post26, y_next^0'=y_next^post26, (0 == 0 /\ y_next^post26-y^0 <= 0 /\ pc_plan^post26-pc_plan_next^post26 == 0 /\ 1-pc_drive_next^post26 <= 0 /\ x_next^post26-x^0 <= 0 /\ n0^0-n0^post26 == 0 /\ -y_next^post26+y^0 <= 0 /\ -is_aborted_next^post26+is_aborted^post26 == 0 /\ n1^0-n1^post26 == 0 /\ -x_next^post26+x^0 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -3+pc_loop^post26 == 0 /\ -7+pc_drive_next^post26 <= 0 /\ y^post26-y_next^post26 == 0 /\ pc_drive^post26-pc_drive_next^post26 == 0 /\ -is_aborted_next^post26 <= 0 /\ -1+is_aborted_next^post26 <= 0 /\ is_aborted^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ executed_drive^0-executed_drive^post26 == 0 /\ 1-pc_plan_next^post26 <= 0 /\ -x_next^post26+x^post26 == 0), cost: 1 New rule: l4 -> l5 : executed_drive^0'=executed_drive^post26, is_aborted^0'=is_aborted^post26, is_aborted_next^0'=is_aborted_next^post26, n0^0'=n0^post26, n1^0'=n1^post26, pc_drive^0'=pc_drive^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=pc_loop^post26, pc_plan^0'=pc_plan^post26, pc_plan_next^0'=pc_plan_next^post26, x^0'=x^post26, x_next^0'=x_next^post26, y^0'=y^post26, y_next^0'=y_next^post26, (0 == 0 /\ y_next^post26-y^0 <= 0 /\ y_next^post26-y^0 == 0 /\ pc_plan^post26-pc_plan_next^post26 == 0 /\ 1-pc_drive_next^post26 <= 0 /\ x_next^post26-x^0 <= 0 /\ x_next^post26-x^0 == 0 /\ n0^0-n0^post26 == 0 /\ -y_next^post26+y^0 <= 0 /\ -is_aborted_next^post26+is_aborted^post26 == 0 /\ n1^0-n1^post26 == 0 /\ -x_next^post26+x^0 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -3+pc_loop^post26 == 0 /\ -7+pc_drive_next^post26 <= 0 /\ y^post26-y_next^post26 == 0 /\ pc_drive^post26-pc_drive_next^post26 == 0 /\ -is_aborted_next^post26 <= 0 /\ -1+is_aborted_next^post26 <= 0 /\ is_aborted^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ executed_drive^0-executed_drive^post26 == 0 /\ 1-pc_plan_next^post26 <= 0 /\ -x_next^post26+x^post26 == 0), cost: 1 Propagated Equalities Original rule: l4 -> l5 : executed_drive^0'=executed_drive^post26, is_aborted^0'=is_aborted^post26, is_aborted_next^0'=is_aborted_next^post26, n0^0'=n0^post26, n1^0'=n1^post26, pc_drive^0'=pc_drive^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=pc_loop^post26, pc_plan^0'=pc_plan^post26, pc_plan_next^0'=pc_plan_next^post26, x^0'=x^post26, x_next^0'=x_next^post26, y^0'=y^post26, y_next^0'=y_next^post26, (0 == 0 /\ y_next^post26-y^0 <= 0 /\ y_next^post26-y^0 == 0 /\ pc_plan^post26-pc_plan_next^post26 == 0 /\ 1-pc_drive_next^post26 <= 0 /\ x_next^post26-x^0 <= 0 /\ x_next^post26-x^0 == 0 /\ n0^0-n0^post26 == 0 /\ -y_next^post26+y^0 <= 0 /\ -is_aborted_next^post26+is_aborted^post26 == 0 /\ n1^0-n1^post26 == 0 /\ -x_next^post26+x^0 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -3+pc_loop^post26 == 0 /\ -7+pc_drive_next^post26 <= 0 /\ y^post26-y_next^post26 == 0 /\ pc_drive^post26-pc_drive_next^post26 == 0 /\ -is_aborted_next^post26 <= 0 /\ -1+is_aborted_next^post26 <= 0 /\ is_aborted^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ executed_drive^0-executed_drive^post26 == 0 /\ 1-pc_plan_next^post26 <= 0 /\ -x_next^post26+x^post26 == 0), cost: 1 New rule: l4 -> l5 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post26, is_aborted_next^0'=is_aborted_next^post26, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_drive_next^post26 <= 0 /\ is_aborted_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ -is_aborted_next^post26 <= 0 /\ -1+is_aborted_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 propagated equality y_next^post26 = y^0 propagated equality pc_plan^post26 = pc_plan_next^post26 propagated equality x_next^post26 = x^0 propagated equality n0^post26 = n0^0 propagated equality is_aborted^post26 = is_aborted_next^post26 propagated equality n1^post26 = n1^0 propagated equality pc_loop^post26 = 3 propagated equality y^post26 = y^0 propagated equality pc_drive^post26 = pc_drive_next^post26 propagated equality executed_drive^post26 = executed_drive^0 propagated equality x^post26 = x^0 Simplified Guard Original rule: l4 -> l5 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post26, is_aborted_next^0'=is_aborted_next^post26, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_drive_next^post26 <= 0 /\ is_aborted_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ -is_aborted_next^post26 <= 0 /\ -1+is_aborted_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 New rule: l4 -> l5 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post26, is_aborted_next^0'=is_aborted_next^post26, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ is_aborted_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ -is_aborted_next^post26 <= 0 /\ -1+is_aborted_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 made implied equalities explicit Original rule: l4 -> l5 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post26, is_aborted_next^0'=is_aborted_next^post26, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ is_aborted_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ -is_aborted_next^post26 <= 0 /\ -1+is_aborted_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 New rule: l4 -> l5 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post26, is_aborted_next^0'=is_aborted_next^post26, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ is_aborted_next^post26 <= 0 /\ is_aborted_next^post26 == 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ -is_aborted_next^post26 <= 0 /\ -1+is_aborted_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 Propagated Equalities Original rule: l4 -> l5 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post26, is_aborted_next^0'=is_aborted_next^post26, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ is_aborted_next^post26 <= 0 /\ is_aborted_next^post26 == 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ -is_aborted_next^post26 <= 0 /\ -1+is_aborted_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 New rule: l4 -> l5 : executed_drive^0'=executed_drive^0, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ -1 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 propagated equality is_aborted_next^post26 = 0 Simplified Guard Original rule: l4 -> l5 : executed_drive^0'=executed_drive^0, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ -1 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 New rule: l4 -> l5 : executed_drive^0'=executed_drive^0, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 Removed Trivial Updates Original rule: l4 -> l5 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post26, is_aborted_next^0'=is_aborted_next^post26, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ is_aborted_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ -is_aborted_next^post26 <= 0 /\ -1+is_aborted_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 New rule: l4 -> l5 : is_aborted^0'=is_aborted_next^post26, is_aborted_next^0'=is_aborted_next^post26, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ is_aborted_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ -is_aborted_next^post26 <= 0 /\ -1+is_aborted_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 made implied equalities explicit Original rule: l4 -> l5 : is_aborted^0'=is_aborted_next^post26, is_aborted_next^0'=is_aborted_next^post26, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ is_aborted_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ -is_aborted_next^post26 <= 0 /\ -1+is_aborted_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 New rule: l4 -> l5 : is_aborted^0'=is_aborted_next^post26, is_aborted_next^0'=is_aborted_next^post26, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ is_aborted_next^post26 <= 0 /\ is_aborted_next^post26 == 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ -is_aborted_next^post26 <= 0 /\ -1+is_aborted_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 Propagated Equalities Original rule: l4 -> l5 : is_aborted^0'=is_aborted_next^post26, is_aborted_next^0'=is_aborted_next^post26, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ is_aborted_next^post26 <= 0 /\ is_aborted_next^post26 == 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ -is_aborted_next^post26 <= 0 /\ -1+is_aborted_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 New rule: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ -1 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 propagated equality is_aborted_next^post26 = 0 Simplified Guard Original rule: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ -1 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 New rule: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 made implied equalities explicit Original rule: l4 -> l5 : executed_drive^0'=executed_drive^post27, is_aborted^0'=is_aborted^post27, is_aborted_next^0'=is_aborted_next^post27, n0^0'=n0^post27, n1^0'=n1^post27, pc_drive^0'=pc_drive^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=pc_loop^post27, pc_plan^0'=pc_plan^post27, pc_plan_next^0'=pc_plan_next^post27, x^0'=x^post27, x_next^0'=x_next^post27, y^0'=y^post27, y_next^0'=y_next^post27, (0 == 0 /\ -y_next^post27+y^0 <= 0 /\ -y_next^post27+y^post27 == 0 /\ is_aborted^post27-is_aborted_next^post27 == 0 /\ -3+pc_drive_next^post27 <= 0 /\ pc_drive^post27-pc_drive_next^post27 == 0 /\ -1+is_aborted_next^post27 <= 0 /\ -is_aborted_next^post27 <= 0 /\ -n1^post27+n1^0 == 0 /\ -x_next^post27+x^0 <= 0 /\ -3+pc_loop^post27 == 0 /\ y_next^post27-y^0 <= 0 /\ is_aborted^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ x_next^post27-x^0 <= 0 /\ -executed_drive^post27+executed_drive^0 == 0 /\ x^post27-x_next^post27 == 0 /\ 1-pc_plan_next^post27 <= 0 /\ n0^0-n0^post27 == 0 /\ pc_plan^post27-pc_plan_next^post27 == 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 New rule: l4 -> l5 : executed_drive^0'=executed_drive^post27, is_aborted^0'=is_aborted^post27, is_aborted_next^0'=is_aborted_next^post27, n0^0'=n0^post27, n1^0'=n1^post27, pc_drive^0'=pc_drive^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=pc_loop^post27, pc_plan^0'=pc_plan^post27, pc_plan_next^0'=pc_plan_next^post27, x^0'=x^post27, x_next^0'=x_next^post27, y^0'=y^post27, y_next^0'=y_next^post27, (0 == 0 /\ -y_next^post27+y^0 <= 0 /\ -y_next^post27+y^0 == 0 /\ -y_next^post27+y^post27 == 0 /\ is_aborted^post27-is_aborted_next^post27 == 0 /\ -3+pc_drive_next^post27 <= 0 /\ pc_drive^post27-pc_drive_next^post27 == 0 /\ -1+is_aborted_next^post27 <= 0 /\ -is_aborted_next^post27 <= 0 /\ -n1^post27+n1^0 == 0 /\ -x_next^post27+x^0 <= 0 /\ -x_next^post27+x^0 == 0 /\ -3+pc_loop^post27 == 0 /\ y_next^post27-y^0 <= 0 /\ is_aborted^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ x_next^post27-x^0 <= 0 /\ -executed_drive^post27+executed_drive^0 == 0 /\ x^post27-x_next^post27 == 0 /\ 1-pc_plan_next^post27 <= 0 /\ n0^0-n0^post27 == 0 /\ pc_plan^post27-pc_plan_next^post27 == 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 Propagated Equalities Original rule: l4 -> l5 : executed_drive^0'=executed_drive^post27, is_aborted^0'=is_aborted^post27, is_aborted_next^0'=is_aborted_next^post27, n0^0'=n0^post27, n1^0'=n1^post27, pc_drive^0'=pc_drive^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=pc_loop^post27, pc_plan^0'=pc_plan^post27, pc_plan_next^0'=pc_plan_next^post27, x^0'=x^post27, x_next^0'=x_next^post27, y^0'=y^post27, y_next^0'=y_next^post27, (0 == 0 /\ -y_next^post27+y^0 <= 0 /\ -y_next^post27+y^0 == 0 /\ -y_next^post27+y^post27 == 0 /\ is_aborted^post27-is_aborted_next^post27 == 0 /\ -3+pc_drive_next^post27 <= 0 /\ pc_drive^post27-pc_drive_next^post27 == 0 /\ -1+is_aborted_next^post27 <= 0 /\ -is_aborted_next^post27 <= 0 /\ -n1^post27+n1^0 == 0 /\ -x_next^post27+x^0 <= 0 /\ -x_next^post27+x^0 == 0 /\ -3+pc_loop^post27 == 0 /\ y_next^post27-y^0 <= 0 /\ is_aborted^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ x_next^post27-x^0 <= 0 /\ -executed_drive^post27+executed_drive^0 == 0 /\ x^post27-x_next^post27 == 0 /\ 1-pc_plan_next^post27 <= 0 /\ n0^0-n0^post27 == 0 /\ pc_plan^post27-pc_plan_next^post27 == 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 New rule: l4 -> l5 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post27, is_aborted_next^0'=is_aborted_next^post27, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -3+pc_drive_next^post27 <= 0 /\ -1+is_aborted_next^post27 <= 0 /\ -is_aborted_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ is_aborted_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 propagated equality y_next^post27 = y^0 propagated equality y^post27 = y^0 propagated equality is_aborted^post27 = is_aborted_next^post27 propagated equality pc_drive^post27 = pc_drive_next^post27 propagated equality n1^post27 = n1^0 propagated equality x_next^post27 = x^0 propagated equality pc_loop^post27 = 3 propagated equality executed_drive^post27 = executed_drive^0 propagated equality x^post27 = x^0 propagated equality n0^post27 = n0^0 propagated equality pc_plan^post27 = pc_plan_next^post27 Simplified Guard Original rule: l4 -> l5 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post27, is_aborted_next^0'=is_aborted_next^post27, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -3+pc_drive_next^post27 <= 0 /\ -1+is_aborted_next^post27 <= 0 /\ -is_aborted_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ is_aborted_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 New rule: l4 -> l5 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post27, is_aborted_next^0'=is_aborted_next^post27, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -1+is_aborted_next^post27 <= 0 /\ -is_aborted_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ is_aborted_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 made implied equalities explicit Original rule: l4 -> l5 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post27, is_aborted_next^0'=is_aborted_next^post27, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -1+is_aborted_next^post27 <= 0 /\ -is_aborted_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ is_aborted_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 New rule: l4 -> l5 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post27, is_aborted_next^0'=is_aborted_next^post27, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -1+is_aborted_next^post27 <= 0 /\ -is_aborted_next^post27 <= 0 /\ -is_aborted_next^post27 == 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ is_aborted_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 Propagated Equalities Original rule: l4 -> l5 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post27, is_aborted_next^0'=is_aborted_next^post27, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -1+is_aborted_next^post27 <= 0 /\ -is_aborted_next^post27 <= 0 /\ -is_aborted_next^post27 == 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ is_aborted_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 New rule: l4 -> l5 : executed_drive^0'=executed_drive^0, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -3+pc_drive_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ -1 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 propagated equality is_aborted_next^post27 = 0 Simplified Guard Original rule: l4 -> l5 : executed_drive^0'=executed_drive^0, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -3+pc_drive_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ -1 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 New rule: l4 -> l5 : executed_drive^0'=executed_drive^0, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 Removed Trivial Updates Original rule: l4 -> l5 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post27, is_aborted_next^0'=is_aborted_next^post27, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -1+is_aborted_next^post27 <= 0 /\ -is_aborted_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ is_aborted_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 New rule: l4 -> l5 : is_aborted^0'=is_aborted_next^post27, is_aborted_next^0'=is_aborted_next^post27, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -1+is_aborted_next^post27 <= 0 /\ -is_aborted_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ is_aborted_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 made implied equalities explicit Original rule: l4 -> l5 : is_aborted^0'=is_aborted_next^post27, is_aborted_next^0'=is_aborted_next^post27, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -1+is_aborted_next^post27 <= 0 /\ -is_aborted_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ is_aborted_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 New rule: l4 -> l5 : is_aborted^0'=is_aborted_next^post27, is_aborted_next^0'=is_aborted_next^post27, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -1+is_aborted_next^post27 <= 0 /\ -is_aborted_next^post27 <= 0 /\ -is_aborted_next^post27 == 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ is_aborted_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 Propagated Equalities Original rule: l4 -> l5 : is_aborted^0'=is_aborted_next^post27, is_aborted_next^0'=is_aborted_next^post27, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -1+is_aborted_next^post27 <= 0 /\ -is_aborted_next^post27 <= 0 /\ -is_aborted_next^post27 == 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ is_aborted_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 New rule: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -3+pc_drive_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ -1 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 propagated equality is_aborted_next^post27 = 0 Simplified Guard Original rule: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -3+pc_drive_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ -1 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 New rule: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 made implied equalities explicit Original rule: l4 -> l0 : executed_drive^0'=executed_drive^post28, is_aborted^0'=is_aborted^post28, is_aborted_next^0'=is_aborted_next^post28, n0^0'=n0^post28, n1^0'=n1^post28, pc_drive^0'=pc_drive^post28, pc_drive_next^0'=pc_drive_next^post28, pc_loop^0'=pc_loop^post28, pc_plan^0'=pc_plan^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=x^post28, x_next^0'=x_next^post28, y^0'=y^post28, y_next^0'=y_next^post28, (0 == 0 /\ 1+x^0-x_next^post28 <= 0 /\ -is_aborted_next^post28 <= 0 /\ -1+is_aborted_next^post28 <= 0 /\ 1-pc_plan_next^post28 <= 0 /\ 1-pc_drive_next^post28 <= 0 /\ -pc_drive_next^post28+pc_drive^post28 == 0 /\ -7+pc_loop^post28 == 0 /\ -1+y_next^post28-y^0 <= 0 /\ 1-is_aborted^post28 <= 0 /\ -1-x^0+x_next^post28 <= 0 /\ x^post28-x_next^post28 == 0 /\ -7+pc_plan_next^post28 <= 0 /\ n0^0-n0^post28 == 0 /\ -7+pc_drive_next^post28 <= 0 /\ -pc_plan_next^post28+pc_plan^post28 == 0 /\ -is_aborted_next^post28+is_aborted^post28 == 0 /\ -n1^post28+n1^0 == 0 /\ -1+executed_drive^post28 == 0 /\ -4+pc_drive_next^post28 <= 0 /\ 4-pc_drive_next^post28 <= 0 /\ 1-y_next^post28+y^0 <= 0 /\ y^post28-y_next^post28 == 0), cost: 1 New rule: l4 -> l0 : executed_drive^0'=executed_drive^post28, is_aborted^0'=is_aborted^post28, is_aborted_next^0'=is_aborted_next^post28, n0^0'=n0^post28, n1^0'=n1^post28, pc_drive^0'=pc_drive^post28, pc_drive_next^0'=pc_drive_next^post28, pc_loop^0'=pc_loop^post28, pc_plan^0'=pc_plan^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=x^post28, x_next^0'=x_next^post28, y^0'=y^post28, y_next^0'=y_next^post28, (0 == 0 /\ 1+x^0-x_next^post28 <= 0 /\ 1+x^0-x_next^post28 == 0 /\ -is_aborted_next^post28 <= 0 /\ -1+is_aborted_next^post28 <= 0 /\ 1-pc_plan_next^post28 <= 0 /\ 1-pc_drive_next^post28 <= 0 /\ -pc_drive_next^post28+pc_drive^post28 == 0 /\ -7+pc_loop^post28 == 0 /\ -1+y_next^post28-y^0 <= 0 /\ -1+y_next^post28-y^0 == 0 /\ 1-is_aborted^post28 <= 0 /\ -1-x^0+x_next^post28 <= 0 /\ x^post28-x_next^post28 == 0 /\ -7+pc_plan_next^post28 <= 0 /\ n0^0-n0^post28 == 0 /\ -7+pc_drive_next^post28 <= 0 /\ -pc_plan_next^post28+pc_plan^post28 == 0 /\ -is_aborted_next^post28+is_aborted^post28 == 0 /\ -n1^post28+n1^0 == 0 /\ -1+executed_drive^post28 == 0 /\ -4+pc_drive_next^post28 <= 0 /\ -4+pc_drive_next^post28 == 0 /\ 4-pc_drive_next^post28 <= 0 /\ 1-y_next^post28+y^0 <= 0 /\ y^post28-y_next^post28 == 0), cost: 1 Propagated Equalities Original rule: l4 -> l0 : executed_drive^0'=executed_drive^post28, is_aborted^0'=is_aborted^post28, is_aborted_next^0'=is_aborted_next^post28, n0^0'=n0^post28, n1^0'=n1^post28, pc_drive^0'=pc_drive^post28, pc_drive_next^0'=pc_drive_next^post28, pc_loop^0'=pc_loop^post28, pc_plan^0'=pc_plan^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=x^post28, x_next^0'=x_next^post28, y^0'=y^post28, y_next^0'=y_next^post28, (0 == 0 /\ 1+x^0-x_next^post28 <= 0 /\ 1+x^0-x_next^post28 == 0 /\ -is_aborted_next^post28 <= 0 /\ -1+is_aborted_next^post28 <= 0 /\ 1-pc_plan_next^post28 <= 0 /\ 1-pc_drive_next^post28 <= 0 /\ -pc_drive_next^post28+pc_drive^post28 == 0 /\ -7+pc_loop^post28 == 0 /\ -1+y_next^post28-y^0 <= 0 /\ -1+y_next^post28-y^0 == 0 /\ 1-is_aborted^post28 <= 0 /\ -1-x^0+x_next^post28 <= 0 /\ x^post28-x_next^post28 == 0 /\ -7+pc_plan_next^post28 <= 0 /\ n0^0-n0^post28 == 0 /\ -7+pc_drive_next^post28 <= 0 /\ -pc_plan_next^post28+pc_plan^post28 == 0 /\ -is_aborted_next^post28+is_aborted^post28 == 0 /\ -n1^post28+n1^0 == 0 /\ -1+executed_drive^post28 == 0 /\ -4+pc_drive_next^post28 <= 0 /\ -4+pc_drive_next^post28 == 0 /\ 4-pc_drive_next^post28 <= 0 /\ 1-y_next^post28+y^0 <= 0 /\ y^post28-y_next^post28 == 0), cost: 1 New rule: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post28, is_aborted_next^0'=is_aborted_next^post28, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -3 <= 0 /\ -is_aborted_next^post28 <= 0 /\ 1-is_aborted_next^post28 <= 0 /\ -1+is_aborted_next^post28 <= 0 /\ 1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 propagated equality x_next^post28 = 1+x^0 propagated equality pc_drive^post28 = pc_drive_next^post28 propagated equality pc_loop^post28 = 7 propagated equality y_next^post28 = 1+y^0 propagated equality x^post28 = 1+x^0 propagated equality n0^post28 = n0^0 propagated equality pc_plan^post28 = pc_plan_next^post28 propagated equality is_aborted^post28 = is_aborted_next^post28 propagated equality n1^post28 = n1^0 propagated equality executed_drive^post28 = 1 propagated equality pc_drive_next^post28 = 4 propagated equality y^post28 = 1+y^0 Simplified Guard Original rule: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post28, is_aborted_next^0'=is_aborted_next^post28, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -3 <= 0 /\ -is_aborted_next^post28 <= 0 /\ 1-is_aborted_next^post28 <= 0 /\ -1+is_aborted_next^post28 <= 0 /\ 1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 New rule: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post28, is_aborted_next^0'=is_aborted_next^post28, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-is_aborted_next^post28 <= 0 /\ 1-is_aborted_next^post28 <= 0 /\ -1+is_aborted_next^post28 <= 0 /\ 1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 made implied equalities explicit Original rule: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post28, is_aborted_next^0'=is_aborted_next^post28, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-is_aborted_next^post28 <= 0 /\ 1-is_aborted_next^post28 <= 0 /\ -1+is_aborted_next^post28 <= 0 /\ 1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 New rule: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post28, is_aborted_next^0'=is_aborted_next^post28, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-is_aborted_next^post28 <= 0 /\ 1-is_aborted_next^post28 <= 0 /\ 1-is_aborted_next^post28 == 0 /\ -1+is_aborted_next^post28 <= 0 /\ 1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 Propagated Equalities Original rule: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post28, is_aborted_next^0'=is_aborted_next^post28, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-is_aborted_next^post28 <= 0 /\ 1-is_aborted_next^post28 <= 0 /\ 1-is_aborted_next^post28 == 0 /\ -1+is_aborted_next^post28 <= 0 /\ 1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 New rule: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0 /\ -1 <= 0), cost: 1 propagated equality is_aborted_next^post28 = 1 Simplified Guard Original rule: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0 /\ -1 <= 0), cost: 1 New rule: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 Removed Trivial Updates Original rule: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post28, is_aborted_next^0'=is_aborted_next^post28, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-is_aborted_next^post28 <= 0 /\ 1-is_aborted_next^post28 <= 0 /\ -1+is_aborted_next^post28 <= 0 /\ 1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 New rule: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post28, is_aborted_next^0'=is_aborted_next^post28, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-is_aborted_next^post28 <= 0 /\ 1-is_aborted_next^post28 <= 0 /\ -1+is_aborted_next^post28 <= 0 /\ 1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 made implied equalities explicit Original rule: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post28, is_aborted_next^0'=is_aborted_next^post28, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-is_aborted_next^post28 <= 0 /\ 1-is_aborted_next^post28 <= 0 /\ -1+is_aborted_next^post28 <= 0 /\ 1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 New rule: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post28, is_aborted_next^0'=is_aborted_next^post28, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-is_aborted_next^post28 <= 0 /\ 1-is_aborted_next^post28 <= 0 /\ 1-is_aborted_next^post28 == 0 /\ -1+is_aborted_next^post28 <= 0 /\ 1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 Propagated Equalities Original rule: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post28, is_aborted_next^0'=is_aborted_next^post28, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-is_aborted_next^post28 <= 0 /\ 1-is_aborted_next^post28 <= 0 /\ 1-is_aborted_next^post28 == 0 /\ -1+is_aborted_next^post28 <= 0 /\ 1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 New rule: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0 /\ -1 <= 0), cost: 1 propagated equality is_aborted_next^post28 = 1 Simplified Guard Original rule: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0 /\ -1 <= 0), cost: 1 New rule: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 made implied equalities explicit Original rule: l4 -> l0 : executed_drive^0'=executed_drive^post29, is_aborted^0'=is_aborted^post29, is_aborted_next^0'=is_aborted_next^post29, n0^0'=n0^post29, n1^0'=n1^post29, pc_drive^0'=pc_drive^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=pc_loop^post29, pc_plan^0'=pc_plan^post29, pc_plan_next^0'=pc_plan_next^post29, x^0'=x^post29, x_next^0'=x_next^post29, y^0'=y^post29, y_next^0'=y_next^post29, (0 == 0 /\ 1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ y^post29-y_next^post29 == 0 /\ n0^0-n0^post29 == 0 /\ -x_next^post29+x^post29 == 0 /\ -7+pc_loop^post29 == 0 /\ n1^0-n1^post29 == 0 /\ executed_drive^0-executed_drive^post29 == 0 /\ -1+is_aborted_next^post29 <= 0 /\ pc_plan^post29-pc_plan_next^post29 == 0 /\ -x_next^post29+x^0 <= 0 /\ -is_aborted_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ -y_next^post29+y^0 <= 0 /\ pc_drive^post29-pc_drive_next^post29 == 0 /\ 5-pc_drive_next^post29 <= 0 /\ x_next^post29-x^0 <= 0 /\ -is_aborted_next^post29+is_aborted^post29 == 0 /\ 1-is_aborted^post29 <= 0 /\ y_next^post29-y^0 <= 0), cost: 1 New rule: l4 -> l0 : executed_drive^0'=executed_drive^post29, is_aborted^0'=is_aborted^post29, is_aborted_next^0'=is_aborted_next^post29, n0^0'=n0^post29, n1^0'=n1^post29, pc_drive^0'=pc_drive^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=pc_loop^post29, pc_plan^0'=pc_plan^post29, pc_plan_next^0'=pc_plan_next^post29, x^0'=x^post29, x_next^0'=x_next^post29, y^0'=y^post29, y_next^0'=y_next^post29, (0 == 0 /\ 1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ y^post29-y_next^post29 == 0 /\ n0^0-n0^post29 == 0 /\ -x_next^post29+x^post29 == 0 /\ -7+pc_loop^post29 == 0 /\ n1^0-n1^post29 == 0 /\ executed_drive^0-executed_drive^post29 == 0 /\ -1+is_aborted_next^post29 <= 0 /\ pc_plan^post29-pc_plan_next^post29 == 0 /\ -x_next^post29+x^0 <= 0 /\ -x_next^post29+x^0 == 0 /\ -is_aborted_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ -y_next^post29+y^0 <= 0 /\ -y_next^post29+y^0 == 0 /\ pc_drive^post29-pc_drive_next^post29 == 0 /\ 5-pc_drive_next^post29 <= 0 /\ x_next^post29-x^0 <= 0 /\ -is_aborted_next^post29+is_aborted^post29 == 0 /\ 1-is_aborted^post29 <= 0 /\ y_next^post29-y^0 <= 0), cost: 1 Propagated Equalities Original rule: l4 -> l0 : executed_drive^0'=executed_drive^post29, is_aborted^0'=is_aborted^post29, is_aborted_next^0'=is_aborted_next^post29, n0^0'=n0^post29, n1^0'=n1^post29, pc_drive^0'=pc_drive^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=pc_loop^post29, pc_plan^0'=pc_plan^post29, pc_plan_next^0'=pc_plan_next^post29, x^0'=x^post29, x_next^0'=x_next^post29, y^0'=y^post29, y_next^0'=y_next^post29, (0 == 0 /\ 1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ y^post29-y_next^post29 == 0 /\ n0^0-n0^post29 == 0 /\ -x_next^post29+x^post29 == 0 /\ -7+pc_loop^post29 == 0 /\ n1^0-n1^post29 == 0 /\ executed_drive^0-executed_drive^post29 == 0 /\ -1+is_aborted_next^post29 <= 0 /\ pc_plan^post29-pc_plan_next^post29 == 0 /\ -x_next^post29+x^0 <= 0 /\ -x_next^post29+x^0 == 0 /\ -is_aborted_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ -y_next^post29+y^0 <= 0 /\ -y_next^post29+y^0 == 0 /\ pc_drive^post29-pc_drive_next^post29 == 0 /\ 5-pc_drive_next^post29 <= 0 /\ x_next^post29-x^0 <= 0 /\ -is_aborted_next^post29+is_aborted^post29 == 0 /\ 1-is_aborted^post29 <= 0 /\ y_next^post29-y^0 <= 0), cost: 1 New rule: l4 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post29, is_aborted_next^0'=is_aborted_next^post29, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ 1-is_aborted_next^post29 <= 0 /\ -1+is_aborted_next^post29 <= 0 /\ -is_aborted_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 propagated equality y^post29 = y_next^post29 propagated equality n0^post29 = n0^0 propagated equality x^post29 = x_next^post29 propagated equality pc_loop^post29 = 7 propagated equality n1^post29 = n1^0 propagated equality executed_drive^post29 = executed_drive^0 propagated equality pc_plan^post29 = pc_plan_next^post29 propagated equality x_next^post29 = x^0 propagated equality y_next^post29 = y^0 propagated equality pc_drive^post29 = pc_drive_next^post29 propagated equality is_aborted^post29 = is_aborted_next^post29 Simplified Guard Original rule: l4 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post29, is_aborted_next^0'=is_aborted_next^post29, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ 1-is_aborted_next^post29 <= 0 /\ -1+is_aborted_next^post29 <= 0 /\ -is_aborted_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 New rule: l4 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post29, is_aborted_next^0'=is_aborted_next^post29, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ 1-is_aborted_next^post29 <= 0 /\ -1+is_aborted_next^post29 <= 0 /\ -is_aborted_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 made implied equalities explicit Original rule: l4 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post29, is_aborted_next^0'=is_aborted_next^post29, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ 1-is_aborted_next^post29 <= 0 /\ -1+is_aborted_next^post29 <= 0 /\ -is_aborted_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 New rule: l4 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post29, is_aborted_next^0'=is_aborted_next^post29, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ 1-is_aborted_next^post29 <= 0 /\ 1-is_aborted_next^post29 == 0 /\ -1+is_aborted_next^post29 <= 0 /\ -is_aborted_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 Propagated Equalities Original rule: l4 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post29, is_aborted_next^0'=is_aborted_next^post29, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ 1-is_aborted_next^post29 <= 0 /\ 1-is_aborted_next^post29 == 0 /\ -1+is_aborted_next^post29 <= 0 /\ -is_aborted_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 New rule: l4 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0 /\ -1 <= 0), cost: 1 propagated equality is_aborted_next^post29 = 1 Simplified Guard Original rule: l4 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0 /\ -1 <= 0), cost: 1 New rule: l4 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 Removed Trivial Updates Original rule: l4 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post29, is_aborted_next^0'=is_aborted_next^post29, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ 1-is_aborted_next^post29 <= 0 /\ -1+is_aborted_next^post29 <= 0 /\ -is_aborted_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 New rule: l4 -> l0 : is_aborted^0'=is_aborted_next^post29, is_aborted_next^0'=is_aborted_next^post29, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ 1-is_aborted_next^post29 <= 0 /\ -1+is_aborted_next^post29 <= 0 /\ -is_aborted_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 made implied equalities explicit Original rule: l4 -> l0 : is_aborted^0'=is_aborted_next^post29, is_aborted_next^0'=is_aborted_next^post29, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ 1-is_aborted_next^post29 <= 0 /\ -1+is_aborted_next^post29 <= 0 /\ -is_aborted_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 New rule: l4 -> l0 : is_aborted^0'=is_aborted_next^post29, is_aborted_next^0'=is_aborted_next^post29, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ 1-is_aborted_next^post29 <= 0 /\ 1-is_aborted_next^post29 == 0 /\ -1+is_aborted_next^post29 <= 0 /\ -is_aborted_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 Propagated Equalities Original rule: l4 -> l0 : is_aborted^0'=is_aborted_next^post29, is_aborted_next^0'=is_aborted_next^post29, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ 1-is_aborted_next^post29 <= 0 /\ 1-is_aborted_next^post29 == 0 /\ -1+is_aborted_next^post29 <= 0 /\ -is_aborted_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 New rule: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0 /\ -1 <= 0), cost: 1 propagated equality is_aborted_next^post29 = 1 Simplified Guard Original rule: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0 /\ -1 <= 0), cost: 1 New rule: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 made implied equalities explicit Original rule: l4 -> l0 : executed_drive^0'=executed_drive^post30, is_aborted^0'=is_aborted^post30, is_aborted_next^0'=is_aborted_next^post30, n0^0'=n0^post30, n1^0'=n1^post30, pc_drive^0'=pc_drive^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=pc_loop^post30, pc_plan^0'=pc_plan^post30, pc_plan_next^0'=pc_plan_next^post30, x^0'=x^post30, x_next^0'=x_next^post30, y^0'=y^post30, y_next^0'=y_next^post30, (0 == 0 /\ y_next^post30-y^0 <= 0 /\ -n1^post30+n1^0 == 0 /\ -n0^post30+n0^0 == 0 /\ y^post30-y_next^post30 == 0 /\ pc_drive^post30-pc_drive_next^post30 == 0 /\ -7+pc_loop^post30 == 0 /\ -3+pc_drive_next^post30 <= 0 /\ -y_next^post30+y^0 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -1+is_aborted_next^post30 <= 0 /\ -is_aborted_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ -x^0+x_next^post30 <= 0 /\ is_aborted^post30-is_aborted_next^post30 == 0 /\ 1-is_aborted^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ x^0-x_next^post30 <= 0 /\ x^post30-x_next^post30 == 0 /\ pc_plan^post30-pc_plan_next^post30 == 0 /\ 1-pc_drive_next^post30 <= 0 /\ -executed_drive^post30+executed_drive^0 == 0), cost: 1 New rule: l4 -> l0 : executed_drive^0'=executed_drive^post30, is_aborted^0'=is_aborted^post30, is_aborted_next^0'=is_aborted_next^post30, n0^0'=n0^post30, n1^0'=n1^post30, pc_drive^0'=pc_drive^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=pc_loop^post30, pc_plan^0'=pc_plan^post30, pc_plan_next^0'=pc_plan_next^post30, x^0'=x^post30, x_next^0'=x_next^post30, y^0'=y^post30, y_next^0'=y_next^post30, (0 == 0 /\ y_next^post30-y^0 <= 0 /\ y_next^post30-y^0 == 0 /\ -n1^post30+n1^0 == 0 /\ -n0^post30+n0^0 == 0 /\ y^post30-y_next^post30 == 0 /\ pc_drive^post30-pc_drive_next^post30 == 0 /\ -7+pc_loop^post30 == 0 /\ -3+pc_drive_next^post30 <= 0 /\ -y_next^post30+y^0 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -1+is_aborted_next^post30 <= 0 /\ -is_aborted_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ -x^0+x_next^post30 <= 0 /\ -x^0+x_next^post30 == 0 /\ is_aborted^post30-is_aborted_next^post30 == 0 /\ 1-is_aborted^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ x^0-x_next^post30 <= 0 /\ x^post30-x_next^post30 == 0 /\ pc_plan^post30-pc_plan_next^post30 == 0 /\ 1-pc_drive_next^post30 <= 0 /\ -executed_drive^post30+executed_drive^0 == 0), cost: 1 Propagated Equalities Original rule: l4 -> l0 : executed_drive^0'=executed_drive^post30, is_aborted^0'=is_aborted^post30, is_aborted_next^0'=is_aborted_next^post30, n0^0'=n0^post30, n1^0'=n1^post30, pc_drive^0'=pc_drive^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=pc_loop^post30, pc_plan^0'=pc_plan^post30, pc_plan_next^0'=pc_plan_next^post30, x^0'=x^post30, x_next^0'=x_next^post30, y^0'=y^post30, y_next^0'=y_next^post30, (0 == 0 /\ y_next^post30-y^0 <= 0 /\ y_next^post30-y^0 == 0 /\ -n1^post30+n1^0 == 0 /\ -n0^post30+n0^0 == 0 /\ y^post30-y_next^post30 == 0 /\ pc_drive^post30-pc_drive_next^post30 == 0 /\ -7+pc_loop^post30 == 0 /\ -3+pc_drive_next^post30 <= 0 /\ -y_next^post30+y^0 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -1+is_aborted_next^post30 <= 0 /\ -is_aborted_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ -x^0+x_next^post30 <= 0 /\ -x^0+x_next^post30 == 0 /\ is_aborted^post30-is_aborted_next^post30 == 0 /\ 1-is_aborted^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ x^0-x_next^post30 <= 0 /\ x^post30-x_next^post30 == 0 /\ pc_plan^post30-pc_plan_next^post30 == 0 /\ 1-pc_drive_next^post30 <= 0 /\ -executed_drive^post30+executed_drive^0 == 0), cost: 1 New rule: l4 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post30, is_aborted_next^0'=is_aborted_next^post30, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ 1-is_aborted_next^post30 <= 0 /\ -1+is_aborted_next^post30 <= 0 /\ -is_aborted_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 propagated equality y_next^post30 = y^0 propagated equality n1^post30 = n1^0 propagated equality n0^post30 = n0^0 propagated equality y^post30 = y^0 propagated equality pc_drive^post30 = pc_drive_next^post30 propagated equality pc_loop^post30 = 7 propagated equality x_next^post30 = x^0 propagated equality is_aborted^post30 = is_aborted_next^post30 propagated equality x^post30 = x^0 propagated equality pc_plan^post30 = pc_plan_next^post30 propagated equality executed_drive^post30 = executed_drive^0 Simplified Guard Original rule: l4 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post30, is_aborted_next^0'=is_aborted_next^post30, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ 1-is_aborted_next^post30 <= 0 /\ -1+is_aborted_next^post30 <= 0 /\ -is_aborted_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 New rule: l4 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post30, is_aborted_next^0'=is_aborted_next^post30, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ 1-is_aborted_next^post30 <= 0 /\ -1+is_aborted_next^post30 <= 0 /\ -is_aborted_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 made implied equalities explicit Original rule: l4 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post30, is_aborted_next^0'=is_aborted_next^post30, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ 1-is_aborted_next^post30 <= 0 /\ -1+is_aborted_next^post30 <= 0 /\ -is_aborted_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 New rule: l4 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post30, is_aborted_next^0'=is_aborted_next^post30, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ 1-is_aborted_next^post30 <= 0 /\ 1-is_aborted_next^post30 == 0 /\ -1+is_aborted_next^post30 <= 0 /\ -is_aborted_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 Propagated Equalities Original rule: l4 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post30, is_aborted_next^0'=is_aborted_next^post30, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ 1-is_aborted_next^post30 <= 0 /\ 1-is_aborted_next^post30 == 0 /\ -1+is_aborted_next^post30 <= 0 /\ -is_aborted_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 New rule: l4 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ -1 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 propagated equality is_aborted_next^post30 = 1 Simplified Guard Original rule: l4 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ -1 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 New rule: l4 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 Removed Trivial Updates Original rule: l4 -> l0 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted_next^post30, is_aborted_next^0'=is_aborted_next^post30, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ 1-is_aborted_next^post30 <= 0 /\ -1+is_aborted_next^post30 <= 0 /\ -is_aborted_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 New rule: l4 -> l0 : is_aborted^0'=is_aborted_next^post30, is_aborted_next^0'=is_aborted_next^post30, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ 1-is_aborted_next^post30 <= 0 /\ -1+is_aborted_next^post30 <= 0 /\ -is_aborted_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 made implied equalities explicit Original rule: l4 -> l0 : is_aborted^0'=is_aborted_next^post30, is_aborted_next^0'=is_aborted_next^post30, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ 1-is_aborted_next^post30 <= 0 /\ -1+is_aborted_next^post30 <= 0 /\ -is_aborted_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 New rule: l4 -> l0 : is_aborted^0'=is_aborted_next^post30, is_aborted_next^0'=is_aborted_next^post30, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ 1-is_aborted_next^post30 <= 0 /\ 1-is_aborted_next^post30 == 0 /\ -1+is_aborted_next^post30 <= 0 /\ -is_aborted_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 Propagated Equalities Original rule: l4 -> l0 : is_aborted^0'=is_aborted_next^post30, is_aborted_next^0'=is_aborted_next^post30, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ 1-is_aborted_next^post30 <= 0 /\ 1-is_aborted_next^post30 == 0 /\ -1+is_aborted_next^post30 <= 0 /\ -is_aborted_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 New rule: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ -1 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 propagated equality is_aborted_next^post30 = 1 Simplified Guard Original rule: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ -1 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 New rule: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 made implied equalities explicit Original rule: l1 -> l4 : executed_drive^0'=executed_drive^post31, is_aborted^0'=is_aborted^post31, is_aborted_next^0'=is_aborted_next^post31, n0^0'=n0^post31, n1^0'=n1^post31, pc_drive^0'=pc_drive^post31, pc_drive_next^0'=pc_drive_next^post31, pc_loop^0'=pc_loop^post31, pc_plan^0'=pc_plan^post31, pc_plan_next^0'=pc_plan_next^post31, x^0'=x^post31, x_next^0'=x_next^post31, y^0'=y^post31, y_next^0'=y_next^post31, (0 == 0 /\ is_aborted^post31 <= 0 /\ -1+x_next^post31-x^0 <= 0 /\ 1-pc_plan_next^post31 <= 0 /\ 3-pc_plan^post31 <= 0 /\ -2+pc_loop^post31 == 0 /\ -x_next^post31+x^post31 == 0 /\ 1-pc_drive_next^post31 <= 0 /\ n0^0-n0^post31 == 0 /\ -1-y^0+y_next^post31 <= 0 /\ pc_drive^post31-pc_drive_next^post31 == 0 /\ n1^0-n1^post31 == 0 /\ -7+pc_plan_next^post31 <= 0 /\ -1+executed_drive^post31 == 0 /\ -4+pc_drive_next^post31 <= 0 /\ 4-pc_drive_next^post31 <= 0 /\ 1-x_next^post31+x^0 <= 0 /\ pc_plan^post31-pc_plan_next^post31 == 0 /\ -3+pc_plan^post31 <= 0 /\ -7+pc_drive_next^post31 <= 0 /\ -is_aborted_next^post31 <= 0 /\ -1+is_aborted_next^post31 <= 0 /\ is_aborted^post31-is_aborted_next^post31 == 0 /\ 1+y^0-y_next^post31 <= 0 /\ y^post31-y_next^post31 == 0), cost: 1 New rule: l1 -> l4 : executed_drive^0'=executed_drive^post31, is_aborted^0'=is_aborted^post31, is_aborted_next^0'=is_aborted_next^post31, n0^0'=n0^post31, n1^0'=n1^post31, pc_drive^0'=pc_drive^post31, pc_drive_next^0'=pc_drive_next^post31, pc_loop^0'=pc_loop^post31, pc_plan^0'=pc_plan^post31, pc_plan_next^0'=pc_plan_next^post31, x^0'=x^post31, x_next^0'=x_next^post31, y^0'=y^post31, y_next^0'=y_next^post31, (0 == 0 /\ is_aborted^post31 <= 0 /\ -1+x_next^post31-x^0 <= 0 /\ -1+x_next^post31-x^0 == 0 /\ 1-pc_plan_next^post31 <= 0 /\ 3-pc_plan^post31 <= 0 /\ 3-pc_plan^post31 == 0 /\ -2+pc_loop^post31 == 0 /\ -x_next^post31+x^post31 == 0 /\ 1-pc_drive_next^post31 <= 0 /\ n0^0-n0^post31 == 0 /\ -1-y^0+y_next^post31 <= 0 /\ -1-y^0+y_next^post31 == 0 /\ pc_drive^post31-pc_drive_next^post31 == 0 /\ n1^0-n1^post31 == 0 /\ -7+pc_plan_next^post31 <= 0 /\ -1+executed_drive^post31 == 0 /\ -4+pc_drive_next^post31 <= 0 /\ -4+pc_drive_next^post31 == 0 /\ 4-pc_drive_next^post31 <= 0 /\ 1-x_next^post31+x^0 <= 0 /\ pc_plan^post31-pc_plan_next^post31 == 0 /\ -3+pc_plan^post31 <= 0 /\ -7+pc_drive_next^post31 <= 0 /\ -is_aborted_next^post31 <= 0 /\ -1+is_aborted_next^post31 <= 0 /\ is_aborted^post31-is_aborted_next^post31 == 0 /\ 1+y^0-y_next^post31 <= 0 /\ y^post31-y_next^post31 == 0), cost: 1 Propagated Equalities Original rule: l1 -> l4 : executed_drive^0'=executed_drive^post31, is_aborted^0'=is_aborted^post31, is_aborted_next^0'=is_aborted_next^post31, n0^0'=n0^post31, n1^0'=n1^post31, pc_drive^0'=pc_drive^post31, pc_drive_next^0'=pc_drive_next^post31, pc_loop^0'=pc_loop^post31, pc_plan^0'=pc_plan^post31, pc_plan_next^0'=pc_plan_next^post31, x^0'=x^post31, x_next^0'=x_next^post31, y^0'=y^post31, y_next^0'=y_next^post31, (0 == 0 /\ is_aborted^post31 <= 0 /\ -1+x_next^post31-x^0 <= 0 /\ -1+x_next^post31-x^0 == 0 /\ 1-pc_plan_next^post31 <= 0 /\ 3-pc_plan^post31 <= 0 /\ 3-pc_plan^post31 == 0 /\ -2+pc_loop^post31 == 0 /\ -x_next^post31+x^post31 == 0 /\ 1-pc_drive_next^post31 <= 0 /\ n0^0-n0^post31 == 0 /\ -1-y^0+y_next^post31 <= 0 /\ -1-y^0+y_next^post31 == 0 /\ pc_drive^post31-pc_drive_next^post31 == 0 /\ n1^0-n1^post31 == 0 /\ -7+pc_plan_next^post31 <= 0 /\ -1+executed_drive^post31 == 0 /\ -4+pc_drive_next^post31 <= 0 /\ -4+pc_drive_next^post31 == 0 /\ 4-pc_drive_next^post31 <= 0 /\ 1-x_next^post31+x^0 <= 0 /\ pc_plan^post31-pc_plan_next^post31 == 0 /\ -3+pc_plan^post31 <= 0 /\ -7+pc_drive_next^post31 <= 0 /\ -is_aborted_next^post31 <= 0 /\ -1+is_aborted_next^post31 <= 0 /\ is_aborted^post31-is_aborted_next^post31 == 0 /\ 1+y^0-y_next^post31 <= 0 /\ y^post31-y_next^post31 == 0), cost: 1 New rule: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post31, is_aborted_next^0'=is_aborted_next^post31, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ is_aborted_next^post31 <= 0 /\ -4 <= 0 /\ -is_aborted_next^post31 <= 0 /\ -1+is_aborted_next^post31 <= 0), cost: 1 propagated equality x_next^post31 = 1+x^0 propagated equality pc_plan^post31 = 3 propagated equality pc_loop^post31 = 2 propagated equality x^post31 = 1+x^0 propagated equality n0^post31 = n0^0 propagated equality y_next^post31 = 1+y^0 propagated equality pc_drive^post31 = pc_drive_next^post31 propagated equality n1^post31 = n1^0 propagated equality executed_drive^post31 = 1 propagated equality pc_drive_next^post31 = 4 propagated equality pc_plan_next^post31 = 3 propagated equality is_aborted^post31 = is_aborted_next^post31 propagated equality y^post31 = 1+y^0 Simplified Guard Original rule: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post31, is_aborted_next^0'=is_aborted_next^post31, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ is_aborted_next^post31 <= 0 /\ -4 <= 0 /\ -is_aborted_next^post31 <= 0 /\ -1+is_aborted_next^post31 <= 0), cost: 1 New rule: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post31, is_aborted_next^0'=is_aborted_next^post31, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (is_aborted_next^post31 <= 0 /\ -is_aborted_next^post31 <= 0 /\ -1+is_aborted_next^post31 <= 0), cost: 1 made implied equalities explicit Original rule: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post31, is_aborted_next^0'=is_aborted_next^post31, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (is_aborted_next^post31 <= 0 /\ -is_aborted_next^post31 <= 0 /\ -1+is_aborted_next^post31 <= 0), cost: 1 New rule: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post31, is_aborted_next^0'=is_aborted_next^post31, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (is_aborted_next^post31 <= 0 /\ is_aborted_next^post31 == 0 /\ -is_aborted_next^post31 <= 0 /\ -1+is_aborted_next^post31 <= 0), cost: 1 Propagated Equalities Original rule: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post31, is_aborted_next^0'=is_aborted_next^post31, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (is_aborted_next^post31 <= 0 /\ is_aborted_next^post31 == 0 /\ -is_aborted_next^post31 <= 0 /\ -1+is_aborted_next^post31 <= 0), cost: 1 New rule: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -1 <= 0), cost: 1 propagated equality is_aborted_next^post31 = 0 Simplified Guard Original rule: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -1 <= 0), cost: 1 New rule: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, T, cost: 1 Removed Trivial Updates Original rule: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post31, is_aborted_next^0'=is_aborted_next^post31, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (is_aborted_next^post31 <= 0 /\ -is_aborted_next^post31 <= 0 /\ -1+is_aborted_next^post31 <= 0), cost: 1 New rule: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post31, is_aborted_next^0'=is_aborted_next^post31, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (is_aborted_next^post31 <= 0 /\ -is_aborted_next^post31 <= 0 /\ -1+is_aborted_next^post31 <= 0), cost: 1 made implied equalities explicit Original rule: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post31, is_aborted_next^0'=is_aborted_next^post31, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (is_aborted_next^post31 <= 0 /\ -is_aborted_next^post31 <= 0 /\ -1+is_aborted_next^post31 <= 0), cost: 1 New rule: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post31, is_aborted_next^0'=is_aborted_next^post31, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (is_aborted_next^post31 <= 0 /\ is_aborted_next^post31 == 0 /\ -is_aborted_next^post31 <= 0 /\ -1+is_aborted_next^post31 <= 0), cost: 1 Propagated Equalities Original rule: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post31, is_aborted_next^0'=is_aborted_next^post31, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (is_aborted_next^post31 <= 0 /\ is_aborted_next^post31 == 0 /\ -is_aborted_next^post31 <= 0 /\ -1+is_aborted_next^post31 <= 0), cost: 1 New rule: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -1 <= 0), cost: 1 propagated equality is_aborted_next^post31 = 0 Simplified Guard Original rule: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -1 <= 0), cost: 1 New rule: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, T, cost: 1 made implied equalities explicit Original rule: l1 -> l4 : executed_drive^0'=executed_drive^post32, is_aborted^0'=is_aborted^post32, is_aborted_next^0'=is_aborted_next^post32, n0^0'=n0^post32, n1^0'=n1^post32, pc_drive^0'=pc_drive^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=pc_loop^post32, pc_plan^0'=pc_plan^post32, pc_plan_next^0'=pc_plan_next^post32, x^0'=x^post32, x_next^0'=x_next^post32, y^0'=y^post32, y_next^0'=y_next^post32, (0 == 0 /\ 3-pc_plan^post32 <= 0 /\ -x^0+x_next^post32 <= 0 /\ y_next^post32-y^0 <= 0 /\ 1-pc_drive_next^post32 <= 0 /\ -y_next^post32+y^post32 == 0 /\ executed_drive^post32 == 0 /\ n0^0-n0^post32 == 0 /\ pc_plan^post32-pc_plan_next^post32 == 0 /\ -2+pc_loop^post32 == 0 /\ x^0-x_next^post32 <= 0 /\ -y_next^post32+y^0 <= 0 /\ -7+pc_plan_next^post32 <= 0 /\ -pc_drive_next^post32+pc_drive^post32 == 0 /\ x^post32-x_next^post32 == 0 /\ is_aborted^post32 <= 0 /\ -3+pc_plan^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0 /\ -is_aborted_next^post32 <= 0 /\ -1+is_aborted_next^post32 <= 0 /\ is_aborted^post32-is_aborted_next^post32 == 0 /\ -n1^post32+n1^0 == 0 /\ 1-pc_plan_next^post32 <= 0), cost: 1 New rule: l1 -> l4 : executed_drive^0'=executed_drive^post32, is_aborted^0'=is_aborted^post32, is_aborted_next^0'=is_aborted_next^post32, n0^0'=n0^post32, n1^0'=n1^post32, pc_drive^0'=pc_drive^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=pc_loop^post32, pc_plan^0'=pc_plan^post32, pc_plan_next^0'=pc_plan_next^post32, x^0'=x^post32, x_next^0'=x_next^post32, y^0'=y^post32, y_next^0'=y_next^post32, (0 == 0 /\ 3-pc_plan^post32 <= 0 /\ 3-pc_plan^post32 == 0 /\ -x^0+x_next^post32 <= 0 /\ -x^0+x_next^post32 == 0 /\ y_next^post32-y^0 <= 0 /\ y_next^post32-y^0 == 0 /\ 1-pc_drive_next^post32 <= 0 /\ -y_next^post32+y^post32 == 0 /\ executed_drive^post32 == 0 /\ n0^0-n0^post32 == 0 /\ pc_plan^post32-pc_plan_next^post32 == 0 /\ -2+pc_loop^post32 == 0 /\ x^0-x_next^post32 <= 0 /\ -y_next^post32+y^0 <= 0 /\ -7+pc_plan_next^post32 <= 0 /\ -pc_drive_next^post32+pc_drive^post32 == 0 /\ x^post32-x_next^post32 == 0 /\ is_aborted^post32 <= 0 /\ -3+pc_plan^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0 /\ -is_aborted_next^post32 <= 0 /\ -1+is_aborted_next^post32 <= 0 /\ is_aborted^post32-is_aborted_next^post32 == 0 /\ -n1^post32+n1^0 == 0 /\ 1-pc_plan_next^post32 <= 0), cost: 1 Propagated Equalities Original rule: l1 -> l4 : executed_drive^0'=executed_drive^post32, is_aborted^0'=is_aborted^post32, is_aborted_next^0'=is_aborted_next^post32, n0^0'=n0^post32, n1^0'=n1^post32, pc_drive^0'=pc_drive^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=pc_loop^post32, pc_plan^0'=pc_plan^post32, pc_plan_next^0'=pc_plan_next^post32, x^0'=x^post32, x_next^0'=x_next^post32, y^0'=y^post32, y_next^0'=y_next^post32, (0 == 0 /\ 3-pc_plan^post32 <= 0 /\ 3-pc_plan^post32 == 0 /\ -x^0+x_next^post32 <= 0 /\ -x^0+x_next^post32 == 0 /\ y_next^post32-y^0 <= 0 /\ y_next^post32-y^0 == 0 /\ 1-pc_drive_next^post32 <= 0 /\ -y_next^post32+y^post32 == 0 /\ executed_drive^post32 == 0 /\ n0^0-n0^post32 == 0 /\ pc_plan^post32-pc_plan_next^post32 == 0 /\ -2+pc_loop^post32 == 0 /\ x^0-x_next^post32 <= 0 /\ -y_next^post32+y^0 <= 0 /\ -7+pc_plan_next^post32 <= 0 /\ -pc_drive_next^post32+pc_drive^post32 == 0 /\ x^post32-x_next^post32 == 0 /\ is_aborted^post32 <= 0 /\ -3+pc_plan^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0 /\ -is_aborted_next^post32 <= 0 /\ -1+is_aborted_next^post32 <= 0 /\ is_aborted^post32-is_aborted_next^post32 == 0 /\ -n1^post32+n1^0 == 0 /\ 1-pc_plan_next^post32 <= 0), cost: 1 New rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post32, is_aborted_next^0'=is_aborted_next^post32, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_drive_next^post32 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0 /\ -is_aborted_next^post32 <= 0 /\ -1+is_aborted_next^post32 <= 0 /\ is_aborted_next^post32 <= 0), cost: 1 propagated equality pc_plan^post32 = 3 propagated equality x_next^post32 = x^0 propagated equality y_next^post32 = y^0 propagated equality y^post32 = y^0 propagated equality executed_drive^post32 = 0 propagated equality n0^post32 = n0^0 propagated equality pc_plan_next^post32 = 3 propagated equality pc_loop^post32 = 2 propagated equality pc_drive^post32 = pc_drive_next^post32 propagated equality x^post32 = x^0 propagated equality is_aborted^post32 = is_aborted_next^post32 propagated equality n1^post32 = n1^0 Simplified Guard Original rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post32, is_aborted_next^0'=is_aborted_next^post32, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_drive_next^post32 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0 /\ -is_aborted_next^post32 <= 0 /\ -1+is_aborted_next^post32 <= 0 /\ is_aborted_next^post32 <= 0), cost: 1 New rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post32, is_aborted_next^0'=is_aborted_next^post32, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0 /\ -is_aborted_next^post32 <= 0 /\ -1+is_aborted_next^post32 <= 0 /\ is_aborted_next^post32 <= 0), cost: 1 made implied equalities explicit Original rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post32, is_aborted_next^0'=is_aborted_next^post32, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0 /\ -is_aborted_next^post32 <= 0 /\ -1+is_aborted_next^post32 <= 0 /\ is_aborted_next^post32 <= 0), cost: 1 New rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post32, is_aborted_next^0'=is_aborted_next^post32, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0 /\ -is_aborted_next^post32 <= 0 /\ -is_aborted_next^post32 == 0 /\ -1+is_aborted_next^post32 <= 0 /\ is_aborted_next^post32 <= 0), cost: 1 Propagated Equalities Original rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post32, is_aborted_next^0'=is_aborted_next^post32, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0 /\ -is_aborted_next^post32 <= 0 /\ -is_aborted_next^post32 == 0 /\ -1+is_aborted_next^post32 <= 0 /\ is_aborted_next^post32 <= 0), cost: 1 New rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0 /\ -1 <= 0), cost: 1 propagated equality is_aborted_next^post32 = 0 Simplified Guard Original rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0 /\ -1 <= 0), cost: 1 New rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0), cost: 1 Removed Trivial Updates Original rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post32, is_aborted_next^0'=is_aborted_next^post32, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0 /\ -is_aborted_next^post32 <= 0 /\ -1+is_aborted_next^post32 <= 0 /\ is_aborted_next^post32 <= 0), cost: 1 New rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post32, is_aborted_next^0'=is_aborted_next^post32, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0 /\ -is_aborted_next^post32 <= 0 /\ -1+is_aborted_next^post32 <= 0 /\ is_aborted_next^post32 <= 0), cost: 1 made implied equalities explicit Original rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post32, is_aborted_next^0'=is_aborted_next^post32, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0 /\ -is_aborted_next^post32 <= 0 /\ -1+is_aborted_next^post32 <= 0 /\ is_aborted_next^post32 <= 0), cost: 1 New rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post32, is_aborted_next^0'=is_aborted_next^post32, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0 /\ -is_aborted_next^post32 <= 0 /\ -is_aborted_next^post32 == 0 /\ -1+is_aborted_next^post32 <= 0 /\ is_aborted_next^post32 <= 0), cost: 1 Propagated Equalities Original rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post32, is_aborted_next^0'=is_aborted_next^post32, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0 /\ -is_aborted_next^post32 <= 0 /\ -is_aborted_next^post32 == 0 /\ -1+is_aborted_next^post32 <= 0 /\ is_aborted_next^post32 <= 0), cost: 1 New rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0 /\ -1 <= 0), cost: 1 propagated equality is_aborted_next^post32 = 0 Simplified Guard Original rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0 /\ -1 <= 0), cost: 1 New rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0), cost: 1 made implied equalities explicit Original rule: l1 -> l4 : executed_drive^0'=executed_drive^post33, is_aborted^0'=is_aborted^post33, is_aborted_next^0'=is_aborted_next^post33, n0^0'=n0^post33, n1^0'=n1^post33, pc_drive^0'=pc_drive^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=pc_loop^post33, pc_plan^0'=pc_plan^post33, pc_plan_next^0'=pc_plan_next^post33, x^0'=x^post33, x_next^0'=x_next^post33, y^0'=y^post33, y_next^0'=y_next^post33, (0 == 0 /\ -1+is_aborted_next^post33 <= 0 /\ -is_aborted_next^post33 <= 0 /\ -3+pc_plan^post33 <= 0 /\ -7+pc_drive_next^post33 <= 0 /\ -pc_plan_next^post33+pc_plan^post33 == 0 /\ -y_next^post33+y^0 <= 0 /\ -is_aborted_next^post33+is_aborted^post33 == 0 /\ -3+pc_drive_next^post33 <= 0 /\ executed_drive^post33 == 0 /\ 1-pc_plan_next^post33 <= 0 /\ y_next^post33-y^0 <= 0 /\ 1-pc_drive_next^post33 <= 0 /\ 3-pc_plan^post33 <= 0 /\ -x^0+x_next^post33 <= 0 /\ n0^0-n0^post33 == 0 /\ is_aborted^post33 <= 0 /\ -pc_drive_next^post33+pc_drive^post33 == 0 /\ y^post33-y_next^post33 == 0 /\ -n1^post33+n1^0 == 0 /\ -2+pc_loop^post33 == 0 /\ x^0-x_next^post33 <= 0 /\ -7+pc_plan_next^post33 <= 0 /\ x^post33-x_next^post33 == 0), cost: 1 New rule: l1 -> l4 : executed_drive^0'=executed_drive^post33, is_aborted^0'=is_aborted^post33, is_aborted_next^0'=is_aborted_next^post33, n0^0'=n0^post33, n1^0'=n1^post33, pc_drive^0'=pc_drive^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=pc_loop^post33, pc_plan^0'=pc_plan^post33, pc_plan_next^0'=pc_plan_next^post33, x^0'=x^post33, x_next^0'=x_next^post33, y^0'=y^post33, y_next^0'=y_next^post33, (0 == 0 /\ -1+is_aborted_next^post33 <= 0 /\ -is_aborted_next^post33 <= 0 /\ -3+pc_plan^post33 <= 0 /\ -3+pc_plan^post33 == 0 /\ -7+pc_drive_next^post33 <= 0 /\ -pc_plan_next^post33+pc_plan^post33 == 0 /\ -y_next^post33+y^0 <= 0 /\ -y_next^post33+y^0 == 0 /\ -is_aborted_next^post33+is_aborted^post33 == 0 /\ -3+pc_drive_next^post33 <= 0 /\ executed_drive^post33 == 0 /\ 1-pc_plan_next^post33 <= 0 /\ y_next^post33-y^0 <= 0 /\ 1-pc_drive_next^post33 <= 0 /\ 3-pc_plan^post33 <= 0 /\ -x^0+x_next^post33 <= 0 /\ -x^0+x_next^post33 == 0 /\ n0^0-n0^post33 == 0 /\ is_aborted^post33 <= 0 /\ -pc_drive_next^post33+pc_drive^post33 == 0 /\ y^post33-y_next^post33 == 0 /\ -n1^post33+n1^0 == 0 /\ -2+pc_loop^post33 == 0 /\ x^0-x_next^post33 <= 0 /\ -7+pc_plan_next^post33 <= 0 /\ x^post33-x_next^post33 == 0), cost: 1 Propagated Equalities Original rule: l1 -> l4 : executed_drive^0'=executed_drive^post33, is_aborted^0'=is_aborted^post33, is_aborted_next^0'=is_aborted_next^post33, n0^0'=n0^post33, n1^0'=n1^post33, pc_drive^0'=pc_drive^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=pc_loop^post33, pc_plan^0'=pc_plan^post33, pc_plan_next^0'=pc_plan_next^post33, x^0'=x^post33, x_next^0'=x_next^post33, y^0'=y^post33, y_next^0'=y_next^post33, (0 == 0 /\ -1+is_aborted_next^post33 <= 0 /\ -is_aborted_next^post33 <= 0 /\ -3+pc_plan^post33 <= 0 /\ -3+pc_plan^post33 == 0 /\ -7+pc_drive_next^post33 <= 0 /\ -pc_plan_next^post33+pc_plan^post33 == 0 /\ -y_next^post33+y^0 <= 0 /\ -y_next^post33+y^0 == 0 /\ -is_aborted_next^post33+is_aborted^post33 == 0 /\ -3+pc_drive_next^post33 <= 0 /\ executed_drive^post33 == 0 /\ 1-pc_plan_next^post33 <= 0 /\ y_next^post33-y^0 <= 0 /\ 1-pc_drive_next^post33 <= 0 /\ 3-pc_plan^post33 <= 0 /\ -x^0+x_next^post33 <= 0 /\ -x^0+x_next^post33 == 0 /\ n0^0-n0^post33 == 0 /\ is_aborted^post33 <= 0 /\ -pc_drive_next^post33+pc_drive^post33 == 0 /\ y^post33-y_next^post33 == 0 /\ -n1^post33+n1^0 == 0 /\ -2+pc_loop^post33 == 0 /\ x^0-x_next^post33 <= 0 /\ -7+pc_plan_next^post33 <= 0 /\ x^post33-x_next^post33 == 0), cost: 1 New rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post33, is_aborted_next^0'=is_aborted_next^post33, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -1+is_aborted_next^post33 <= 0 /\ is_aborted_next^post33 <= 0 /\ -is_aborted_next^post33 <= 0 /\ -7+pc_drive_next^post33 <= 0 /\ -2 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ -4 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 propagated equality pc_plan^post33 = 3 propagated equality pc_plan_next^post33 = 3 propagated equality y_next^post33 = y^0 propagated equality is_aborted^post33 = is_aborted_next^post33 propagated equality executed_drive^post33 = 0 propagated equality x_next^post33 = x^0 propagated equality n0^post33 = n0^0 propagated equality pc_drive^post33 = pc_drive_next^post33 propagated equality y^post33 = y^0 propagated equality n1^post33 = n1^0 propagated equality pc_loop^post33 = 2 propagated equality x^post33 = x^0 Simplified Guard Original rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post33, is_aborted_next^0'=is_aborted_next^post33, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -1+is_aborted_next^post33 <= 0 /\ is_aborted_next^post33 <= 0 /\ -is_aborted_next^post33 <= 0 /\ -7+pc_drive_next^post33 <= 0 /\ -2 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ -4 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 New rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post33, is_aborted_next^0'=is_aborted_next^post33, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-1+is_aborted_next^post33 <= 0 /\ is_aborted_next^post33 <= 0 /\ -is_aborted_next^post33 <= 0 /\ -7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 made implied equalities explicit Original rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post33, is_aborted_next^0'=is_aborted_next^post33, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-1+is_aborted_next^post33 <= 0 /\ is_aborted_next^post33 <= 0 /\ -is_aborted_next^post33 <= 0 /\ -7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 New rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post33, is_aborted_next^0'=is_aborted_next^post33, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-1+is_aborted_next^post33 <= 0 /\ is_aborted_next^post33 <= 0 /\ is_aborted_next^post33 == 0 /\ -is_aborted_next^post33 <= 0 /\ -7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 Propagated Equalities Original rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post33, is_aborted_next^0'=is_aborted_next^post33, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-1+is_aborted_next^post33 <= 0 /\ is_aborted_next^post33 <= 0 /\ is_aborted_next^post33 == 0 /\ -is_aborted_next^post33 <= 0 /\ -7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 New rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0 /\ -1 <= 0), cost: 1 propagated equality is_aborted_next^post33 = 0 Simplified Guard Original rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0 /\ -1 <= 0), cost: 1 New rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 Removed Trivial Updates Original rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post33, is_aborted_next^0'=is_aborted_next^post33, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (-1+is_aborted_next^post33 <= 0 /\ is_aborted_next^post33 <= 0 /\ -is_aborted_next^post33 <= 0 /\ -7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 New rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post33, is_aborted_next^0'=is_aborted_next^post33, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (-1+is_aborted_next^post33 <= 0 /\ is_aborted_next^post33 <= 0 /\ -is_aborted_next^post33 <= 0 /\ -7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 made implied equalities explicit Original rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post33, is_aborted_next^0'=is_aborted_next^post33, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (-1+is_aborted_next^post33 <= 0 /\ is_aborted_next^post33 <= 0 /\ -is_aborted_next^post33 <= 0 /\ -7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 New rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post33, is_aborted_next^0'=is_aborted_next^post33, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (-1+is_aborted_next^post33 <= 0 /\ is_aborted_next^post33 <= 0 /\ is_aborted_next^post33 == 0 /\ -is_aborted_next^post33 <= 0 /\ -7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 Propagated Equalities Original rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post33, is_aborted_next^0'=is_aborted_next^post33, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (-1+is_aborted_next^post33 <= 0 /\ is_aborted_next^post33 <= 0 /\ is_aborted_next^post33 == 0 /\ -is_aborted_next^post33 <= 0 /\ -7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 New rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0 /\ -1 <= 0), cost: 1 propagated equality is_aborted_next^post33 = 0 Simplified Guard Original rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ -7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0 /\ -1 <= 0), cost: 1 New rule: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 made implied equalities explicit Original rule: l1 -> l0 : executed_drive^0'=executed_drive^post34, is_aborted^0'=is_aborted^post34, is_aborted_next^0'=is_aborted_next^post34, n0^0'=n0^post34, n1^0'=n1^post34, pc_drive^0'=pc_drive^post34, pc_drive_next^0'=pc_drive_next^post34, pc_loop^0'=pc_loop^post34, pc_plan^0'=pc_plan^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=x^post34, x_next^0'=x_next^post34, y^0'=y^post34, y_next^0'=y_next^post34, (0 == 0 /\ -n1^post34+n1^0 == 0 /\ 1-is_aborted^post34 <= 0 /\ -1-y^0+y_next^post34 <= 0 /\ -x_next^post34+x^post34 == 0 /\ -1+x_next^post34-x^0 <= 0 /\ 1-pc_plan_next^post34 <= 0 /\ pc_plan^post34-pc_plan_next^post34 == 0 /\ 1-pc_drive_next^post34 <= 0 /\ -1+executed_drive^post34 == 0 /\ n0^0-n0^post34 == 0 /\ pc_drive^post34-pc_drive_next^post34 == 0 /\ -7+pc_loop^post34 == 0 /\ 1+y^0-y_next^post34 <= 0 /\ is_aborted^post34-is_aborted_next^post34 == 0 /\ 1-x_next^post34+x^0 <= 0 /\ -4+pc_drive_next^post34 <= 0 /\ 4-pc_drive_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0 /\ -1+is_aborted_next^post34 <= 0 /\ y^post34-y_next^post34 == 0 /\ -is_aborted_next^post34 <= 0 /\ -7+pc_drive_next^post34 <= 0), cost: 1 New rule: l1 -> l0 : executed_drive^0'=executed_drive^post34, is_aborted^0'=is_aborted^post34, is_aborted_next^0'=is_aborted_next^post34, n0^0'=n0^post34, n1^0'=n1^post34, pc_drive^0'=pc_drive^post34, pc_drive_next^0'=pc_drive_next^post34, pc_loop^0'=pc_loop^post34, pc_plan^0'=pc_plan^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=x^post34, x_next^0'=x_next^post34, y^0'=y^post34, y_next^0'=y_next^post34, (0 == 0 /\ -n1^post34+n1^0 == 0 /\ 1-is_aborted^post34 <= 0 /\ -1-y^0+y_next^post34 <= 0 /\ -1-y^0+y_next^post34 == 0 /\ -x_next^post34+x^post34 == 0 /\ -1+x_next^post34-x^0 <= 0 /\ -1+x_next^post34-x^0 == 0 /\ 1-pc_plan_next^post34 <= 0 /\ pc_plan^post34-pc_plan_next^post34 == 0 /\ 1-pc_drive_next^post34 <= 0 /\ -1+executed_drive^post34 == 0 /\ n0^0-n0^post34 == 0 /\ pc_drive^post34-pc_drive_next^post34 == 0 /\ -7+pc_loop^post34 == 0 /\ 1+y^0-y_next^post34 <= 0 /\ is_aborted^post34-is_aborted_next^post34 == 0 /\ 1-x_next^post34+x^0 <= 0 /\ -4+pc_drive_next^post34 <= 0 /\ -4+pc_drive_next^post34 == 0 /\ 4-pc_drive_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0 /\ -1+is_aborted_next^post34 <= 0 /\ y^post34-y_next^post34 == 0 /\ -is_aborted_next^post34 <= 0 /\ -7+pc_drive_next^post34 <= 0), cost: 1 Propagated Equalities Original rule: l1 -> l0 : executed_drive^0'=executed_drive^post34, is_aborted^0'=is_aborted^post34, is_aborted_next^0'=is_aborted_next^post34, n0^0'=n0^post34, n1^0'=n1^post34, pc_drive^0'=pc_drive^post34, pc_drive_next^0'=pc_drive_next^post34, pc_loop^0'=pc_loop^post34, pc_plan^0'=pc_plan^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=x^post34, x_next^0'=x_next^post34, y^0'=y^post34, y_next^0'=y_next^post34, (0 == 0 /\ -n1^post34+n1^0 == 0 /\ 1-is_aborted^post34 <= 0 /\ -1-y^0+y_next^post34 <= 0 /\ -1-y^0+y_next^post34 == 0 /\ -x_next^post34+x^post34 == 0 /\ -1+x_next^post34-x^0 <= 0 /\ -1+x_next^post34-x^0 == 0 /\ 1-pc_plan_next^post34 <= 0 /\ pc_plan^post34-pc_plan_next^post34 == 0 /\ 1-pc_drive_next^post34 <= 0 /\ -1+executed_drive^post34 == 0 /\ n0^0-n0^post34 == 0 /\ pc_drive^post34-pc_drive_next^post34 == 0 /\ -7+pc_loop^post34 == 0 /\ 1+y^0-y_next^post34 <= 0 /\ is_aborted^post34-is_aborted_next^post34 == 0 /\ 1-x_next^post34+x^0 <= 0 /\ -4+pc_drive_next^post34 <= 0 /\ -4+pc_drive_next^post34 == 0 /\ 4-pc_drive_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0 /\ -1+is_aborted_next^post34 <= 0 /\ y^post34-y_next^post34 == 0 /\ -is_aborted_next^post34 <= 0 /\ -7+pc_drive_next^post34 <= 0), cost: 1 New rule: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post34, is_aborted_next^0'=is_aborted_next^post34, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -3 <= 0 /\ 1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0 /\ 1-is_aborted_next^post34 <= 0 /\ -1+is_aborted_next^post34 <= 0 /\ -is_aborted_next^post34 <= 0), cost: 1 propagated equality n1^post34 = n1^0 propagated equality y_next^post34 = 1+y^0 propagated equality x^post34 = x_next^post34 propagated equality x_next^post34 = 1+x^0 propagated equality pc_plan^post34 = pc_plan_next^post34 propagated equality executed_drive^post34 = 1 propagated equality n0^post34 = n0^0 propagated equality pc_drive^post34 = pc_drive_next^post34 propagated equality pc_loop^post34 = 7 propagated equality is_aborted^post34 = is_aborted_next^post34 propagated equality pc_drive_next^post34 = 4 propagated equality y^post34 = 1+y^0 Simplified Guard Original rule: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post34, is_aborted_next^0'=is_aborted_next^post34, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ -3 <= 0 /\ 1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0 /\ 1-is_aborted_next^post34 <= 0 /\ -1+is_aborted_next^post34 <= 0 /\ -is_aborted_next^post34 <= 0), cost: 1 New rule: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post34, is_aborted_next^0'=is_aborted_next^post34, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0 /\ 1-is_aborted_next^post34 <= 0 /\ -1+is_aborted_next^post34 <= 0 /\ -is_aborted_next^post34 <= 0), cost: 1 made implied equalities explicit Original rule: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post34, is_aborted_next^0'=is_aborted_next^post34, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0 /\ 1-is_aborted_next^post34 <= 0 /\ -1+is_aborted_next^post34 <= 0 /\ -is_aborted_next^post34 <= 0), cost: 1 New rule: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post34, is_aborted_next^0'=is_aborted_next^post34, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0 /\ 1-is_aborted_next^post34 <= 0 /\ 1-is_aborted_next^post34 == 0 /\ -1+is_aborted_next^post34 <= 0 /\ -is_aborted_next^post34 <= 0), cost: 1 Propagated Equalities Original rule: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post34, is_aborted_next^0'=is_aborted_next^post34, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0 /\ 1-is_aborted_next^post34 <= 0 /\ 1-is_aborted_next^post34 == 0 /\ -1+is_aborted_next^post34 <= 0 /\ -is_aborted_next^post34 <= 0), cost: 1 New rule: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0 /\ -1 <= 0), cost: 1 propagated equality is_aborted_next^post34 = 1 Simplified Guard Original rule: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0 /\ -1 <= 0), cost: 1 New rule: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0), cost: 1 Removed Trivial Updates Original rule: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post34, is_aborted_next^0'=is_aborted_next^post34, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0 /\ 1-is_aborted_next^post34 <= 0 /\ -1+is_aborted_next^post34 <= 0 /\ -is_aborted_next^post34 <= 0), cost: 1 New rule: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post34, is_aborted_next^0'=is_aborted_next^post34, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0 /\ 1-is_aborted_next^post34 <= 0 /\ -1+is_aborted_next^post34 <= 0 /\ -is_aborted_next^post34 <= 0), cost: 1 made implied equalities explicit Original rule: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post34, is_aborted_next^0'=is_aborted_next^post34, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0 /\ 1-is_aborted_next^post34 <= 0 /\ -1+is_aborted_next^post34 <= 0 /\ -is_aborted_next^post34 <= 0), cost: 1 New rule: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post34, is_aborted_next^0'=is_aborted_next^post34, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0 /\ 1-is_aborted_next^post34 <= 0 /\ 1-is_aborted_next^post34 == 0 /\ -1+is_aborted_next^post34 <= 0 /\ -is_aborted_next^post34 <= 0), cost: 1 Propagated Equalities Original rule: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post34, is_aborted_next^0'=is_aborted_next^post34, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0 /\ 1-is_aborted_next^post34 <= 0 /\ 1-is_aborted_next^post34 == 0 /\ -1+is_aborted_next^post34 <= 0 /\ -is_aborted_next^post34 <= 0), cost: 1 New rule: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0 /\ -1 <= 0), cost: 1 propagated equality is_aborted_next^post34 = 1 Simplified Guard Original rule: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0 /\ -1 <= 0), cost: 1 New rule: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0), cost: 1 made implied equalities explicit Original rule: l1 -> l0 : executed_drive^0'=executed_drive^post35, is_aborted^0'=is_aborted^post35, is_aborted_next^0'=is_aborted_next^post35, n0^0'=n0^post35, n1^0'=n1^post35, pc_drive^0'=pc_drive^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=pc_loop^post35, pc_plan^0'=pc_plan^post35, pc_plan_next^0'=pc_plan_next^post35, x^0'=x^post35, x_next^0'=x_next^post35, y^0'=y^post35, y_next^0'=y_next^post35, (0 == 0 /\ is_aborted^post35-is_aborted_next^post35 == 0 /\ x^0-x_next^post35 <= 0 /\ -pc_drive_next^post35+pc_drive^post35 == 0 /\ 1-pc_plan_next^post35 <= 0 /\ executed_drive^post35 == 0 /\ 1-pc_drive_next^post35 <= 0 /\ -n1^post35+n1^0 == 0 /\ -x^0+x_next^post35 <= 0 /\ -n0^post35+n0^0 == 0 /\ -7+pc_loop^post35 == 0 /\ x^post35-x_next^post35 == 0 /\ -1+is_aborted_next^post35 <= 0 /\ -is_aborted_next^post35 <= 0 /\ -y_next^post35+y^0 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ -y_next^post35+y^post35 == 0 /\ -pc_plan_next^post35+pc_plan^post35 == 0 /\ y_next^post35-y^0 <= 0 /\ 5-pc_drive_next^post35 <= 0 /\ 1-is_aborted^post35 <= 0), cost: 1 New rule: l1 -> l0 : executed_drive^0'=executed_drive^post35, is_aborted^0'=is_aborted^post35, is_aborted_next^0'=is_aborted_next^post35, n0^0'=n0^post35, n1^0'=n1^post35, pc_drive^0'=pc_drive^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=pc_loop^post35, pc_plan^0'=pc_plan^post35, pc_plan_next^0'=pc_plan_next^post35, x^0'=x^post35, x_next^0'=x_next^post35, y^0'=y^post35, y_next^0'=y_next^post35, (0 == 0 /\ is_aborted^post35-is_aborted_next^post35 == 0 /\ x^0-x_next^post35 <= 0 /\ x^0-x_next^post35 == 0 /\ -pc_drive_next^post35+pc_drive^post35 == 0 /\ 1-pc_plan_next^post35 <= 0 /\ executed_drive^post35 == 0 /\ 1-pc_drive_next^post35 <= 0 /\ -n1^post35+n1^0 == 0 /\ -x^0+x_next^post35 <= 0 /\ -n0^post35+n0^0 == 0 /\ -7+pc_loop^post35 == 0 /\ x^post35-x_next^post35 == 0 /\ -1+is_aborted_next^post35 <= 0 /\ -is_aborted_next^post35 <= 0 /\ -y_next^post35+y^0 <= 0 /\ -y_next^post35+y^0 == 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ -y_next^post35+y^post35 == 0 /\ -pc_plan_next^post35+pc_plan^post35 == 0 /\ y_next^post35-y^0 <= 0 /\ 5-pc_drive_next^post35 <= 0 /\ 1-is_aborted^post35 <= 0), cost: 1 Propagated Equalities Original rule: l1 -> l0 : executed_drive^0'=executed_drive^post35, is_aborted^0'=is_aborted^post35, is_aborted_next^0'=is_aborted_next^post35, n0^0'=n0^post35, n1^0'=n1^post35, pc_drive^0'=pc_drive^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=pc_loop^post35, pc_plan^0'=pc_plan^post35, pc_plan_next^0'=pc_plan_next^post35, x^0'=x^post35, x_next^0'=x_next^post35, y^0'=y^post35, y_next^0'=y_next^post35, (0 == 0 /\ is_aborted^post35-is_aborted_next^post35 == 0 /\ x^0-x_next^post35 <= 0 /\ x^0-x_next^post35 == 0 /\ -pc_drive_next^post35+pc_drive^post35 == 0 /\ 1-pc_plan_next^post35 <= 0 /\ executed_drive^post35 == 0 /\ 1-pc_drive_next^post35 <= 0 /\ -n1^post35+n1^0 == 0 /\ -x^0+x_next^post35 <= 0 /\ -n0^post35+n0^0 == 0 /\ -7+pc_loop^post35 == 0 /\ x^post35-x_next^post35 == 0 /\ -1+is_aborted_next^post35 <= 0 /\ -is_aborted_next^post35 <= 0 /\ -y_next^post35+y^0 <= 0 /\ -y_next^post35+y^0 == 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ -y_next^post35+y^post35 == 0 /\ -pc_plan_next^post35+pc_plan^post35 == 0 /\ y_next^post35-y^0 <= 0 /\ 5-pc_drive_next^post35 <= 0 /\ 1-is_aborted^post35 <= 0), cost: 1 New rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post35, is_aborted_next^0'=is_aborted_next^post35, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ 1-is_aborted_next^post35 <= 0 /\ -1+is_aborted_next^post35 <= 0 /\ -is_aborted_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 propagated equality is_aborted^post35 = is_aborted_next^post35 propagated equality x_next^post35 = x^0 propagated equality pc_drive^post35 = pc_drive_next^post35 propagated equality executed_drive^post35 = 0 propagated equality n1^post35 = n1^0 propagated equality n0^post35 = n0^0 propagated equality pc_loop^post35 = 7 propagated equality x^post35 = x^0 propagated equality y_next^post35 = y^0 propagated equality y^post35 = y^0 propagated equality pc_plan^post35 = pc_plan_next^post35 Simplified Guard Original rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post35, is_aborted_next^0'=is_aborted_next^post35, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ 1-is_aborted_next^post35 <= 0 /\ -1+is_aborted_next^post35 <= 0 /\ -is_aborted_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 New rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post35, is_aborted_next^0'=is_aborted_next^post35, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ 1-is_aborted_next^post35 <= 0 /\ -1+is_aborted_next^post35 <= 0 /\ -is_aborted_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 made implied equalities explicit Original rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post35, is_aborted_next^0'=is_aborted_next^post35, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ 1-is_aborted_next^post35 <= 0 /\ -1+is_aborted_next^post35 <= 0 /\ -is_aborted_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 New rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post35, is_aborted_next^0'=is_aborted_next^post35, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ 1-is_aborted_next^post35 <= 0 /\ 1-is_aborted_next^post35 == 0 /\ -1+is_aborted_next^post35 <= 0 /\ -is_aborted_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 Propagated Equalities Original rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post35, is_aborted_next^0'=is_aborted_next^post35, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ 1-is_aborted_next^post35 <= 0 /\ 1-is_aborted_next^post35 == 0 /\ -1+is_aborted_next^post35 <= 0 /\ -is_aborted_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 New rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -1 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 propagated equality is_aborted_next^post35 = 1 Simplified Guard Original rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -1 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 New rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 Removed Trivial Updates Original rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post35, is_aborted_next^0'=is_aborted_next^post35, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ 1-is_aborted_next^post35 <= 0 /\ -1+is_aborted_next^post35 <= 0 /\ -is_aborted_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 New rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post35, is_aborted_next^0'=is_aborted_next^post35, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ 1-is_aborted_next^post35 <= 0 /\ -1+is_aborted_next^post35 <= 0 /\ -is_aborted_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 made implied equalities explicit Original rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post35, is_aborted_next^0'=is_aborted_next^post35, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ 1-is_aborted_next^post35 <= 0 /\ -1+is_aborted_next^post35 <= 0 /\ -is_aborted_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 New rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post35, is_aborted_next^0'=is_aborted_next^post35, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ 1-is_aborted_next^post35 <= 0 /\ 1-is_aborted_next^post35 == 0 /\ -1+is_aborted_next^post35 <= 0 /\ -is_aborted_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 Propagated Equalities Original rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post35, is_aborted_next^0'=is_aborted_next^post35, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ 1-is_aborted_next^post35 <= 0 /\ 1-is_aborted_next^post35 == 0 /\ -1+is_aborted_next^post35 <= 0 /\ -is_aborted_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 New rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -1 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 propagated equality is_aborted_next^post35 = 1 Simplified Guard Original rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -1 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 New rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 made implied equalities explicit Original rule: l1 -> l0 : executed_drive^0'=executed_drive^post36, is_aborted^0'=is_aborted^post36, is_aborted_next^0'=is_aborted_next^post36, n0^0'=n0^post36, n1^0'=n1^post36, pc_drive^0'=pc_drive^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=pc_loop^post36, pc_plan^0'=pc_plan^post36, pc_plan_next^0'=pc_plan_next^post36, x^0'=x^post36, x_next^0'=x_next^post36, y^0'=y^post36, y_next^0'=y_next^post36, (0 == 0 /\ -x_next^post36+x^post36 == 0 /\ 1-pc_plan_next^post36 <= 0 /\ -is_aborted_next^post36+is_aborted^post36 == 0 /\ n0^0-n0^post36 == 0 /\ 1-pc_drive_next^post36 <= 0 /\ y_next^post36-y^0 <= 0 /\ n1^0-n1^post36 == 0 /\ -7+pc_loop^post36 == 0 /\ -is_aborted_next^post36 <= 0 /\ -y_next^post36+y^0 <= 0 /\ -1+is_aborted_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ executed_drive^post36 == 0 /\ -x_next^post36+x^0 <= 0 /\ pc_plan^post36-pc_plan_next^post36 == 0 /\ -7+pc_drive_next^post36 <= 0 /\ 1-is_aborted^post36 <= 0 /\ y^post36-y_next^post36 == 0 /\ x_next^post36-x^0 <= 0 /\ pc_drive^post36-pc_drive_next^post36 == 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 New rule: l1 -> l0 : executed_drive^0'=executed_drive^post36, is_aborted^0'=is_aborted^post36, is_aborted_next^0'=is_aborted_next^post36, n0^0'=n0^post36, n1^0'=n1^post36, pc_drive^0'=pc_drive^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=pc_loop^post36, pc_plan^0'=pc_plan^post36, pc_plan_next^0'=pc_plan_next^post36, x^0'=x^post36, x_next^0'=x_next^post36, y^0'=y^post36, y_next^0'=y_next^post36, (0 == 0 /\ -x_next^post36+x^post36 == 0 /\ 1-pc_plan_next^post36 <= 0 /\ -is_aborted_next^post36+is_aborted^post36 == 0 /\ n0^0-n0^post36 == 0 /\ 1-pc_drive_next^post36 <= 0 /\ y_next^post36-y^0 <= 0 /\ y_next^post36-y^0 == 0 /\ n1^0-n1^post36 == 0 /\ -7+pc_loop^post36 == 0 /\ -is_aborted_next^post36 <= 0 /\ -y_next^post36+y^0 <= 0 /\ -1+is_aborted_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ executed_drive^post36 == 0 /\ -x_next^post36+x^0 <= 0 /\ -x_next^post36+x^0 == 0 /\ pc_plan^post36-pc_plan_next^post36 == 0 /\ -7+pc_drive_next^post36 <= 0 /\ 1-is_aborted^post36 <= 0 /\ y^post36-y_next^post36 == 0 /\ x_next^post36-x^0 <= 0 /\ pc_drive^post36-pc_drive_next^post36 == 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 Propagated Equalities Original rule: l1 -> l0 : executed_drive^0'=executed_drive^post36, is_aborted^0'=is_aborted^post36, is_aborted_next^0'=is_aborted_next^post36, n0^0'=n0^post36, n1^0'=n1^post36, pc_drive^0'=pc_drive^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=pc_loop^post36, pc_plan^0'=pc_plan^post36, pc_plan_next^0'=pc_plan_next^post36, x^0'=x^post36, x_next^0'=x_next^post36, y^0'=y^post36, y_next^0'=y_next^post36, (0 == 0 /\ -x_next^post36+x^post36 == 0 /\ 1-pc_plan_next^post36 <= 0 /\ -is_aborted_next^post36+is_aborted^post36 == 0 /\ n0^0-n0^post36 == 0 /\ 1-pc_drive_next^post36 <= 0 /\ y_next^post36-y^0 <= 0 /\ y_next^post36-y^0 == 0 /\ n1^0-n1^post36 == 0 /\ -7+pc_loop^post36 == 0 /\ -is_aborted_next^post36 <= 0 /\ -y_next^post36+y^0 <= 0 /\ -1+is_aborted_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ executed_drive^post36 == 0 /\ -x_next^post36+x^0 <= 0 /\ -x_next^post36+x^0 == 0 /\ pc_plan^post36-pc_plan_next^post36 == 0 /\ -7+pc_drive_next^post36 <= 0 /\ 1-is_aborted^post36 <= 0 /\ y^post36-y_next^post36 == 0 /\ x_next^post36-x^0 <= 0 /\ pc_drive^post36-pc_drive_next^post36 == 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 New rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post36, is_aborted_next^0'=is_aborted_next^post36, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -is_aborted_next^post36 <= 0 /\ 1-is_aborted_next^post36 <= 0 /\ -1+is_aborted_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 propagated equality x^post36 = x_next^post36 propagated equality is_aborted^post36 = is_aborted_next^post36 propagated equality n0^post36 = n0^0 propagated equality y_next^post36 = y^0 propagated equality n1^post36 = n1^0 propagated equality pc_loop^post36 = 7 propagated equality executed_drive^post36 = 0 propagated equality x_next^post36 = x^0 propagated equality pc_plan^post36 = pc_plan_next^post36 propagated equality y^post36 = y^0 propagated equality pc_drive^post36 = pc_drive_next^post36 Simplified Guard Original rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post36, is_aborted_next^0'=is_aborted_next^post36, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -is_aborted_next^post36 <= 0 /\ 1-is_aborted_next^post36 <= 0 /\ -1+is_aborted_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 New rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post36, is_aborted_next^0'=is_aborted_next^post36, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -is_aborted_next^post36 <= 0 /\ 1-is_aborted_next^post36 <= 0 /\ -1+is_aborted_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 made implied equalities explicit Original rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post36, is_aborted_next^0'=is_aborted_next^post36, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -is_aborted_next^post36 <= 0 /\ 1-is_aborted_next^post36 <= 0 /\ -1+is_aborted_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 New rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post36, is_aborted_next^0'=is_aborted_next^post36, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -is_aborted_next^post36 <= 0 /\ 1-is_aborted_next^post36 <= 0 /\ 1-is_aborted_next^post36 == 0 /\ -1+is_aborted_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 Propagated Equalities Original rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post36, is_aborted_next^0'=is_aborted_next^post36, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -is_aborted_next^post36 <= 0 /\ 1-is_aborted_next^post36 <= 0 /\ 1-is_aborted_next^post36 == 0 /\ -1+is_aborted_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 New rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -1 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 propagated equality is_aborted_next^post36 = 1 Simplified Guard Original rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -1 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 New rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 Removed Trivial Updates Original rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post36, is_aborted_next^0'=is_aborted_next^post36, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x^0'=x^0, x_next^0'=x^0, y^0'=y^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -is_aborted_next^post36 <= 0 /\ 1-is_aborted_next^post36 <= 0 /\ -1+is_aborted_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 New rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post36, is_aborted_next^0'=is_aborted_next^post36, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -is_aborted_next^post36 <= 0 /\ 1-is_aborted_next^post36 <= 0 /\ -1+is_aborted_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 made implied equalities explicit Original rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post36, is_aborted_next^0'=is_aborted_next^post36, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -is_aborted_next^post36 <= 0 /\ 1-is_aborted_next^post36 <= 0 /\ -1+is_aborted_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 New rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post36, is_aborted_next^0'=is_aborted_next^post36, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -is_aborted_next^post36 <= 0 /\ 1-is_aborted_next^post36 <= 0 /\ 1-is_aborted_next^post36 == 0 /\ -1+is_aborted_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 Propagated Equalities Original rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post36, is_aborted_next^0'=is_aborted_next^post36, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -is_aborted_next^post36 <= 0 /\ 1-is_aborted_next^post36 <= 0 /\ 1-is_aborted_next^post36 == 0 /\ -1+is_aborted_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 New rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -1 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 propagated equality is_aborted_next^post36 = 1 Simplified Guard Original rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x_next^0'=x^0, y_next^0'=y^0, (0 <= 0 /\ 0 == 0 /\ 1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -1 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 New rule: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 Propagated Equalities Original rule: l7 -> l1 : executed_drive^0'=executed_drive^post37, is_aborted^0'=is_aborted^post37, is_aborted_next^0'=is_aborted_next^post37, n0^0'=n0^post37, n1^0'=n1^post37, pc_drive^0'=pc_drive^post37, pc_drive_next^0'=pc_drive_next^post37, pc_loop^0'=pc_loop^post37, pc_plan^0'=pc_plan^post37, pc_plan_next^0'=pc_plan_next^post37, x^0'=x^post37, x_next^0'=x_next^post37, y^0'=y^post37, y_next^0'=y_next^post37, (-n1^post37+n1^post38 == 0 /\ y_next^post38-y_next^post37 == 0 /\ -pc_plan_next^post38+pc_plan_next^0 == 0 /\ pc_plan_next^post38-pc_plan_next^post37 == 0 /\ -pc_loop^post37+pc_loop^post38 == 0 /\ y_next^0-y_next^post38 == 0 /\ -is_aborted^post38+is_aborted^0 == 0 /\ -is_aborted_next^post38+is_aborted_next^0 == 0 /\ -is_aborted_next^post37+is_aborted_next^post38 == 0 /\ -n1^post38+n1^0 == 0 /\ -pc_loop^post38+pc_loop^0 == 0 /\ n0^post38-n0^post37 == 0 /\ n0^0-n0^post38 == 0 /\ -pc_drive_next^post38+pc_drive_next^0 == 0 /\ y^post38-y^post37 == 0 /\ -is_aborted^post37+is_aborted^post38 == 0 /\ -executed_drive^post38+executed_drive^0 == 0 /\ -executed_drive^post37+executed_drive^post38 == 0 /\ -x_next^post38+x_next^0 == 0 /\ -x^post38+x^0 == 0 /\ pc_drive_next^post38-pc_drive_next^post37 == 0 /\ pc_drive^0-pc_drive^post38 == 0 /\ -y^post38+y^0 == 0 /\ pc_plan^0-pc_plan^post38 == 0 /\ -pc_drive^post37+pc_drive^post38 == 0 /\ -pc_plan^post37+pc_plan^post38 == 0 /\ -x^post37+x^post38 == 0 /\ -x_next^post37+x_next^post38 == 0), cost: 1 New rule: l7 -> l1 : executed_drive^0'=executed_drive^post38, is_aborted^0'=is_aborted^post38, is_aborted_next^0'=is_aborted_next^post38, n0^0'=n0^post38, n1^0'=n1^post38, pc_drive^0'=pc_drive^post38, pc_drive_next^0'=pc_drive_next^post38, pc_loop^0'=pc_loop^post38, pc_plan^0'=pc_plan^post38, pc_plan_next^0'=pc_plan_next^post38, x^0'=x^post38, x_next^0'=x_next^post38, y^0'=y^post38, y_next^0'=y_next^post38, (0 == 0 /\ -pc_plan_next^post38+pc_plan_next^0 == 0 /\ y_next^0-y_next^post38 == 0 /\ -is_aborted^post38+is_aborted^0 == 0 /\ -is_aborted_next^post38+is_aborted_next^0 == 0 /\ -n1^post38+n1^0 == 0 /\ -pc_loop^post38+pc_loop^0 == 0 /\ n0^0-n0^post38 == 0 /\ -pc_drive_next^post38+pc_drive_next^0 == 0 /\ -executed_drive^post38+executed_drive^0 == 0 /\ -x_next^post38+x_next^0 == 0 /\ -x^post38+x^0 == 0 /\ pc_drive^0-pc_drive^post38 == 0 /\ -y^post38+y^0 == 0 /\ pc_plan^0-pc_plan^post38 == 0), cost: 1 propagated equality n1^post37 = n1^post38 propagated equality y_next^post37 = y_next^post38 propagated equality pc_plan_next^post37 = pc_plan_next^post38 propagated equality pc_loop^post37 = pc_loop^post38 propagated equality is_aborted_next^post37 = is_aborted_next^post38 propagated equality n0^post37 = n0^post38 propagated equality y^post37 = y^post38 propagated equality is_aborted^post37 = is_aborted^post38 propagated equality executed_drive^post37 = executed_drive^post38 propagated equality pc_drive_next^post37 = pc_drive_next^post38 propagated equality pc_drive^post37 = pc_drive^post38 propagated equality pc_plan^post37 = pc_plan^post38 propagated equality x^post37 = x^post38 propagated equality x_next^post37 = x_next^post38 Propagated Equalities Original rule: l7 -> l1 : executed_drive^0'=executed_drive^post38, is_aborted^0'=is_aborted^post38, is_aborted_next^0'=is_aborted_next^post38, n0^0'=n0^post38, n1^0'=n1^post38, pc_drive^0'=pc_drive^post38, pc_drive_next^0'=pc_drive_next^post38, pc_loop^0'=pc_loop^post38, pc_plan^0'=pc_plan^post38, pc_plan_next^0'=pc_plan_next^post38, x^0'=x^post38, x_next^0'=x_next^post38, y^0'=y^post38, y_next^0'=y_next^post38, (0 == 0 /\ -pc_plan_next^post38+pc_plan_next^0 == 0 /\ y_next^0-y_next^post38 == 0 /\ -is_aborted^post38+is_aborted^0 == 0 /\ -is_aborted_next^post38+is_aborted_next^0 == 0 /\ -n1^post38+n1^0 == 0 /\ -pc_loop^post38+pc_loop^0 == 0 /\ n0^0-n0^post38 == 0 /\ -pc_drive_next^post38+pc_drive_next^0 == 0 /\ -executed_drive^post38+executed_drive^0 == 0 /\ -x_next^post38+x_next^0 == 0 /\ -x^post38+x^0 == 0 /\ pc_drive^0-pc_drive^post38 == 0 /\ -y^post38+y^0 == 0 /\ pc_plan^0-pc_plan^post38 == 0), cost: 1 New rule: l7 -> l1 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted^0, is_aborted_next^0'=is_aborted_next^0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive^0, pc_drive_next^0'=pc_drive_next^0, pc_loop^0'=pc_loop^0, pc_plan^0'=pc_plan^0, pc_plan_next^0'=pc_plan_next^0, x^0'=x^0, x_next^0'=x_next^0, y^0'=y^0, y_next^0'=y_next^0, 0 == 0, cost: 1 propagated equality pc_plan_next^post38 = pc_plan_next^0 propagated equality y_next^post38 = y_next^0 propagated equality is_aborted^post38 = is_aborted^0 propagated equality is_aborted_next^post38 = is_aborted_next^0 propagated equality n1^post38 = n1^0 propagated equality pc_loop^post38 = pc_loop^0 propagated equality n0^post38 = n0^0 propagated equality pc_drive_next^post38 = pc_drive_next^0 propagated equality executed_drive^post38 = executed_drive^0 propagated equality x_next^post38 = x_next^0 propagated equality x^post38 = x^0 propagated equality pc_drive^post38 = pc_drive^0 propagated equality y^post38 = y^0 propagated equality pc_plan^post38 = pc_plan^0 Simplified Guard Original rule: l7 -> l1 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted^0, is_aborted_next^0'=is_aborted_next^0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive^0, pc_drive_next^0'=pc_drive_next^0, pc_loop^0'=pc_loop^0, pc_plan^0'=pc_plan^0, pc_plan_next^0'=pc_plan_next^0, x^0'=x^0, x_next^0'=x_next^0, y^0'=y^0, y_next^0'=y_next^0, 0 == 0, cost: 1 New rule: l7 -> l1 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted^0, is_aborted_next^0'=is_aborted_next^0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive^0, pc_drive_next^0'=pc_drive_next^0, pc_loop^0'=pc_loop^0, pc_plan^0'=pc_plan^0, pc_plan_next^0'=pc_plan_next^0, x^0'=x^0, x_next^0'=x_next^0, y^0'=y^0, y_next^0'=y_next^0, T, cost: 1 Removed Trivial Updates Original rule: l7 -> l1 : executed_drive^0'=executed_drive^0, is_aborted^0'=is_aborted^0, is_aborted_next^0'=is_aborted_next^0, n0^0'=n0^0, n1^0'=n1^0, pc_drive^0'=pc_drive^0, pc_drive_next^0'=pc_drive_next^0, pc_loop^0'=pc_loop^0, pc_plan^0'=pc_plan^0, pc_plan_next^0'=pc_plan_next^0, x^0'=x^0, x_next^0'=x_next^0, y^0'=y^0, y_next^0'=y_next^0, T, cost: 1 New rule: l7 -> l1 : T, cost: 1 Step with 75 Trace 75[T] Blocked [{}, {}] Step with 69 Trace 75[T], 69[T] Blocked [{}, {}, {}] Step with 63 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)] Blocked [{}, {}, {}, {}] Step with 60 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)] Blocked [{}, {}, {}, {}, {}] Step with 46 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {}, {45[T]}, {}] Step with 51 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 51[(-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0)] Blocked [{}, {}, {}, {}, {45[T]}, {}, {}] Backtrack Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {}, {45[T]}, {51[T]}] Step with 52 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 52[(1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0)] Blocked [{}, {}, {}, {}, {45[T]}, {51[T]}, {}] Backtrack Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {}, {45[T]}, {51[T], 52[T]}] Step with 53 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 53[(-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0)] Blocked [{}, {}, {}, {}, {45[T]}, {51[T], 52[T]}, {}] Backtrack Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {}, {45[T]}, {51[T], 52[T], 53[T]}] Step with 54 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 54[(-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0)] Blocked [{}, {}, {}, {}, {45[T]}, {51[T], 52[T], 53[T]}, {}] Backtrack Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {}, {45[T]}, {51[T], 52[T], 53[T], 54[T]}] Step with 55 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 55[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0)] Blocked [{}, {}, {}, {}, {45[T]}, {51[T], 52[T], 53[T], 54[T]}, {}] Backtrack Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {}, {45[T]}, {51[T], 52[T], 53[T], 54[T], 55[T]}] Step with 56 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 56[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0)] Blocked [{}, {}, {}, {}, {45[T]}, {51[T], 52[T], 53[T], 54[T], 55[T]}, {}] Backtrack Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {}, {45[T]}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T]}] Step with 57 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 57[(2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0)] Blocked [{}, {}, {}, {}, {45[T]}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T]}, {}] Accelerate Start location: l7 Program variables: executed_drive^0 is_aborted^0 is_aborted_next^0 n0^0 n1^0 pc_drive^0 pc_drive_next^0 pc_loop^0 pc_plan^0 pc_plan_next^0 x^0 x_next^0 y^0 y_next^0 39: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 40: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 41: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 42: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post4, is_aborted_next^0'=is_aborted_next^post4, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 43: l0 -> l1 : is_aborted^0'=is_aborted_next^post5, is_aborted_next^0'=is_aborted_next^post5, pc_drive^0'=pc_drive_next^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 44: l0 -> l1 : is_aborted^0'=is_aborted_next^post6, is_aborted_next^0'=is_aborted_next^post6, pc_drive^0'=pc_drive_next^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 69: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, T, cost: 1 70: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0), cost: 1 71: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 72: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0), cost: 1 73: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 74: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 45: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post7, is_aborted_next^0'=is_aborted_next^post7, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 46: l2 -> l3 : is_aborted^0'=is_aborted_next^post8, is_aborted_next^0'=is_aborted_next^post8, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post8, pc_plan_next^0'=pc_plan_next^post8, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 47: l2 -> l3 : is_aborted^0'=is_aborted_next^post9, is_aborted_next^0'=is_aborted_next^post9, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post9, pc_plan_next^0'=pc_plan_next^post9, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 48: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post10, is_aborted_next^0'=is_aborted_next^post10, pc_drive^0'=2, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 49: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post11, is_aborted_next^0'=is_aborted_next^post11, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post11, pc_plan_next^0'=pc_plan_next^post11, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 50: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post12, pc_plan_next^0'=pc_plan_next^post12, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0), cost: 1 51: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 52: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0), cost: 1 53: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 54: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 55: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0), cost: 1 56: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0), cost: 1 57: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 58: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0), cost: 1 59: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 63: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0), cost: 1 64: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 65: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 66: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 67: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 68: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 76: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^0+3*n, x_next^0'=x^0+3*n, y^0'=y^0+3*n, y_next^0'=y^0+3*n, (7-pc_plan_next^post19 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0), cost: 1 60: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 61: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0), cost: 1 62: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 75: l7 -> l1 : T, cost: 1 Loop Acceleration Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=3+x^0, x_next^0'=3+x^0, y^0'=3+y^0, y_next^0'=3+y^0, (-7+pc_plan_next^post19 <= 0 /\ 1-n0^0 <= 0 /\ -6 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0 /\ 4-n1^0+y^0 <= 0 /\ -1 <= 0 /\ 4-n0^0+x^0 <= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^0+3*n, x_next^0'=x^0+3*n, y^0'=y^0+3*n, y_next^0'=y^0+3*n, (7-pc_plan_next^post19 >= 0 /\ 1 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ 6 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0), cost: 1 7-pc_plan_next^post19 >= 0 [0]: monotonic increase yields 7-pc_plan_next^post19 >= 0 1 >= 0 [0]: monotonic increase yields 1 >= 0 -1+n0^0 >= 0 [0]: monotonic increase yields -1+n0^0 >= 0 -4+n1^0-y^0 >= 0 [0]: montonic decrease yields -1+n1^0-y^0-3*n >= 0 -4+n1^0-y^0 >= 0 [1]: eventual increase yields (3 <= 0 /\ -4+n1^0-y^0 >= 0) -4+n0^0-x^0 >= 0 [0]: montonic decrease yields -1+n0^0-x^0-3*n >= 0 -4+n0^0-x^0 >= 0 [1]: eventual increase yields (3 <= 0 /\ -4+n0^0-x^0 >= 0) -1+n1^0 >= 0 [0]: monotonic increase yields -1+n1^0 >= 0 6 >= 0 [0]: monotonic increase yields 6 >= 0 -1+pc_plan_next^post19 >= 0 [0]: monotonic increase yields -1+pc_plan_next^post19 >= 0 Replacement map: {7-pc_plan_next^post19 >= 0 -> 7-pc_plan_next^post19 >= 0, 1 >= 0 -> 1 >= 0, -1+n0^0 >= 0 -> -1+n0^0 >= 0, -4+n1^0-y^0 >= 0 -> -1+n1^0-y^0-3*n >= 0, -4+n0^0-x^0 >= 0 -> -1+n0^0-x^0-3*n >= 0, -1+n1^0 >= 0 -> -1+n1^0 >= 0, 6 >= 0 -> 6 >= 0, -1+pc_plan_next^post19 >= 0 -> -1+pc_plan_next^post19 >= 0} Simplified Guard Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^0+3*n, x_next^0'=x^0+3*n, y^0'=y^0+3*n, y_next^0'=y^0+3*n, (7-pc_plan_next^post19 >= 0 /\ 1 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ 6 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^0+3*n, x_next^0'=x^0+3*n, y^0'=y^0+3*n, y_next^0'=y^0+3*n, (7-pc_plan_next^post19 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0), cost: 1 Trace 75[T], 69[T], 76[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0)] Blocked [{}, {}, {}, {76[T]}] Step with 63 Trace 75[T], 69[T], 76[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)] Blocked [{}, {}, {}, {76[T]}, {}] Step with 60 Trace 75[T], 69[T], 76[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)] Blocked [{}, {}, {}, {76[T]}, {}, {}] Step with 46 Trace 75[T], 69[T], 76[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {76[T]}, {}, {}, {}] Step with 57 Trace 75[T], 69[T], 76[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 57[(2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0)] Blocked [{}, {}, {}, {76[T]}, {}, {}, {}, {}] Covered Trace 75[T], 69[T], 76[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {76[T]}, {}, {}, {57[T]}] Step with 58 Trace 75[T], 69[T], 76[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 58[(-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0)] Blocked [{}, {}, {}, {76[T]}, {}, {}, {57[T]}, {}] Accelerate Start location: l7 Program variables: executed_drive^0 is_aborted^0 is_aborted_next^0 n0^0 n1^0 pc_drive^0 pc_drive_next^0 pc_loop^0 pc_plan^0 pc_plan_next^0 x^0 x_next^0 y^0 y_next^0 39: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 40: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 41: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 42: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post4, is_aborted_next^0'=is_aborted_next^post4, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 43: l0 -> l1 : is_aborted^0'=is_aborted_next^post5, is_aborted_next^0'=is_aborted_next^post5, pc_drive^0'=pc_drive_next^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 44: l0 -> l1 : is_aborted^0'=is_aborted_next^post6, is_aborted_next^0'=is_aborted_next^post6, pc_drive^0'=pc_drive_next^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 69: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, T, cost: 1 70: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0), cost: 1 71: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 72: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0), cost: 1 73: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 74: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 45: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post7, is_aborted_next^0'=is_aborted_next^post7, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 46: l2 -> l3 : is_aborted^0'=is_aborted_next^post8, is_aborted_next^0'=is_aborted_next^post8, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post8, pc_plan_next^0'=pc_plan_next^post8, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 47: l2 -> l3 : is_aborted^0'=is_aborted_next^post9, is_aborted_next^0'=is_aborted_next^post9, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post9, pc_plan_next^0'=pc_plan_next^post9, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 48: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post10, is_aborted_next^0'=is_aborted_next^post10, pc_drive^0'=2, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 49: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post11, is_aborted_next^0'=is_aborted_next^post11, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post11, pc_plan_next^0'=pc_plan_next^post11, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 50: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post12, pc_plan_next^0'=pc_plan_next^post12, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0), cost: 1 51: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 52: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0), cost: 1 53: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 54: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 55: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0), cost: 1 56: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0), cost: 1 57: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 58: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0), cost: 1 59: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 63: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0), cost: 1 64: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 65: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 66: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 67: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 68: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 76: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^0+3*n, x_next^0'=x^0+3*n, y^0'=y^0+3*n, y_next^0'=y^0+3*n, (7-pc_plan_next^post19 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0), cost: 1 77: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2+x^0, x_next^0'=2*n2+x^0, y^0'=2*n2+y^0, y_next^0'=2*n2+y^0, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n2 >= 0 /\ -1+n0^0-2*n2-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1-2*n2+n1^0-y^0 >= 0), cost: 1 60: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 61: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0), cost: 1 62: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 75: l7 -> l1 : T, cost: 1 Loop Acceleration Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2+x^0, x_next^0'=2+x^0, y^0'=2+y^0, y_next^0'=2+y^0, (-7+pc_drive_next^post20 <= 0 /\ 3-n0^0+x^0 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 3-n1^0+y^0 <= 0 /\ 1-n0^0 <= 0 /\ -6 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ -1 <= 0 /\ -7+pc_plan_next^post20 <= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2+x^0, x_next^0'=2*n2+x^0, y^0'=2*n2+y^0, y_next^0'=2*n2+y^0, (7-pc_drive_next^post20 >= 0 /\ 1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n2 >= 0 /\ -1+n0^0-2*n2-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ 6 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1-2*n2+n1^0-y^0 >= 0), cost: 1 7-pc_drive_next^post20 >= 0 [0]: monotonic increase yields 7-pc_drive_next^post20 >= 0 -3+n0^0-x^0 >= 0 [0]: montonic decrease yields -1+n0^0-2*n2-x^0 >= 0 -3+n0^0-x^0 >= 0 [1]: eventual increase yields (-3+n0^0-x^0 >= 0 /\ 2 <= 0) 1 >= 0 [0]: monotonic increase yields 1 >= 0 -5+pc_drive_next^post20 >= 0 [0]: monotonic increase yields -5+pc_drive_next^post20 >= 0 -3+n1^0-y^0 >= 0 [0]: montonic decrease yields -1-2*n2+n1^0-y^0 >= 0 -3+n1^0-y^0 >= 0 [1]: eventual increase yields (-3+n1^0-y^0 >= 0 /\ 2 <= 0) -1+n0^0 >= 0 [0]: monotonic increase yields -1+n0^0 >= 0 -1+n1^0 >= 0 [0]: monotonic increase yields -1+n1^0 >= 0 -1+pc_plan_next^post20 >= 0 [0]: monotonic increase yields -1+pc_plan_next^post20 >= 0 -1+pc_drive_next^post20 >= 0 [0]: monotonic increase yields -1+pc_drive_next^post20 >= 0, dependencies: -5+pc_drive_next^post20 >= 0 6 >= 0 [0]: monotonic increase yields 6 >= 0 7-pc_plan_next^post20 >= 0 [0]: monotonic increase yields 7-pc_plan_next^post20 >= 0 Replacement map: {7-pc_drive_next^post20 >= 0 -> 7-pc_drive_next^post20 >= 0, -3+n0^0-x^0 >= 0 -> -1+n0^0-2*n2-x^0 >= 0, 1 >= 0 -> 1 >= 0, -5+pc_drive_next^post20 >= 0 -> -5+pc_drive_next^post20 >= 0, -3+n1^0-y^0 >= 0 -> -1-2*n2+n1^0-y^0 >= 0, -1+n0^0 >= 0 -> -1+n0^0 >= 0, -1+n1^0 >= 0 -> -1+n1^0 >= 0, -1+pc_plan_next^post20 >= 0 -> -1+pc_plan_next^post20 >= 0, -1+pc_drive_next^post20 >= 0 -> -1+pc_drive_next^post20 >= 0, 6 >= 0 -> 6 >= 0, 7-pc_plan_next^post20 >= 0 -> 7-pc_plan_next^post20 >= 0} Simplified Guard Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2+x^0, x_next^0'=2*n2+x^0, y^0'=2*n2+y^0, y_next^0'=2*n2+y^0, (7-pc_drive_next^post20 >= 0 /\ 1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n2 >= 0 /\ -1+n0^0-2*n2-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ 6 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1-2*n2+n1^0-y^0 >= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2+x^0, x_next^0'=2*n2+x^0, y^0'=2*n2+y^0, y_next^0'=2*n2+y^0, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n2 >= 0 /\ -1+n0^0-2*n2-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1-2*n2+n1^0-y^0 >= 0), cost: 1 Trace 75[T], 69[T], 76[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0)], 77[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n2 >= 0 /\ -1+n0^0-2*n2-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1-2*n2+n1^0-y^0 >= 0)] Blocked [{}, {}, {}, {76[T]}, {77[T]}] Accelerate Start location: l7 Program variables: executed_drive^0 is_aborted^0 is_aborted_next^0 n0^0 n1^0 pc_drive^0 pc_drive_next^0 pc_loop^0 pc_plan^0 pc_plan_next^0 x^0 x_next^0 y^0 y_next^0 39: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 40: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 41: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 42: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post4, is_aborted_next^0'=is_aborted_next^post4, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 43: l0 -> l1 : is_aborted^0'=is_aborted_next^post5, is_aborted_next^0'=is_aborted_next^post5, pc_drive^0'=pc_drive_next^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 44: l0 -> l1 : is_aborted^0'=is_aborted_next^post6, is_aborted_next^0'=is_aborted_next^post6, pc_drive^0'=pc_drive_next^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 69: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, T, cost: 1 70: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0), cost: 1 71: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 72: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0), cost: 1 73: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 74: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 45: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post7, is_aborted_next^0'=is_aborted_next^post7, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 46: l2 -> l3 : is_aborted^0'=is_aborted_next^post8, is_aborted_next^0'=is_aborted_next^post8, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post8, pc_plan_next^0'=pc_plan_next^post8, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 47: l2 -> l3 : is_aborted^0'=is_aborted_next^post9, is_aborted_next^0'=is_aborted_next^post9, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post9, pc_plan_next^0'=pc_plan_next^post9, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 48: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post10, is_aborted_next^0'=is_aborted_next^post10, pc_drive^0'=2, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 49: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post11, is_aborted_next^0'=is_aborted_next^post11, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post11, pc_plan_next^0'=pc_plan_next^post11, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 50: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post12, pc_plan_next^0'=pc_plan_next^post12, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0), cost: 1 51: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 52: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0), cost: 1 53: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 54: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 55: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0), cost: 1 56: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0), cost: 1 57: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 58: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0), cost: 1 59: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 63: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0), cost: 1 64: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 65: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 66: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 67: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 68: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 76: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^0+3*n, x_next^0'=x^0+3*n, y^0'=y^0+3*n, y_next^0'=y^0+3*n, (7-pc_plan_next^post19 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0), cost: 1 77: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2+x^0, x_next^0'=2*n2+x^0, y^0'=2*n2+y^0, y_next^0'=2*n2+y^0, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n2 >= 0 /\ -1+n0^0-2*n2-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1-2*n2+n1^0-y^0 >= 0), cost: 1 78: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2*n3+x^0+3*n1*n3, x_next^0'=3*n1+2*n2+2*n2*(-1+n3)+x^0+3*n1*(-1+n3), y^0'=2*n2*n3+3*n1*n3+y^0, y_next^0'=3*n1+2*n2+2*n2*(-1+n3)+y^0+3*n1*(-1+n3), (7-pc_drive_next^post20 >= 0 /\ -1+n1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n3 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+n2 >= 0 /\ -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ -1+n1^0 >= 0 /\ -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 60: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 61: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0), cost: 1 62: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 75: l7 -> l1 : T, cost: 1 Loop Acceleration Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=3*n1+2*n2+x^0, x_next^0'=3*n1+2*n2+x^0, y^0'=3*n1+2*n2+y^0, y_next^0'=3*n1+2*n2+y^0, (7-pc_drive_next^post20 >= 0 /\ -1+n1 >= 0 /\ -1-3*n1+n0^0-x^0 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1+n1^0-y^0 >= 0 /\ -1+n2 >= 0 /\ -6 <= 0 /\ -1-3*n1-2*n2+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1-3*n1+n0^0-2*n2-x^0 >= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2*n3+x^0+3*n1*n3, x_next^0'=3*n1+2*n2+2*n2*(-1+n3)+x^0+3*n1*(-1+n3), y^0'=2*n2*n3+3*n1*n3+y^0, y_next^0'=3*n1+2*n2+2*n2*(-1+n3)+y^0+3*n1*(-1+n3), (7-pc_drive_next^post20 >= 0 /\ -1+n1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n3 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+n2 >= 0 /\ -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ -1+n1^0 >= 0 /\ -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ 6 >= 0 /\ -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 7-pc_drive_next^post20 >= 0 [0]: monotonic increase yields 7-pc_drive_next^post20 >= 0 -1+n1 >= 0 [0]: monotonic increase yields -1+n1 >= 0 -1-3*n1+n0^0-x^0 >= 0 [0]: montonic decrease yields -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0, dependencies: -1+n1 >= 0 -1+n2 >= 0 -1-3*n1+n0^0-x^0 >= 0 [1]: eventual decrease yields (-1-3*n1+n0^0-x^0 >= 0 /\ -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0) -1-3*n1+n0^0-x^0 >= 0 [2]: eventual increase yields (3*n1+2*n2 <= 0 /\ -1-3*n1+n0^0-x^0 >= 0) -5+pc_drive_next^post20 >= 0 [0]: monotonic increase yields -5+pc_drive_next^post20 >= 0 -1+n0^0 >= 0 [0]: monotonic increase yields -1+n0^0 >= 0 -1-3*n1+n1^0-y^0 >= 0 [0]: montonic decrease yields -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0, dependencies: -1+n2 >= 0 -1-3*n1-2*n2+n1^0-y^0 >= 0 -1-3*n1+n1^0-y^0 >= 0 [1]: eventual decrease yields (-1-3*n1+n1^0-y^0 >= 0 /\ -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0) -1-3*n1+n1^0-y^0 >= 0 [2]: eventual increase yields (3*n1+2*n2 <= 0 /\ -1-3*n1+n1^0-y^0 >= 0) -1+n2 >= 0 [0]: monotonic increase yields -1+n2 >= 0 -1-3*n1-2*n2+n1^0-y^0 >= 0 [0]: montonic decrease yields -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0, dependencies: -1+n1 >= 0 -1+n2 >= 0 -1-3*n1-2*n2+n1^0-y^0 >= 0 [1]: eventual increase yields (3*n1+2*n2 <= 0 /\ -1-3*n1-2*n2+n1^0-y^0 >= 0) -1+n1^0 >= 0 [0]: monotonic increase yields -1+n1^0 >= 0 -1+pc_plan_next^post20 >= 0 [0]: monotonic increase yields -1+pc_plan_next^post20 >= 0 -1+pc_drive_next^post20 >= 0 [0]: monotonic increase yields -1+pc_drive_next^post20 >= 0, dependencies: -5+pc_drive_next^post20 >= 0 6 >= 0 [0]: monotonic increase yields 6 >= 0 7-pc_plan_next^post20 >= 0 [0]: monotonic increase yields 7-pc_plan_next^post20 >= 0 -1-3*n1+n0^0-2*n2-x^0 >= 0 [0]: montonic decrease yields -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0, dependencies: -1+n1 >= 0 -1+n2 >= 0 -1-3*n1+n0^0-2*n2-x^0 >= 0 [1]: eventual increase yields (3*n1+2*n2 <= 0 /\ -1-3*n1+n0^0-2*n2-x^0 >= 0) Replacement map: {7-pc_drive_next^post20 >= 0 -> 7-pc_drive_next^post20 >= 0, -1+n1 >= 0 -> -1+n1 >= 0, -1-3*n1+n0^0-x^0 >= 0 -> -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0, -5+pc_drive_next^post20 >= 0 -> -5+pc_drive_next^post20 >= 0, -1+n0^0 >= 0 -> -1+n0^0 >= 0, -1-3*n1+n1^0-y^0 >= 0 -> -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0, -1+n2 >= 0 -> -1+n2 >= 0, -1-3*n1-2*n2+n1^0-y^0 >= 0 -> -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0, -1+n1^0 >= 0 -> -1+n1^0 >= 0, -1+pc_plan_next^post20 >= 0 -> -1+pc_plan_next^post20 >= 0, -1+pc_drive_next^post20 >= 0 -> -1+pc_drive_next^post20 >= 0, 6 >= 0 -> 6 >= 0, 7-pc_plan_next^post20 >= 0 -> 7-pc_plan_next^post20 >= 0, -1-3*n1+n0^0-2*n2-x^0 >= 0 -> -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0} Simplified Guard Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2*n3+x^0+3*n1*n3, x_next^0'=3*n1+2*n2+2*n2*(-1+n3)+x^0+3*n1*(-1+n3), y^0'=2*n2*n3+3*n1*n3+y^0, y_next^0'=3*n1+2*n2+2*n2*(-1+n3)+y^0+3*n1*(-1+n3), (7-pc_drive_next^post20 >= 0 /\ -1+n1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n3 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+n2 >= 0 /\ -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ -1+n1^0 >= 0 /\ -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ 6 >= 0 /\ -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2*n3+x^0+3*n1*n3, x_next^0'=3*n1+2*n2+2*n2*(-1+n3)+x^0+3*n1*(-1+n3), y^0'=2*n2*n3+3*n1*n3+y^0, y_next^0'=3*n1+2*n2+2*n2*(-1+n3)+y^0+3*n1*(-1+n3), (7-pc_drive_next^post20 >= 0 /\ -1+n1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n3 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+n2 >= 0 /\ -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ -1+n1^0 >= 0 /\ -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 Trace 75[T], 69[T], 78[(7-pc_drive_next^post20 >= 0 /\ -1+n1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n3 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+n2 >= 0 /\ -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ -1+n1^0 >= 0 /\ -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ 7-pc_plan_next^post20 >= 0)] Blocked [{}, {}, {}, {78[T]}] Step with 63 Trace 75[T], 69[T], 78[(7-pc_drive_next^post20 >= 0 /\ -1+n1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n3 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+n2 >= 0 /\ -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ -1+n1^0 >= 0 /\ -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)] Blocked [{}, {}, {}, {78[T]}, {}] Step with 60 Trace 75[T], 69[T], 78[(7-pc_drive_next^post20 >= 0 /\ -1+n1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n3 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+n2 >= 0 /\ -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ -1+n1^0 >= 0 /\ -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)] Blocked [{}, {}, {}, {78[T]}, {}, {}] Step with 46 Trace 75[T], 69[T], 78[(7-pc_drive_next^post20 >= 0 /\ -1+n1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n3 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+n2 >= 0 /\ -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ -1+n1^0 >= 0 /\ -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {78[T]}, {}, {}, {}] Step with 58 Trace 75[T], 69[T], 78[(7-pc_drive_next^post20 >= 0 /\ -1+n1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n3 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+n2 >= 0 /\ -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ -1+n1^0 >= 0 /\ -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 58[(-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0)] Blocked [{}, {}, {}, {78[T]}, {}, {}, {}, {}] Covered Trace 75[T], 69[T], 78[(7-pc_drive_next^post20 >= 0 /\ -1+n1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n3 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+n2 >= 0 /\ -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ -1+n1^0 >= 0 /\ -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {78[T]}, {}, {}, {58[T]}] Step with 59 Trace 75[T], 69[T], 78[(7-pc_drive_next^post20 >= 0 /\ -1+n1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n3 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+n2 >= 0 /\ -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ -1+n1^0 >= 0 /\ -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 59[(1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0)] Blocked [{}, {}, {}, {78[T]}, {}, {}, {58[T]}, {}] Accelerate Start location: l7 Program variables: executed_drive^0 is_aborted^0 is_aborted_next^0 n0^0 n1^0 pc_drive^0 pc_drive_next^0 pc_loop^0 pc_plan^0 pc_plan_next^0 x^0 x_next^0 y^0 y_next^0 39: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 40: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 41: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 42: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post4, is_aborted_next^0'=is_aborted_next^post4, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 43: l0 -> l1 : is_aborted^0'=is_aborted_next^post5, is_aborted_next^0'=is_aborted_next^post5, pc_drive^0'=pc_drive_next^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 44: l0 -> l1 : is_aborted^0'=is_aborted_next^post6, is_aborted_next^0'=is_aborted_next^post6, pc_drive^0'=pc_drive_next^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 69: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, T, cost: 1 70: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0), cost: 1 71: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 72: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0), cost: 1 73: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 74: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 45: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post7, is_aborted_next^0'=is_aborted_next^post7, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 46: l2 -> l3 : is_aborted^0'=is_aborted_next^post8, is_aborted_next^0'=is_aborted_next^post8, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post8, pc_plan_next^0'=pc_plan_next^post8, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 47: l2 -> l3 : is_aborted^0'=is_aborted_next^post9, is_aborted_next^0'=is_aborted_next^post9, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post9, pc_plan_next^0'=pc_plan_next^post9, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 48: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post10, is_aborted_next^0'=is_aborted_next^post10, pc_drive^0'=2, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 49: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post11, is_aborted_next^0'=is_aborted_next^post11, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post11, pc_plan_next^0'=pc_plan_next^post11, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 50: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post12, pc_plan_next^0'=pc_plan_next^post12, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0), cost: 1 51: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 52: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0), cost: 1 53: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 54: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 55: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0), cost: 1 56: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0), cost: 1 57: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 58: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0), cost: 1 59: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 63: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0), cost: 1 64: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 65: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 66: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 67: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 68: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 76: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^0+3*n, x_next^0'=x^0+3*n, y^0'=y^0+3*n, y_next^0'=y^0+3*n, (7-pc_plan_next^post19 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0), cost: 1 77: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2+x^0, x_next^0'=2*n2+x^0, y^0'=2*n2+y^0, y_next^0'=2*n2+y^0, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n2 >= 0 /\ -1+n0^0-2*n2-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1-2*n2+n1^0-y^0 >= 0), cost: 1 78: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2*n3+x^0+3*n1*n3, x_next^0'=3*n1+2*n2+2*n2*(-1+n3)+x^0+3*n1*(-1+n3), y^0'=2*n2*n3+3*n1*n3+y^0, y_next^0'=3*n1+2*n2+2*n2*(-1+n3)+y^0+3*n1*(-1+n3), (7-pc_drive_next^post20 >= 0 /\ -1+n1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n3 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+n2 >= 0 /\ -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ -1+n1^0 >= 0 /\ -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 79: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+2*n4, x_next^0'=x^0+2*n4, y^0'=2*n4+y^0, y_next^0'=2*n4+y^0, (-1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1-2*n4+n1^0-y^0 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n0^0-x^0-2*n4 >= 0), cost: 1 60: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 61: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0), cost: 1 62: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 75: l7 -> l1 : T, cost: 1 Loop Acceleration Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=2+x^0, x_next^0'=2+x^0, y^0'=2+y^0, y_next^0'=2+y^0, (3-n0^0+x^0 <= 0 /\ 3-n1^0+y^0 <= 0 /\ 1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ -6 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -1 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+2*n4, x_next^0'=x^0+2*n4, y^0'=2*n4+y^0, y_next^0'=2*n4+y^0, (1 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1-2*n4+n1^0-y^0 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 6 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n0^0-x^0-2*n4 >= 0), cost: 1 -3+n0^0-x^0 >= 0 [0]: montonic decrease yields -1+n0^0-x^0-2*n4 >= 0 -3+n0^0-x^0 >= 0 [1]: eventual increase yields (-3+n0^0-x^0 >= 0 /\ 2 <= 0) 1 >= 0 [0]: monotonic increase yields 1 >= 0 -3+n1^0-y^0 >= 0 [0]: montonic decrease yields -1-2*n4+n1^0-y^0 >= 0 -3+n1^0-y^0 >= 0 [1]: eventual increase yields (-3+n1^0-y^0 >= 0 /\ 2 <= 0) -1+pc_drive_next^post21 >= 0 [0]: monotonic increase yields -1+pc_drive_next^post21 >= 0 -1+n0^0 >= 0 [0]: monotonic increase yields -1+n0^0 >= 0 7-pc_plan_next^post21 >= 0 [0]: monotonic increase yields 7-pc_plan_next^post21 >= 0 3-pc_drive_next^post21 >= 0 [0]: monotonic increase yields 3-pc_drive_next^post21 >= 0 -1+n1^0 >= 0 [0]: monotonic increase yields -1+n1^0 >= 0 6 >= 0 [0]: monotonic increase yields 6 >= 0 7-pc_drive_next^post21 >= 0 [0]: monotonic increase yields 7-pc_drive_next^post21 >= 0, dependencies: 3-pc_drive_next^post21 >= 0 -1+pc_plan_next^post21 >= 0 [0]: monotonic increase yields -1+pc_plan_next^post21 >= 0 Replacement map: {-3+n0^0-x^0 >= 0 -> -1+n0^0-x^0-2*n4 >= 0, 1 >= 0 -> 1 >= 0, -3+n1^0-y^0 >= 0 -> -1-2*n4+n1^0-y^0 >= 0, -1+pc_drive_next^post21 >= 0 -> -1+pc_drive_next^post21 >= 0, -1+n0^0 >= 0 -> -1+n0^0 >= 0, 7-pc_plan_next^post21 >= 0 -> 7-pc_plan_next^post21 >= 0, 3-pc_drive_next^post21 >= 0 -> 3-pc_drive_next^post21 >= 0, -1+n1^0 >= 0 -> -1+n1^0 >= 0, 6 >= 0 -> 6 >= 0, 7-pc_drive_next^post21 >= 0 -> 7-pc_drive_next^post21 >= 0, -1+pc_plan_next^post21 >= 0 -> -1+pc_plan_next^post21 >= 0} Simplified Guard Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+2*n4, x_next^0'=x^0+2*n4, y^0'=2*n4+y^0, y_next^0'=2*n4+y^0, (1 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1-2*n4+n1^0-y^0 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 6 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n0^0-x^0-2*n4 >= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+2*n4, x_next^0'=x^0+2*n4, y^0'=2*n4+y^0, y_next^0'=2*n4+y^0, (-1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1-2*n4+n1^0-y^0 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n0^0-x^0-2*n4 >= 0), cost: 1 Trace 75[T], 69[T], 78[(7-pc_drive_next^post20 >= 0 /\ -1+n1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n3 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+n2 >= 0 /\ -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ -1+n1^0 >= 0 /\ -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ 7-pc_plan_next^post20 >= 0)], 79[(-1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1-2*n4+n1^0-y^0 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n0^0-x^0-2*n4 >= 0)] Blocked [{}, {}, {}, {78[T]}, {79[T]}] Accelerate Start location: l7 Program variables: executed_drive^0 is_aborted^0 is_aborted_next^0 n0^0 n1^0 pc_drive^0 pc_drive_next^0 pc_loop^0 pc_plan^0 pc_plan_next^0 x^0 x_next^0 y^0 y_next^0 39: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 40: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 41: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 42: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post4, is_aborted_next^0'=is_aborted_next^post4, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 43: l0 -> l1 : is_aborted^0'=is_aborted_next^post5, is_aborted_next^0'=is_aborted_next^post5, pc_drive^0'=pc_drive_next^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 44: l0 -> l1 : is_aborted^0'=is_aborted_next^post6, is_aborted_next^0'=is_aborted_next^post6, pc_drive^0'=pc_drive_next^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 69: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, T, cost: 1 70: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0), cost: 1 71: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 72: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0), cost: 1 73: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 74: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 45: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post7, is_aborted_next^0'=is_aborted_next^post7, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 46: l2 -> l3 : is_aborted^0'=is_aborted_next^post8, is_aborted_next^0'=is_aborted_next^post8, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post8, pc_plan_next^0'=pc_plan_next^post8, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 47: l2 -> l3 : is_aborted^0'=is_aborted_next^post9, is_aborted_next^0'=is_aborted_next^post9, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post9, pc_plan_next^0'=pc_plan_next^post9, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 48: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post10, is_aborted_next^0'=is_aborted_next^post10, pc_drive^0'=2, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 49: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post11, is_aborted_next^0'=is_aborted_next^post11, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post11, pc_plan_next^0'=pc_plan_next^post11, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 50: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post12, pc_plan_next^0'=pc_plan_next^post12, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0), cost: 1 51: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 52: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0), cost: 1 53: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 54: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 55: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0), cost: 1 56: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0), cost: 1 57: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 58: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0), cost: 1 59: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 63: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0), cost: 1 64: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 65: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 66: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 67: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 68: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 76: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^0+3*n, x_next^0'=x^0+3*n, y^0'=y^0+3*n, y_next^0'=y^0+3*n, (7-pc_plan_next^post19 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0), cost: 1 77: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2+x^0, x_next^0'=2*n2+x^0, y^0'=2*n2+y^0, y_next^0'=2*n2+y^0, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n2 >= 0 /\ -1+n0^0-2*n2-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1-2*n2+n1^0-y^0 >= 0), cost: 1 78: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2*n3+x^0+3*n1*n3, x_next^0'=3*n1+2*n2+2*n2*(-1+n3)+x^0+3*n1*(-1+n3), y^0'=2*n2*n3+3*n1*n3+y^0, y_next^0'=3*n1+2*n2+2*n2*(-1+n3)+y^0+3*n1*(-1+n3), (7-pc_drive_next^post20 >= 0 /\ -1+n1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n3 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+n2 >= 0 /\ -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ -1+n1^0 >= 0 /\ -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 79: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+2*n4, x_next^0'=x^0+2*n4, y^0'=2*n4+y^0, y_next^0'=2*n4+y^0, (-1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1-2*n4+n1^0-y^0 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n0^0-x^0-2*n4 >= 0), cost: 1 80: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=3*n11*n5*n31+x^0+2*n4*n5+2*n22*n5*n31, x_next^0'=2*(-1+n5)*n22*n31+x^0+2*n4+3*n11*n31+2*(-1+n5)*n4+3*n11*(-1+n5)*n31+2*n22*n31, y^0'=3*n11*n5*n31+2*n4*n5+y^0+2*n22*n5*n31, y_next^0'=2*(-1+n5)*n22*n31+2*n4+3*n11*n31+2*(-1+n5)*n4+y^0+3*n11*(-1+n5)*n31+2*n22*n31, (-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0), cost: 1 60: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 61: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0), cost: 1 62: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 75: l7 -> l1 : T, cost: 1 Loop Acceleration Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+2*n4+3*n11*n31+2*n22*n31, x_next^0'=x^0+2*n4+3*n11*n31+2*n22*n31, y^0'=2*n4+3*n11*n31+y^0+2*n22*n31, y_next^0'=2*n4+3*n11*n31+y^0+2*n22*n31, (-1-3*n11-3*n11*(-1+n31)-2*n22*(-1+n31)+n1^0-y^0 >= 0 /\ -2 <= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*n22*(-1+n31)-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -6 <= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n4-3*n11*n31+n1^0-y^0-2*n22*n31 >= 0 /\ -1+n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*n22*(-1+n31)-2*n22+n1^0-y^0 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n0^0-x^0-2*n4-3*n11*n31-2*n22*n31 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*n22*(-1+n31)-2*n22-x^0 >= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=3*n11*n5*n31+x^0+2*n4*n5+2*n22*n5*n31, x_next^0'=2*(-1+n5)*n22*n31+x^0+2*n4+3*n11*n31+2*(-1+n5)*n4+3*n11*(-1+n5)*n31+2*n22*n31, y^0'=3*n11*n5*n31+2*n4*n5+y^0+2*n22*n5*n31, y_next^0'=2*(-1+n5)*n22*n31+2*n4+3*n11*n31+2*(-1+n5)*n4+y^0+3*n11*(-1+n5)*n31+2*n22*n31, (-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 2 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 6 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0), cost: 1 -1-3*n11-3*n11*(-1+n31)-2*n22*(-1+n31)+n1^0-y^0 >= 0 [0]: montonic decrease yields -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0, dependencies: -1+n4 >= 0 -1-2*n4-3*n11*n31+n1^0-y^0-2*n22*n31 >= 0 -1+n22 >= 0 -1-3*n11-3*n11*(-1+n31)-2*n22*(-1+n31)+n1^0-y^0 >= 0 [1]: eventual decrease yields (-1-3*n11-3*n11*(-1+n31)-2*n22*(-1+n31)+n1^0-y^0 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0) -1-3*n11-3*n11*(-1+n31)-2*n22*(-1+n31)+n1^0-y^0 >= 0 [2]: eventual increase yields (-1-3*n11-3*n11*(-1+n31)-2*n22*(-1+n31)+n1^0-y^0 >= 0 /\ 2*n4+3*n11*n31+2*n22*n31 <= 0) -1+n4 >= 0 [0]: monotonic increase yields -1+n4 >= 0 -1+pc_drive_next^post21 >= 0 [0]: monotonic increase yields -1+pc_drive_next^post21 >= 0 -1+n0^0-3*n11-3*n11*(-1+n31)-2*n22*(-1+n31)-x^0 >= 0 [0]: montonic decrease yields -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0, dependencies: -1+n4 >= 0 -1+n0^0-x^0-2*n4-3*n11*n31-2*n22*n31 >= 0 -1+n22 >= 0 -1+n0^0-3*n11-3*n11*(-1+n31)-2*n22*(-1+n31)-x^0 >= 0 [1]: eventual decrease yields (-1+n0^0-3*n11-3*n11*(-1+n31)-2*n22*(-1+n31)-x^0 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0) -1+n0^0-3*n11-3*n11*(-1+n31)-2*n22*(-1+n31)-x^0 >= 0 [2]: eventual increase yields (-1+n0^0-3*n11-3*n11*(-1+n31)-2*n22*(-1+n31)-x^0 >= 0 /\ 2*n4+3*n11*n31+2*n22*n31 <= 0) -1+n0^0 >= 0 [0]: monotonic increase yields -1+n0^0 >= 0 -1+n11 >= 0 [0]: monotonic increase yields -1+n11 >= 0 7-pc_plan_next^post21 >= 0 [0]: monotonic increase yields 7-pc_plan_next^post21 >= 0 2 >= 0 [0]: monotonic increase yields 2 >= 0 3-pc_drive_next^post21 >= 0 [0]: monotonic increase yields 3-pc_drive_next^post21 >= 0 -1+n1^0 >= 0 [0]: monotonic increase yields -1+n1^0 >= 0 -1-2*n4-3*n11*n31+n1^0-y^0-2*n22*n31 >= 0 [0]: montonic decrease yields -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0, dependencies: -1+n4 >= 0 -1+n11 >= 0 -1+n31 >= 0 -1+n22 >= 0 -1-2*n4-3*n11*n31+n1^0-y^0-2*n22*n31 >= 0 [1]: eventual decrease yields (-1-2*n4-3*n11*n31+n1^0-y^0-2*n22*n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0) -1-2*n4-3*n11*n31+n1^0-y^0-2*n22*n31 >= 0 [2]: eventual increase yields (-1-2*n4-3*n11*n31+n1^0-y^0-2*n22*n31 >= 0 /\ 2*n4+3*n11*n31+2*n22*n31 <= 0) -1+n31 >= 0 [0]: monotonic increase yields -1+n31 >= 0 6 >= 0 [0]: monotonic increase yields 6 >= 0 7-pc_drive_next^post21 >= 0 [0]: monotonic increase yields 7-pc_drive_next^post21 >= 0 -1-3*n11-3*n11*(-1+n31)-2*n22*(-1+n31)-2*n22+n1^0-y^0 >= 0 [0]: montonic decrease yields -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0, dependencies: -1+n4 >= 0 -1-2*n4-3*n11*n31+n1^0-y^0-2*n22*n31 >= 0 -1-3*n11-3*n11*(-1+n31)-2*n22*(-1+n31)-2*n22+n1^0-y^0 >= 0 [1]: eventual increase yields (-1-3*n11-3*n11*(-1+n31)-2*n22*(-1+n31)-2*n22+n1^0-y^0 >= 0 /\ 2*n4+3*n11*n31+2*n22*n31 <= 0) -1+pc_plan_next^post21 >= 0 [0]: monotonic increase yields -1+pc_plan_next^post21 >= 0 -1+n0^0-x^0-2*n4-3*n11*n31-2*n22*n31 >= 0 [0]: montonic decrease yields -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0, dependencies: -1+n4 >= 0 -1+n11 >= 0 -1+n31 >= 0 -1+n22 >= 0 -1+n0^0-x^0-2*n4-3*n11*n31-2*n22*n31 >= 0 [1]: eventual decrease yields (-1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+n0^0-x^0-2*n4-3*n11*n31-2*n22*n31 >= 0) -1+n0^0-x^0-2*n4-3*n11*n31-2*n22*n31 >= 0 [2]: eventual increase yields (-1+n0^0-x^0-2*n4-3*n11*n31-2*n22*n31 >= 0 /\ 2*n4+3*n11*n31+2*n22*n31 <= 0) -1+n22 >= 0 [0]: monotonic increase yields -1+n22 >= 0 -1+n0^0-3*n11-3*n11*(-1+n31)-2*n22*(-1+n31)-2*n22-x^0 >= 0 [0]: montonic decrease yields -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0, dependencies: -1+n4 >= 0 -1+n0^0-x^0-2*n4-3*n11*n31-2*n22*n31 >= 0 -1+n0^0-3*n11-3*n11*(-1+n31)-2*n22*(-1+n31)-2*n22-x^0 >= 0 [1]: eventual increase yields (2*n4+3*n11*n31+2*n22*n31 <= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*n22*(-1+n31)-2*n22-x^0 >= 0) Replacement map: {-1-3*n11-3*n11*(-1+n31)-2*n22*(-1+n31)+n1^0-y^0 >= 0 -> -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0, -1+n4 >= 0 -> -1+n4 >= 0, -1+pc_drive_next^post21 >= 0 -> -1+pc_drive_next^post21 >= 0, -1+n0^0-3*n11-3*n11*(-1+n31)-2*n22*(-1+n31)-x^0 >= 0 -> -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0, -1+n0^0 >= 0 -> -1+n0^0 >= 0, -1+n11 >= 0 -> -1+n11 >= 0, 7-pc_plan_next^post21 >= 0 -> 7-pc_plan_next^post21 >= 0, 2 >= 0 -> 2 >= 0, 3-pc_drive_next^post21 >= 0 -> 3-pc_drive_next^post21 >= 0, -1+n1^0 >= 0 -> -1+n1^0 >= 0, -1-2*n4-3*n11*n31+n1^0-y^0-2*n22*n31 >= 0 -> -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0, -1+n31 >= 0 -> -1+n31 >= 0, 6 >= 0 -> 6 >= 0, 7-pc_drive_next^post21 >= 0 -> 7-pc_drive_next^post21 >= 0, -1-3*n11-3*n11*(-1+n31)-2*n22*(-1+n31)-2*n22+n1^0-y^0 >= 0 -> -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0, -1+pc_plan_next^post21 >= 0 -> -1+pc_plan_next^post21 >= 0, -1+n0^0-x^0-2*n4-3*n11*n31-2*n22*n31 >= 0 -> -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0, -1+n22 >= 0 -> -1+n22 >= 0, -1+n0^0-3*n11-3*n11*(-1+n31)-2*n22*(-1+n31)-2*n22-x^0 >= 0 -> -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0} Simplified Guard Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=3*n11*n5*n31+x^0+2*n4*n5+2*n22*n5*n31, x_next^0'=2*(-1+n5)*n22*n31+x^0+2*n4+3*n11*n31+2*(-1+n5)*n4+3*n11*(-1+n5)*n31+2*n22*n31, y^0'=3*n11*n5*n31+2*n4*n5+y^0+2*n22*n5*n31, y_next^0'=2*(-1+n5)*n22*n31+2*n4+3*n11*n31+2*(-1+n5)*n4+y^0+3*n11*(-1+n5)*n31+2*n22*n31, (-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 2 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 6 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=3*n11*n5*n31+x^0+2*n4*n5+2*n22*n5*n31, x_next^0'=2*(-1+n5)*n22*n31+x^0+2*n4+3*n11*n31+2*(-1+n5)*n4+3*n11*(-1+n5)*n31+2*n22*n31, y^0'=3*n11*n5*n31+2*n4*n5+y^0+2*n22*n5*n31, y_next^0'=2*(-1+n5)*n22*n31+2*n4+3*n11*n31+2*(-1+n5)*n4+y^0+3*n11*(-1+n5)*n31+2*n22*n31, (-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0), cost: 1 Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)] Blocked [{}, {}, {}, {80[T]}] Step with 63 Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}] Step with 60 Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {}] Step with 46 Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {}, {}] Step with 59 Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 59[(1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {}, {}, {}] Covered Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {}, {59[T]}] Step with 51 Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 51[(-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {}, {59[T]}, {}] Backtrack Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {}, {51[T], 59[T]}] Step with 52 Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 52[(1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {}, {51[T], 59[T]}, {}] Backtrack Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {}, {51[T], 52[T], 59[T]}] Step with 53 Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 53[(-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {}, {51[T], 52[T], 59[T]}, {}] Backtrack Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {}, {51[T], 52[T], 53[T], 59[T]}] Step with 54 Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 54[(-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {}, {51[T], 52[T], 53[T], 59[T]}, {}] Backtrack Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {}, {51[T], 52[T], 53[T], 54[T], 59[T]}] Step with 55 Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 55[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {}, {51[T], 52[T], 53[T], 54[T], 59[T]}, {}] Backtrack Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {}, {51[T], 52[T], 53[T], 54[T], 55[T], 59[T]}] Step with 56 Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 56[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {}, {51[T], 52[T], 53[T], 54[T], 55[T], 59[T]}, {}] Backtrack Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 59[T]}] Step with 57 Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 57[(2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 59[T]}, {}] Covered Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 59[T]}] Step with 58 Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 58[(-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 59[T]}, {}] Covered Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}] Backtrack Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {46[T]}] Step with 50 Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {46[T], 47[T], 48[T], 49[T]}, {}] Step with 51 Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 51[(-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {46[T], 47[T], 48[T], 49[T]}, {58[T], 59[T]}, {}] Backtrack Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {46[T], 47[T], 48[T], 49[T]}, {51[T], 58[T], 59[T]}] Step with 52 Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 52[(1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {46[T], 47[T], 48[T], 49[T]}, {51[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {46[T], 47[T], 48[T], 49[T]}, {51[T], 52[T], 58[T], 59[T]}] Step with 53 Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 53[(-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {46[T], 47[T], 48[T], 49[T]}, {51[T], 52[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {46[T], 47[T], 48[T], 49[T]}, {51[T], 52[T], 53[T], 58[T], 59[T]}] Step with 54 Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 54[(-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {46[T], 47[T], 48[T], 49[T]}, {51[T], 52[T], 53[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {46[T], 47[T], 48[T], 49[T]}, {51[T], 52[T], 53[T], 54[T], 58[T], 59[T]}] Step with 55 Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 55[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {46[T], 47[T], 48[T], 49[T]}, {51[T], 52[T], 53[T], 54[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {46[T], 47[T], 48[T], 49[T]}, {51[T], 52[T], 53[T], 54[T], 55[T], 58[T], 59[T]}] Step with 56 Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 56[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {46[T], 47[T], 48[T], 49[T]}, {51[T], 52[T], 53[T], 54[T], 55[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {46[T], 47[T], 48[T], 49[T]}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 58[T], 59[T]}] Step with 57 Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 57[(2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0)] Blocked [{}, {}, {}, {80[T]}, {}, {46[T], 47[T], 48[T], 49[T]}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 58[T], 59[T]}, {}] Accelerate Start location: l7 Program variables: executed_drive^0 is_aborted^0 is_aborted_next^0 n0^0 n1^0 pc_drive^0 pc_drive_next^0 pc_loop^0 pc_plan^0 pc_plan_next^0 x^0 x_next^0 y^0 y_next^0 39: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 40: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 41: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 42: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post4, is_aborted_next^0'=is_aborted_next^post4, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 43: l0 -> l1 : is_aborted^0'=is_aborted_next^post5, is_aborted_next^0'=is_aborted_next^post5, pc_drive^0'=pc_drive_next^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 44: l0 -> l1 : is_aborted^0'=is_aborted_next^post6, is_aborted_next^0'=is_aborted_next^post6, pc_drive^0'=pc_drive_next^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 69: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, T, cost: 1 70: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0), cost: 1 71: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 72: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0), cost: 1 73: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 74: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 45: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post7, is_aborted_next^0'=is_aborted_next^post7, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 46: l2 -> l3 : is_aborted^0'=is_aborted_next^post8, is_aborted_next^0'=is_aborted_next^post8, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post8, pc_plan_next^0'=pc_plan_next^post8, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 47: l2 -> l3 : is_aborted^0'=is_aborted_next^post9, is_aborted_next^0'=is_aborted_next^post9, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post9, pc_plan_next^0'=pc_plan_next^post9, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 48: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post10, is_aborted_next^0'=is_aborted_next^post10, pc_drive^0'=2, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 49: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post11, is_aborted_next^0'=is_aborted_next^post11, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post11, pc_plan_next^0'=pc_plan_next^post11, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 50: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post12, pc_plan_next^0'=pc_plan_next^post12, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0), cost: 1 51: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 52: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0), cost: 1 53: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 54: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 55: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0), cost: 1 56: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0), cost: 1 57: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 58: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0), cost: 1 59: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 63: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0), cost: 1 64: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 65: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 66: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 67: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 68: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 76: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^0+3*n, x_next^0'=x^0+3*n, y^0'=y^0+3*n, y_next^0'=y^0+3*n, (7-pc_plan_next^post19 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0), cost: 1 77: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2+x^0, x_next^0'=2*n2+x^0, y^0'=2*n2+y^0, y_next^0'=2*n2+y^0, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n2 >= 0 /\ -1+n0^0-2*n2-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1-2*n2+n1^0-y^0 >= 0), cost: 1 78: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2*n3+x^0+3*n1*n3, x_next^0'=3*n1+2*n2+2*n2*(-1+n3)+x^0+3*n1*(-1+n3), y^0'=2*n2*n3+3*n1*n3+y^0, y_next^0'=3*n1+2*n2+2*n2*(-1+n3)+y^0+3*n1*(-1+n3), (7-pc_drive_next^post20 >= 0 /\ -1+n1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n3 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+n2 >= 0 /\ -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ -1+n1^0 >= 0 /\ -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 79: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+2*n4, x_next^0'=x^0+2*n4, y^0'=2*n4+y^0, y_next^0'=2*n4+y^0, (-1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1-2*n4+n1^0-y^0 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n0^0-x^0-2*n4 >= 0), cost: 1 80: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=3*n11*n5*n31+x^0+2*n4*n5+2*n22*n5*n31, x_next^0'=2*(-1+n5)*n22*n31+x^0+2*n4+3*n11*n31+2*(-1+n5)*n4+3*n11*(-1+n5)*n31+2*n22*n31, y^0'=3*n11*n5*n31+2*n4*n5+y^0+2*n22*n5*n31, y_next^0'=2*(-1+n5)*n22*n31+2*n4+3*n11*n31+2*(-1+n5)*n4+y^0+3*n11*(-1+n5)*n31+2*n22*n31, (-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0), cost: 1 81: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=3*n6+x^0, x_next^0'=3*n6+x^0, y^0'=3*n6+y^0, y_next^0'=3*n6+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-3*n6-x^0 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-3*n6+n1^0-y^0 >= 0), cost: 1 60: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 61: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0), cost: 1 62: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 75: l7 -> l1 : T, cost: 1 Loop Acceleration Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=3+x^0, x_next^0'=3+x^0, y^0'=3+y^0, y_next^0'=3+y^0, (-7+pc_plan_next^post19 <= 0 /\ 1-n0^0 <= 0 /\ -6 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0 /\ 4-n1^0+y^0 <= 0 /\ 4-n0^0+x^0 <= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=3*n6+x^0, x_next^0'=3*n6+x^0, y^0'=3*n6+y^0, y_next^0'=3*n6+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-3*n6-x^0 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ 6 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-3*n6+n1^0-y^0 >= 0), cost: 1 7-pc_plan_next^post19 >= 0 [0]: monotonic increase yields 7-pc_plan_next^post19 >= 0 -1+n0^0 >= 0 [0]: monotonic increase yields -1+n0^0 >= 0 -4+n1^0-y^0 >= 0 [0]: montonic decrease yields -1-3*n6+n1^0-y^0 >= 0 -4+n1^0-y^0 >= 0 [1]: eventual increase yields (3 <= 0 /\ -4+n1^0-y^0 >= 0) -4+n0^0-x^0 >= 0 [0]: montonic decrease yields -1+n0^0-3*n6-x^0 >= 0 -4+n0^0-x^0 >= 0 [1]: eventual increase yields (3 <= 0 /\ -4+n0^0-x^0 >= 0) -1+n1^0 >= 0 [0]: monotonic increase yields -1+n1^0 >= 0 6 >= 0 [0]: monotonic increase yields 6 >= 0 -1+pc_plan_next^post19 >= 0 [0]: monotonic increase yields -1+pc_plan_next^post19 >= 0 Replacement map: {7-pc_plan_next^post19 >= 0 -> 7-pc_plan_next^post19 >= 0, -1+n0^0 >= 0 -> -1+n0^0 >= 0, -4+n1^0-y^0 >= 0 -> -1-3*n6+n1^0-y^0 >= 0, -4+n0^0-x^0 >= 0 -> -1+n0^0-3*n6-x^0 >= 0, -1+n1^0 >= 0 -> -1+n1^0 >= 0, 6 >= 0 -> 6 >= 0, -1+pc_plan_next^post19 >= 0 -> -1+pc_plan_next^post19 >= 0} Simplified Guard Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=3*n6+x^0, x_next^0'=3*n6+x^0, y^0'=3*n6+y^0, y_next^0'=3*n6+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-3*n6-x^0 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ 6 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-3*n6+n1^0-y^0 >= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=3*n6+x^0, x_next^0'=3*n6+x^0, y^0'=3*n6+y^0, y_next^0'=3*n6+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-3*n6-x^0 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-3*n6+n1^0-y^0 >= 0), cost: 1 Trace 75[T], 69[T], 80[(-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0)], 81[(7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-3*n6-x^0 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-3*n6+n1^0-y^0 >= 0)] Blocked [{}, {}, {}, {80[T]}, {81[T]}] Accelerate Start location: l7 Program variables: executed_drive^0 is_aborted^0 is_aborted_next^0 n0^0 n1^0 pc_drive^0 pc_drive_next^0 pc_loop^0 pc_plan^0 pc_plan_next^0 x^0 x_next^0 y^0 y_next^0 39: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 40: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 41: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 42: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post4, is_aborted_next^0'=is_aborted_next^post4, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 43: l0 -> l1 : is_aborted^0'=is_aborted_next^post5, is_aborted_next^0'=is_aborted_next^post5, pc_drive^0'=pc_drive_next^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 44: l0 -> l1 : is_aborted^0'=is_aborted_next^post6, is_aborted_next^0'=is_aborted_next^post6, pc_drive^0'=pc_drive_next^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 69: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, T, cost: 1 70: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0), cost: 1 71: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 72: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0), cost: 1 73: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 74: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 45: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post7, is_aborted_next^0'=is_aborted_next^post7, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 46: l2 -> l3 : is_aborted^0'=is_aborted_next^post8, is_aborted_next^0'=is_aborted_next^post8, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post8, pc_plan_next^0'=pc_plan_next^post8, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 47: l2 -> l3 : is_aborted^0'=is_aborted_next^post9, is_aborted_next^0'=is_aborted_next^post9, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post9, pc_plan_next^0'=pc_plan_next^post9, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 48: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post10, is_aborted_next^0'=is_aborted_next^post10, pc_drive^0'=2, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 49: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post11, is_aborted_next^0'=is_aborted_next^post11, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post11, pc_plan_next^0'=pc_plan_next^post11, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 50: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post12, pc_plan_next^0'=pc_plan_next^post12, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0), cost: 1 51: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 52: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0), cost: 1 53: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 54: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 55: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0), cost: 1 56: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0), cost: 1 57: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 58: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0), cost: 1 59: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 63: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0), cost: 1 64: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 65: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 66: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 67: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 68: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 76: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^0+3*n, x_next^0'=x^0+3*n, y^0'=y^0+3*n, y_next^0'=y^0+3*n, (7-pc_plan_next^post19 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0), cost: 1 77: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2+x^0, x_next^0'=2*n2+x^0, y^0'=2*n2+y^0, y_next^0'=2*n2+y^0, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n2 >= 0 /\ -1+n0^0-2*n2-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1-2*n2+n1^0-y^0 >= 0), cost: 1 78: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2*n3+x^0+3*n1*n3, x_next^0'=3*n1+2*n2+2*n2*(-1+n3)+x^0+3*n1*(-1+n3), y^0'=2*n2*n3+3*n1*n3+y^0, y_next^0'=3*n1+2*n2+2*n2*(-1+n3)+y^0+3*n1*(-1+n3), (7-pc_drive_next^post20 >= 0 /\ -1+n1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n3 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+n2 >= 0 /\ -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ -1+n1^0 >= 0 /\ -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 79: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+2*n4, x_next^0'=x^0+2*n4, y^0'=2*n4+y^0, y_next^0'=2*n4+y^0, (-1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1-2*n4+n1^0-y^0 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n0^0-x^0-2*n4 >= 0), cost: 1 80: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=3*n11*n5*n31+x^0+2*n4*n5+2*n22*n5*n31, x_next^0'=2*(-1+n5)*n22*n31+x^0+2*n4+3*n11*n31+2*(-1+n5)*n4+3*n11*(-1+n5)*n31+2*n22*n31, y^0'=3*n11*n5*n31+2*n4*n5+y^0+2*n22*n5*n31, y_next^0'=2*(-1+n5)*n22*n31+2*n4+3*n11*n31+2*(-1+n5)*n4+y^0+3*n11*(-1+n5)*n31+2*n22*n31, (-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0), cost: 1 81: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=3*n6+x^0, x_next^0'=3*n6+x^0, y^0'=3*n6+y^0, y_next^0'=3*n6+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-3*n6-x^0 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-3*n6+n1^0-y^0 >= 0), cost: 1 82: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n311*n7*n51*n221+2*n42*n7*n51+x^0+3*n311*n7*n111*n51+3*n6*n7, x_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+x^0+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+3*n311*n111*n51, y^0'=2*n311*n7*n51*n221+2*n42*n7*n51+3*n311*n7*n111*n51+y^0+3*n6*n7, y_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+y^0+3*n311*n111*n51, (7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0), cost: 1 60: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 61: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0), cost: 1 62: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 75: l7 -> l1 : T, cost: 1 Loop Acceleration Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=3*n6+2*n311*n51*n221+x^0+2*n42*n51+3*n311*n111*n51, x_next^0'=3*n6+2*n311*n51*n221+x^0+2*n42*n51+3*n311*n111*n51, y^0'=3*n6+2*n311*n51*n221+2*n42*n51+y^0+3*n311*n111*n51, y_next^0'=3*n6+2*n311*n51*n221+2*n42*n51+y^0+3*n311*n111*n51, (7-pc_plan_next^post19 >= 0 /\ -1+n311 >= 0 /\ -2 <= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n6-2*n311*n51*n221+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -6 <= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n0^0-3*n6-2*n311*n51*n221-x^0-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n111 >= 0 /\ -1+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n221-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n221+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42-3*n311*(-1+n51)*n111-3*n311*n111+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n311*n7*n51*n221+2*n42*n7*n51+x^0+3*n311*n7*n111*n51+3*n6*n7, x_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+x^0+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+3*n311*n111*n51, y^0'=2*n311*n7*n51*n221+2*n42*n7*n51+3*n311*n7*n111*n51+y^0+3*n6*n7, y_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+y^0+3*n311*n111*n51, (7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ 2 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ 6 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0), cost: 1 7-pc_plan_next^post19 >= 0 [0]: monotonic increase yields 7-pc_plan_next^post19 >= 0 -1+n311 >= 0 [0]: monotonic increase yields -1+n311 >= 0 -1+n51 >= 0 [0]: monotonic increase yields -1+n51 >= 0 -1+n0^0 >= 0 [0]: monotonic increase yields -1+n0^0 >= 0 -1-3*n6-2*n311*n51*n221+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 [0]: montonic decrease yields -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0, dependencies: -1+n311 >= 0 -1+n51 >= 0 -1+n221 >= 0 -1+n6 >= 0 -1+n42 >= 0 -1+n111 >= 0 -1-3*n6-2*n311*n51*n221+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 [1]: eventual decrease yields (-1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1-3*n6-2*n311*n51*n221+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0) -1-3*n6-2*n311*n51*n221+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 [2]: eventual increase yields (-1-3*n6-2*n311*n51*n221+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ 3*n6+2*n311*n51*n221+2*n42*n51+3*n311*n111*n51 <= 0) -1-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 [0]: montonic decrease yields -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0, dependencies: -1-3*n6-2*n311*n51*n221+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 -1+n221 >= 0 -1+n6 >= 0 -1+n42 >= 0 -1-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 [1]: eventual decrease yields (-1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0) -1-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 [2]: eventual increase yields (-1-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ 3*n6+2*n311*n51*n221+2*n42*n51+3*n311*n111*n51 <= 0) 2 >= 0 [0]: monotonic increase yields 2 >= 0 -1+n221 >= 0 [0]: monotonic increase yields -1+n221 >= 0 -1+n6 >= 0 [0]: monotonic increase yields -1+n6 >= 0 -1+n1^0 >= 0 [0]: monotonic increase yields -1+n1^0 >= 0 -1+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 [0]: montonic decrease yields -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0, dependencies: -1+n221 >= 0 -1+n6 >= 0 -1+n42 >= 0 -1+n0^0-3*n6-2*n311*n51*n221-x^0-2*n42*n51-3*n311*n111*n51 >= 0 -1+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 [1]: eventual decrease yields (-1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0) -1+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 [2]: eventual increase yields (-1+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ 3*n6+2*n311*n51*n221+2*n42*n51+3*n311*n111*n51 <= 0) -1+n42 >= 0 [0]: monotonic increase yields -1+n42 >= 0 6 >= 0 [0]: monotonic increase yields 6 >= 0 -1+pc_plan_next^post19 >= 0 [0]: monotonic increase yields -1+pc_plan_next^post19 >= 0 -1+n0^0-3*n6-2*n311*n51*n221-x^0-2*n42*n51-3*n311*n111*n51 >= 0 [0]: montonic decrease yields -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0, dependencies: -1+n311 >= 0 -1+n51 >= 0 -1+n221 >= 0 -1+n6 >= 0 -1+n42 >= 0 -1+n111 >= 0 -1+n0^0-3*n6-2*n311*n51*n221-x^0-2*n42*n51-3*n311*n111*n51 >= 0 [1]: eventual decrease yields (-1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n0^0-3*n6-2*n311*n51*n221-x^0-2*n42*n51-3*n311*n111*n51 >= 0) -1+n0^0-3*n6-2*n311*n51*n221-x^0-2*n42*n51-3*n311*n111*n51 >= 0 [2]: eventual increase yields (3*n6+2*n311*n51*n221+2*n42*n51+3*n311*n111*n51 <= 0 /\ -1+n0^0-3*n6-2*n311*n51*n221-x^0-2*n42*n51-3*n311*n111*n51 >= 0) -1+n111 >= 0 [0]: monotonic increase yields -1+n111 >= 0 -1+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n221-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 [0]: montonic decrease yields -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0, dependencies: -1+n6 >= 0 -1+n42 >= 0 -1+n0^0-3*n6-2*n311*n51*n221-x^0-2*n42*n51-3*n311*n111*n51 >= 0 -1+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n221-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 [1]: eventual increase yields (3*n6+2*n311*n51*n221+2*n42*n51+3*n311*n111*n51 <= 0 /\ -1+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n221-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0) -1+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 [0]: montonic decrease yields -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0, dependencies: -1+n6 >= 0 -1+n0^0-3*n6-2*n311*n51*n221-x^0-2*n42*n51-3*n311*n111*n51 >= 0 -1+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 [1]: eventual increase yields (3*n6+2*n311*n51*n221+2*n42*n51+3*n311*n111*n51 <= 0 /\ -1+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0) -1-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n221+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 [0]: montonic decrease yields -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0, dependencies: -1-3*n6-2*n311*n51*n221+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 -1+n6 >= 0 -1+n42 >= 0 -1-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n221+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 [1]: eventual increase yields (3*n6+2*n311*n51*n221+2*n42*n51+3*n311*n111*n51 <= 0 /\ -1-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n221+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0) -1-2*n42-3*n311*(-1+n51)*n111-3*n311*n111+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 [0]: montonic decrease yields -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0, dependencies: -1-3*n6-2*n311*n51*n221+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 -1+n6 >= 0 -1-2*n42-3*n311*(-1+n51)*n111-3*n311*n111+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 [1]: eventual increase yields (3*n6+2*n311*n51*n221+2*n42*n51+3*n311*n111*n51 <= 0 /\ -1-2*n42-3*n311*(-1+n51)*n111-3*n311*n111+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0) Replacement map: {7-pc_plan_next^post19 >= 0 -> 7-pc_plan_next^post19 >= 0, -1+n311 >= 0 -> -1+n311 >= 0, -1+n51 >= 0 -> -1+n51 >= 0, -1+n0^0 >= 0 -> -1+n0^0 >= 0, -1-3*n6-2*n311*n51*n221+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 -> -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0, -1-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 -> -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0, 2 >= 0 -> 2 >= 0, -1+n221 >= 0 -> -1+n221 >= 0, -1+n6 >= 0 -> -1+n6 >= 0, -1+n1^0 >= 0 -> -1+n1^0 >= 0, -1+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 -> -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0, -1+n42 >= 0 -> -1+n42 >= 0, 6 >= 0 -> 6 >= 0, -1+pc_plan_next^post19 >= 0 -> -1+pc_plan_next^post19 >= 0, -1+n0^0-3*n6-2*n311*n51*n221-x^0-2*n42*n51-3*n311*n111*n51 >= 0 -> -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0, -1+n111 >= 0 -> -1+n111 >= 0, -1+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n221-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 -> -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0, -1+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 -> -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0, -1-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n221+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 -> -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0, -1-2*n42-3*n311*(-1+n51)*n111-3*n311*n111+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 -> -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0} Simplified Guard Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n311*n7*n51*n221+2*n42*n7*n51+x^0+3*n311*n7*n111*n51+3*n6*n7, x_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+x^0+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+3*n311*n111*n51, y^0'=2*n311*n7*n51*n221+2*n42*n7*n51+3*n311*n7*n111*n51+y^0+3*n6*n7, y_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+y^0+3*n311*n111*n51, (7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ 2 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ 6 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n311*n7*n51*n221+2*n42*n7*n51+x^0+3*n311*n7*n111*n51+3*n6*n7, x_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+x^0+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+3*n311*n111*n51, y^0'=2*n311*n7*n51*n221+2*n42*n7*n51+3*n311*n7*n111*n51+y^0+3*n6*n7, y_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+y^0+3*n311*n111*n51, (7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0), cost: 1 Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)] Blocked [{}, {}, {}, {82[T]}] Step with 63 Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}] Step with 60 Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {}] Step with 50 Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {}, {}] Step with 57 Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 57[(2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {}, {}, {}] Covered Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {}, {57[T]}] Step with 51 Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 51[(-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {}, {57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {}, {51[T], 57[T], 58[T], 59[T]}] Step with 52 Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 52[(1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {}, {51[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {}, {51[T], 52[T], 57[T], 58[T], 59[T]}] Step with 53 Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 53[(-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {}, {51[T], 52[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {}, {51[T], 52[T], 53[T], 57[T], 58[T], 59[T]}] Step with 54 Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 54[(-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {}, {51[T], 52[T], 53[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {}, {51[T], 52[T], 53[T], 54[T], 57[T], 58[T], 59[T]}] Step with 55 Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 55[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {}, {51[T], 52[T], 53[T], 54[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {}, {51[T], 52[T], 53[T], 54[T], 55[T], 57[T], 58[T], 59[T]}] Step with 56 Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 56[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {}, {51[T], 52[T], 53[T], 54[T], 55[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}] Backtrack Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {50[T]}] Step with 46 Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {45[T], 50[T]}, {}] Step with 56 Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 56[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {45[T], 50[T]}, {}, {}] Backtrack Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {45[T], 50[T]}, {56[T]}] Step with 57 Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 57[(2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {45[T], 50[T]}, {56[T]}, {}] Covered Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {45[T], 50[T]}, {56[T], 57[T]}] Step with 58 Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 58[(-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {45[T], 50[T]}, {56[T], 57[T]}, {}] Covered Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {45[T], 50[T]}, {56[T], 57[T], 58[T]}] Step with 59 Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 59[(1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {45[T], 50[T]}, {56[T], 57[T], 58[T]}, {}] Covered Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {45[T], 50[T]}, {56[T], 57[T], 58[T], 59[T]}] Step with 51 Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 51[(-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {45[T], 50[T]}, {56[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {45[T], 50[T]}, {51[T], 56[T], 57[T], 58[T], 59[T]}] Step with 52 Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 52[(1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {45[T], 50[T]}, {51[T], 56[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {45[T], 50[T]}, {51[T], 52[T], 56[T], 57[T], 58[T], 59[T]}] Step with 53 Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 53[(-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {45[T], 50[T]}, {51[T], 52[T], 56[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {45[T], 50[T]}, {51[T], 52[T], 53[T], 56[T], 57[T], 58[T], 59[T]}] Step with 54 Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 54[(-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {45[T], 50[T]}, {51[T], 52[T], 53[T], 56[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {45[T], 50[T]}, {51[T], 52[T], 53[T], 54[T], 56[T], 57[T], 58[T], 59[T]}] Step with 55 Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 55[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {45[T], 50[T]}, {51[T], 52[T], 53[T], 54[T], 56[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {45[T], 50[T]}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}] Backtrack Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)] Blocked [{}, {}, {}, {82[T]}, {}, {45[T], 46[T], 50[T]}] Backtrack Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)] Blocked [{}, {}, {}, {82[T]}, {60[T]}] Step with 61 Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)] Blocked [{}, {}, {}, {82[T]}, {60[T]}, {}] Step with 46 Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {82[T]}, {60[T]}, {}, {}] Step with 55 Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 55[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0)] Blocked [{}, {}, {}, {82[T]}, {60[T]}, {}, {}, {}] Backtrack Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {82[T]}, {60[T]}, {}, {55[T]}] Step with 56 Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 56[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0)] Blocked [{}, {}, {}, {82[T]}, {60[T]}, {}, {55[T]}, {}] Backtrack Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {82[T]}, {60[T]}, {}, {55[T], 56[T]}] Step with 57 Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 57[(2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0)] Blocked [{}, {}, {}, {82[T]}, {60[T]}, {}, {55[T], 56[T]}, {}] Accelerate Start location: l7 Program variables: executed_drive^0 is_aborted^0 is_aborted_next^0 n0^0 n1^0 pc_drive^0 pc_drive_next^0 pc_loop^0 pc_plan^0 pc_plan_next^0 x^0 x_next^0 y^0 y_next^0 39: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 40: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 41: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 42: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post4, is_aborted_next^0'=is_aborted_next^post4, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 43: l0 -> l1 : is_aborted^0'=is_aborted_next^post5, is_aborted_next^0'=is_aborted_next^post5, pc_drive^0'=pc_drive_next^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 44: l0 -> l1 : is_aborted^0'=is_aborted_next^post6, is_aborted_next^0'=is_aborted_next^post6, pc_drive^0'=pc_drive_next^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 69: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, T, cost: 1 70: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0), cost: 1 71: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 72: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0), cost: 1 73: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 74: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 45: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post7, is_aborted_next^0'=is_aborted_next^post7, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 46: l2 -> l3 : is_aborted^0'=is_aborted_next^post8, is_aborted_next^0'=is_aborted_next^post8, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post8, pc_plan_next^0'=pc_plan_next^post8, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 47: l2 -> l3 : is_aborted^0'=is_aborted_next^post9, is_aborted_next^0'=is_aborted_next^post9, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post9, pc_plan_next^0'=pc_plan_next^post9, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 48: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post10, is_aborted_next^0'=is_aborted_next^post10, pc_drive^0'=2, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 49: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post11, is_aborted_next^0'=is_aborted_next^post11, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post11, pc_plan_next^0'=pc_plan_next^post11, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 50: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post12, pc_plan_next^0'=pc_plan_next^post12, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0), cost: 1 51: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 52: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0), cost: 1 53: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 54: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 55: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0), cost: 1 56: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0), cost: 1 57: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 58: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0), cost: 1 59: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 63: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0), cost: 1 64: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 65: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 66: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 67: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 68: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 76: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^0+3*n, x_next^0'=x^0+3*n, y^0'=y^0+3*n, y_next^0'=y^0+3*n, (7-pc_plan_next^post19 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0), cost: 1 77: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2+x^0, x_next^0'=2*n2+x^0, y^0'=2*n2+y^0, y_next^0'=2*n2+y^0, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n2 >= 0 /\ -1+n0^0-2*n2-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1-2*n2+n1^0-y^0 >= 0), cost: 1 78: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2*n3+x^0+3*n1*n3, x_next^0'=3*n1+2*n2+2*n2*(-1+n3)+x^0+3*n1*(-1+n3), y^0'=2*n2*n3+3*n1*n3+y^0, y_next^0'=3*n1+2*n2+2*n2*(-1+n3)+y^0+3*n1*(-1+n3), (7-pc_drive_next^post20 >= 0 /\ -1+n1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n3 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+n2 >= 0 /\ -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ -1+n1^0 >= 0 /\ -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 79: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+2*n4, x_next^0'=x^0+2*n4, y^0'=2*n4+y^0, y_next^0'=2*n4+y^0, (-1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1-2*n4+n1^0-y^0 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n0^0-x^0-2*n4 >= 0), cost: 1 80: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=3*n11*n5*n31+x^0+2*n4*n5+2*n22*n5*n31, x_next^0'=2*(-1+n5)*n22*n31+x^0+2*n4+3*n11*n31+2*(-1+n5)*n4+3*n11*(-1+n5)*n31+2*n22*n31, y^0'=3*n11*n5*n31+2*n4*n5+y^0+2*n22*n5*n31, y_next^0'=2*(-1+n5)*n22*n31+2*n4+3*n11*n31+2*(-1+n5)*n4+y^0+3*n11*(-1+n5)*n31+2*n22*n31, (-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0), cost: 1 81: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=3*n6+x^0, x_next^0'=3*n6+x^0, y^0'=3*n6+y^0, y_next^0'=3*n6+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-3*n6-x^0 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-3*n6+n1^0-y^0 >= 0), cost: 1 82: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n311*n7*n51*n221+2*n42*n7*n51+x^0+3*n311*n7*n111*n51+3*n6*n7, x_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+x^0+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+3*n311*n111*n51, y^0'=2*n311*n7*n51*n221+2*n42*n7*n51+3*n311*n7*n111*n51+y^0+3*n6*n7, y_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+y^0+3*n311*n111*n51, (7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0), cost: 1 83: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n8+x^0, x_next^0'=2*n8+x^0, y^0'=2*n8+y^0, y_next^0'=2*n8+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n8-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n8+n1^0-y^0 >= 0 /\ -1+n8 >= 0), cost: 1 60: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 61: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0), cost: 1 62: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 75: l7 -> l1 : T, cost: 1 Loop Acceleration Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2+x^0, x_next^0'=2+x^0, y^0'=2+y^0, y_next^0'=2+y^0, (-7+pc_plan_next^post19 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -2 <= 0 /\ 3-n1^0+y^0 <= 0 /\ 1-n0^0 <= 0 /\ -6 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0 /\ -1 <= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n8+x^0, x_next^0'=2*n8+x^0, y^0'=2*n8+y^0, y_next^0'=2*n8+y^0, (7-pc_plan_next^post19 >= 0 /\ 1 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n8-x^0 >= 0 /\ 2 >= 0 /\ -1+n1^0 >= 0 /\ 6 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n8+n1^0-y^0 >= 0 /\ -1+n8 >= 0), cost: 1 7-pc_plan_next^post19 >= 0 [0]: monotonic increase yields 7-pc_plan_next^post19 >= 0 -3+n0^0-x^0 >= 0 [0]: montonic decrease yields -1+n0^0-2*n8-x^0 >= 0 -3+n0^0-x^0 >= 0 [1]: eventual increase yields (-3+n0^0-x^0 >= 0 /\ 2 <= 0) 1 >= 0 [0]: monotonic increase yields 1 >= 0 -3+n1^0-y^0 >= 0 [0]: montonic decrease yields -1-2*n8+n1^0-y^0 >= 0 -3+n1^0-y^0 >= 0 [1]: eventual increase yields (-3+n1^0-y^0 >= 0 /\ 2 <= 0) -1+n0^0 >= 0 [0]: monotonic increase yields -1+n0^0 >= 0 2 >= 0 [0]: monotonic increase yields 2 >= 0 -1+n1^0 >= 0 [0]: monotonic increase yields -1+n1^0 >= 0 6 >= 0 [0]: monotonic increase yields 6 >= 0 -1+pc_plan_next^post19 >= 0 [0]: monotonic increase yields -1+pc_plan_next^post19 >= 0 Replacement map: {7-pc_plan_next^post19 >= 0 -> 7-pc_plan_next^post19 >= 0, -3+n0^0-x^0 >= 0 -> -1+n0^0-2*n8-x^0 >= 0, 1 >= 0 -> 1 >= 0, -3+n1^0-y^0 >= 0 -> -1-2*n8+n1^0-y^0 >= 0, -1+n0^0 >= 0 -> -1+n0^0 >= 0, 2 >= 0 -> 2 >= 0, -1+n1^0 >= 0 -> -1+n1^0 >= 0, 6 >= 0 -> 6 >= 0, -1+pc_plan_next^post19 >= 0 -> -1+pc_plan_next^post19 >= 0} Simplified Guard Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n8+x^0, x_next^0'=2*n8+x^0, y^0'=2*n8+y^0, y_next^0'=2*n8+y^0, (7-pc_plan_next^post19 >= 0 /\ 1 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n8-x^0 >= 0 /\ 2 >= 0 /\ -1+n1^0 >= 0 /\ 6 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n8+n1^0-y^0 >= 0 /\ -1+n8 >= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n8+x^0, x_next^0'=2*n8+x^0, y^0'=2*n8+y^0, y_next^0'=2*n8+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n8-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n8+n1^0-y^0 >= 0 /\ -1+n8 >= 0), cost: 1 Trace 75[T], 69[T], 82[(7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0)], 83[(7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n8-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n8+n1^0-y^0 >= 0 /\ -1+n8 >= 0)] Blocked [{}, {}, {}, {82[T]}, {83[T]}] Accelerate Start location: l7 Program variables: executed_drive^0 is_aborted^0 is_aborted_next^0 n0^0 n1^0 pc_drive^0 pc_drive_next^0 pc_loop^0 pc_plan^0 pc_plan_next^0 x^0 x_next^0 y^0 y_next^0 39: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 40: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 41: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 42: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post4, is_aborted_next^0'=is_aborted_next^post4, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 43: l0 -> l1 : is_aborted^0'=is_aborted_next^post5, is_aborted_next^0'=is_aborted_next^post5, pc_drive^0'=pc_drive_next^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 44: l0 -> l1 : is_aborted^0'=is_aborted_next^post6, is_aborted_next^0'=is_aborted_next^post6, pc_drive^0'=pc_drive_next^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 69: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, T, cost: 1 70: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0), cost: 1 71: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 72: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0), cost: 1 73: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 74: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 45: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post7, is_aborted_next^0'=is_aborted_next^post7, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 46: l2 -> l3 : is_aborted^0'=is_aborted_next^post8, is_aborted_next^0'=is_aborted_next^post8, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post8, pc_plan_next^0'=pc_plan_next^post8, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 47: l2 -> l3 : is_aborted^0'=is_aborted_next^post9, is_aborted_next^0'=is_aborted_next^post9, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post9, pc_plan_next^0'=pc_plan_next^post9, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 48: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post10, is_aborted_next^0'=is_aborted_next^post10, pc_drive^0'=2, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 49: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post11, is_aborted_next^0'=is_aborted_next^post11, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post11, pc_plan_next^0'=pc_plan_next^post11, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 50: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post12, pc_plan_next^0'=pc_plan_next^post12, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0), cost: 1 51: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 52: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0), cost: 1 53: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 54: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 55: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0), cost: 1 56: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0), cost: 1 57: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 58: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0), cost: 1 59: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 63: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0), cost: 1 64: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 65: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 66: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 67: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 68: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 76: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^0+3*n, x_next^0'=x^0+3*n, y^0'=y^0+3*n, y_next^0'=y^0+3*n, (7-pc_plan_next^post19 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0), cost: 1 77: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2+x^0, x_next^0'=2*n2+x^0, y^0'=2*n2+y^0, y_next^0'=2*n2+y^0, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n2 >= 0 /\ -1+n0^0-2*n2-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1-2*n2+n1^0-y^0 >= 0), cost: 1 78: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2*n3+x^0+3*n1*n3, x_next^0'=3*n1+2*n2+2*n2*(-1+n3)+x^0+3*n1*(-1+n3), y^0'=2*n2*n3+3*n1*n3+y^0, y_next^0'=3*n1+2*n2+2*n2*(-1+n3)+y^0+3*n1*(-1+n3), (7-pc_drive_next^post20 >= 0 /\ -1+n1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n3 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+n2 >= 0 /\ -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ -1+n1^0 >= 0 /\ -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 79: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+2*n4, x_next^0'=x^0+2*n4, y^0'=2*n4+y^0, y_next^0'=2*n4+y^0, (-1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1-2*n4+n1^0-y^0 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n0^0-x^0-2*n4 >= 0), cost: 1 80: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=3*n11*n5*n31+x^0+2*n4*n5+2*n22*n5*n31, x_next^0'=2*(-1+n5)*n22*n31+x^0+2*n4+3*n11*n31+2*(-1+n5)*n4+3*n11*(-1+n5)*n31+2*n22*n31, y^0'=3*n11*n5*n31+2*n4*n5+y^0+2*n22*n5*n31, y_next^0'=2*(-1+n5)*n22*n31+2*n4+3*n11*n31+2*(-1+n5)*n4+y^0+3*n11*(-1+n5)*n31+2*n22*n31, (-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0), cost: 1 81: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=3*n6+x^0, x_next^0'=3*n6+x^0, y^0'=3*n6+y^0, y_next^0'=3*n6+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-3*n6-x^0 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-3*n6+n1^0-y^0 >= 0), cost: 1 82: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n311*n7*n51*n221+2*n42*n7*n51+x^0+3*n311*n7*n111*n51+3*n6*n7, x_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+x^0+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+3*n311*n111*n51, y^0'=2*n311*n7*n51*n221+2*n42*n7*n51+3*n311*n7*n111*n51+y^0+3*n6*n7, y_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+y^0+3*n311*n111*n51, (7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0), cost: 1 83: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n8+x^0, x_next^0'=2*n8+x^0, y^0'=2*n8+y^0, y_next^0'=2*n8+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n8-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n8+n1^0-y^0 >= 0 /\ -1+n8 >= 0), cost: 1 84: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+x^0+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71, x_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+x^0+3*n62*(-1+n9)*n71+2*n511*n2211*n3111*n71, y^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71+y^0, y_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+3*n62*(-1+n9)*n71+y^0+2*n511*n2211*n3111*n71, (7-pc_plan_next^post19 >= 0 /\ -1+n1111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-3*n62*(-1+n9)*n71-y^0-2*n511*n2211*n3111*n71 >= 0 /\ -1+n62 >= 0 /\ -1+n0^0 >= 0 /\ -1+n3111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1+n511 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n9 >= 0 /\ -1+n2211 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-x^0-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-3*n62*(-1+n9)*n71-2*n511*n2211*n3111*n71 >= 0 /\ -1+n8 >= 0 /\ -1+n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n421 >= 0), cost: 1 60: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 61: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0), cost: 1 62: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 75: l7 -> l1 : T, cost: 1 Loop Acceleration Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=3*n62*n71+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+x^0+2*n511*n2211*n3111*n71, x_next^0'=3*n62*n71+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+x^0+2*n511*n2211*n3111*n71, y^0'=3*n62*n71+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+y^0+2*n511*n2211*n3111*n71, y_next^0'=3*n62*n71+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+y^0+2*n511*n2211*n3111*n71, (7-pc_plan_next^post19 >= 0 /\ -1+n1111 >= 0 /\ -1+n62 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-y^0-3*n1111*n3111-2*n421 >= 0 /\ -1-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71) >= 0 /\ -1+n3111 >= 0 /\ -6 <= 0 /\ -1-3*n62*n71-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-y^0-2*n511*n2211*n3111*n71 >= 0 /\ -1-3*n62*n71+n0^0-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-2*n511*n2211*n3111*n71 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-3*n1111*n511*n3111-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71) >= 0 /\ -1+n511 >= 0 /\ -1-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-y^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-3*n1111*n511*n3111-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-y^0 >= 0 /\ -1+n2211 >= 0 /\ -1-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-y^0 >= 0 /\ -1-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71) >= 0 /\ -1+n8 >= 0 /\ -1+n71 >= 0 /\ -1+n421 >= 0 /\ -1-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-3*n62*(-1+n71)-x^0-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n1111*n3111-2*n421 >= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+x^0+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71, x_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+x^0+3*n62*(-1+n9)*n71+2*n511*n2211*n3111*n71, y^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71+y^0, y_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+3*n62*(-1+n9)*n71+y^0+2*n511*n2211*n3111*n71, (7-pc_plan_next^post19 >= 0 /\ -1+n1111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-3*n62*(-1+n9)*n71-y^0-2*n511*n2211*n3111*n71 >= 0 /\ -1+n62 >= 0 /\ -1+n0^0 >= 0 /\ -1+n3111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1+n511 >= 0 /\ 6 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n9 >= 0 /\ -1+n2211 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-x^0-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-3*n62*(-1+n9)*n71-2*n511*n2211*n3111*n71 >= 0 /\ -1+n8 >= 0 /\ -1+n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n421 >= 0), cost: 1 7-pc_plan_next^post19 >= 0 [0]: monotonic increase yields 7-pc_plan_next^post19 >= 0 -1+n1111 >= 0 [0]: monotonic increase yields -1+n1111 >= 0 -1+n62 >= 0 [0]: monotonic increase yields -1+n62 >= 0 -1+n0^0 >= 0 [0]: monotonic increase yields -1+n0^0 >= 0 -1-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-y^0-3*n1111*n3111-2*n421 >= 0 [0]: montonic decrease yields -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0-3*n1111*n3111-2*n421 >= 0, dependencies: -1+n62 >= 0 -1-3*n62*n71-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-y^0-2*n511*n2211*n3111*n71 >= 0 -1+n8 >= 0 -1-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-y^0-3*n1111*n3111-2*n421 >= 0 [1]: eventual decrease yields (-1-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-y^0-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0-3*n1111*n3111-2*n421 >= 0) -1-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-y^0-3*n1111*n3111-2*n421 >= 0 [2]: eventual increase yields (-1-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-y^0-3*n1111*n3111-2*n421 >= 0 /\ 3*n62*n71+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+2*n511*n2211*n3111*n71 <= 0) -1-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71) >= 0 [0]: montonic decrease yields -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0, dependencies: -1+n62 >= 0 -1-3*n62*n71+n0^0-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-2*n511*n2211*n3111*n71 >= 0 -1+n8 >= 0 -1+n421 >= 0 -1-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71) >= 0 [1]: eventual decrease yields (-1-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71) >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0) -1-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71) >= 0 [2]: eventual increase yields (-1-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71) >= 0 /\ 3*n62*n71+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+2*n511*n2211*n3111*n71 <= 0) -1+n3111 >= 0 [0]: monotonic increase yields -1+n3111 >= 0 -1-3*n62*n71-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-y^0-2*n511*n2211*n3111*n71 >= 0 [0]: montonic decrease yields -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-3*n62*(-1+n9)*n71-y^0-2*n511*n2211*n3111*n71 >= 0, dependencies: -1+n1111 >= 0 -1+n62 >= 0 -1+n3111 >= 0 -1+n511 >= 0 -1+n2211 >= 0 -1+n8 >= 0 -1+n71 >= 0 -1+n421 >= 0 -1-3*n62*n71-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-y^0-2*n511*n2211*n3111*n71 >= 0 [1]: eventual decrease yields (-1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-3*n62*(-1+n9)*n71-y^0-2*n511*n2211*n3111*n71 >= 0 /\ -1-3*n62*n71-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-y^0-2*n511*n2211*n3111*n71 >= 0) -1-3*n62*n71-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-y^0-2*n511*n2211*n3111*n71 >= 0 [2]: eventual increase yields (-1-3*n62*n71-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-y^0-2*n511*n2211*n3111*n71 >= 0 /\ 3*n62*n71+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+2*n511*n2211*n3111*n71 <= 0) -1-3*n62*n71+n0^0-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-2*n511*n2211*n3111*n71 >= 0 [0]: montonic decrease yields -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-3*n62*(-1+n9)*n71-2*n511*n2211*n3111*n71 >= 0, dependencies: -1+n1111 >= 0 -1+n62 >= 0 -1+n3111 >= 0 -1+n511 >= 0 -1+n2211 >= 0 -1+n8 >= 0 -1+n71 >= 0 -1+n421 >= 0 -1-3*n62*n71+n0^0-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-2*n511*n2211*n3111*n71 >= 0 [1]: eventual decrease yields (-1-3*n62*n71+n0^0-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-2*n511*n2211*n3111*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-3*n62*(-1+n9)*n71-2*n511*n2211*n3111*n71 >= 0) -1-3*n62*n71+n0^0-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-2*n511*n2211*n3111*n71 >= 0 [2]: eventual increase yields (-1-3*n62*n71+n0^0-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-2*n511*n2211*n3111*n71 >= 0 /\ 3*n62*n71+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+2*n511*n2211*n3111*n71 <= 0) -1+n1^0 >= 0 [0]: monotonic increase yields -1+n1^0 >= 0 -1-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-3*n1111*n511*n3111-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71) >= 0 [0]: montonic decrease yields -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0, dependencies: -1-3*n62*n71+n0^0-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-2*n511*n2211*n3111*n71 >= 0 -1+n8 >= 0 -1-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-3*n1111*n511*n3111-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71) >= 0 [1]: eventual decrease yields (-1-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-3*n1111*n511*n3111-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71) >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0) -1-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-3*n1111*n511*n3111-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71) >= 0 [2]: eventual increase yields (3*n62*n71+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+2*n511*n2211*n3111*n71 <= 0 /\ -1-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-3*n1111*n511*n3111-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71) >= 0) -1+n511 >= 0 [0]: monotonic increase yields -1+n511 >= 0 6 >= 0 [0]: monotonic increase yields 6 >= 0 -1-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-y^0 >= 0 [0]: montonic decrease yields -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0, dependencies: -1+n62 >= 0 -1-3*n62*n71-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-y^0-2*n511*n2211*n3111*n71 >= 0 -1+n8 >= 0 -1+n421 >= 0 -1-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-y^0 >= 0 [1]: eventual decrease yields (-1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-y^0 >= 0) -1-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-y^0 >= 0 [2]: eventual increase yields (3*n62*n71+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+2*n511*n2211*n3111*n71 <= 0 /\ -1-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-y^0 >= 0) -1+pc_plan_next^post19 >= 0 [0]: monotonic increase yields -1+pc_plan_next^post19 >= 0 -1-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-3*n1111*n511*n3111-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-y^0 >= 0 [0]: montonic decrease yields -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0, dependencies: -1-3*n62*n71-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-y^0-2*n511*n2211*n3111*n71 >= 0 -1+n8 >= 0 -1-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-3*n1111*n511*n3111-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-y^0 >= 0 [1]: eventual decrease yields (-1-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-3*n1111*n511*n3111-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-y^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0) -1-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-3*n1111*n511*n3111-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-y^0 >= 0 [2]: eventual increase yields (3*n62*n71+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+2*n511*n2211*n3111*n71 <= 0 /\ -1-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-3*n1111*n511*n3111-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-y^0 >= 0) -1+n2211 >= 0 [0]: monotonic increase yields -1+n2211 >= 0 -1-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-y^0 >= 0 [0]: montonic decrease yields -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0, dependencies: -1+n62 >= 0 -1-3*n62*n71-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-y^0-2*n511*n2211*n3111*n71 >= 0 -1+n2211 >= 0 -1+n8 >= 0 -1+n421 >= 0 -1-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-y^0 >= 0 [1]: eventual decrease yields (-1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-y^0 >= 0) -1-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-y^0 >= 0 [2]: eventual increase yields (3*n62*n71+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+2*n511*n2211*n3111*n71 <= 0 /\ -1-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-y^0 >= 0) -1-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71) >= 0 [0]: montonic decrease yields -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0, dependencies: -1+n62 >= 0 -1-3*n62*n71+n0^0-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-2*n511*n2211*n3111*n71 >= 0 -1+n2211 >= 0 -1+n8 >= 0 -1+n421 >= 0 -1-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71) >= 0 [1]: eventual decrease yields (-1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71) >= 0) -1-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71) >= 0 [2]: eventual increase yields (3*n62*n71+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+2*n511*n2211*n3111*n71 <= 0 /\ -1-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71) >= 0) -1+n8 >= 0 [0]: monotonic increase yields -1+n8 >= 0 -1+n71 >= 0 [0]: monotonic increase yields -1+n71 >= 0 -1+n421 >= 0 [0]: monotonic increase yields -1+n421 >= 0 -1-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-3*n62*(-1+n71)-x^0-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n1111*n3111-2*n421 >= 0 [0]: montonic decrease yields -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-x^0-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-3*n1111*n3111-2*n421 >= 0, dependencies: -1+n62 >= 0 -1-3*n62*n71+n0^0-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-2*n511*n2211*n3111*n71 >= 0 -1+n8 >= 0 -1-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-3*n62*(-1+n71)-x^0-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n1111*n3111-2*n421 >= 0 [1]: eventual increase yields (3*n62*n71+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+2*n511*n2211*n3111*n71 <= 0 /\ -1-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-3*n62*(-1+n71)-x^0-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n1111*n3111-2*n421 >= 0) Replacement map: {7-pc_plan_next^post19 >= 0 -> 7-pc_plan_next^post19 >= 0, -1+n1111 >= 0 -> -1+n1111 >= 0, -1+n62 >= 0 -> -1+n62 >= 0, -1+n0^0 >= 0 -> -1+n0^0 >= 0, -1-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-y^0-3*n1111*n3111-2*n421 >= 0 -> -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0-3*n1111*n3111-2*n421 >= 0, -1-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71) >= 0 -> -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0, -1+n3111 >= 0 -> -1+n3111 >= 0, -1-3*n62*n71-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-y^0-2*n511*n2211*n3111*n71 >= 0 -> -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-3*n62*(-1+n9)*n71-y^0-2*n511*n2211*n3111*n71 >= 0, -1-3*n62*n71+n0^0-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-2*n511*n2211*n3111*n71 >= 0 -> -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-3*n62*(-1+n9)*n71-2*n511*n2211*n3111*n71 >= 0, -1+n1^0 >= 0 -> -1+n1^0 >= 0, -1-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-3*n1111*n511*n3111-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71) >= 0 -> -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0, -1+n511 >= 0 -> -1+n511 >= 0, 6 >= 0 -> 6 >= 0, -1-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-y^0 >= 0 -> -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0, -1+pc_plan_next^post19 >= 0 -> -1+pc_plan_next^post19 >= 0, -1-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-3*n1111*n511*n3111-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-y^0 >= 0 -> -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0, -1+n2211 >= 0 -> -1+n2211 >= 0, -1-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-y^0 >= 0 -> -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0, -1-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71) >= 0 -> -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0, -1+n8 >= 0 -> -1+n8 >= 0, -1+n71 >= 0 -> -1+n71 >= 0, -1+n421 >= 0 -> -1+n421 >= 0, -1-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-3*n62*(-1+n71)-x^0-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n1111*n3111-2*n421 >= 0 -> -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-x^0-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-3*n1111*n3111-2*n421 >= 0} Simplified Guard Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+x^0+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71, x_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+x^0+3*n62*(-1+n9)*n71+2*n511*n2211*n3111*n71, y^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71+y^0, y_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+3*n62*(-1+n9)*n71+y^0+2*n511*n2211*n3111*n71, (7-pc_plan_next^post19 >= 0 /\ -1+n1111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-3*n62*(-1+n9)*n71-y^0-2*n511*n2211*n3111*n71 >= 0 /\ -1+n62 >= 0 /\ -1+n0^0 >= 0 /\ -1+n3111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1+n511 >= 0 /\ 6 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n9 >= 0 /\ -1+n2211 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-x^0-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-3*n62*(-1+n9)*n71-2*n511*n2211*n3111*n71 >= 0 /\ -1+n8 >= 0 /\ -1+n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n421 >= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+x^0+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71, x_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+x^0+3*n62*(-1+n9)*n71+2*n511*n2211*n3111*n71, y^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71+y^0, y_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+3*n62*(-1+n9)*n71+y^0+2*n511*n2211*n3111*n71, (7-pc_plan_next^post19 >= 0 /\ -1+n1111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-3*n62*(-1+n9)*n71-y^0-2*n511*n2211*n3111*n71 >= 0 /\ -1+n62 >= 0 /\ -1+n0^0 >= 0 /\ -1+n3111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1+n511 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n9 >= 0 /\ -1+n2211 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-x^0-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-3*n62*(-1+n9)*n71-2*n511*n2211*n3111*n71 >= 0 /\ -1+n8 >= 0 /\ -1+n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n421 >= 0), cost: 1 Trace 75[T], 69[T], 84[(7-pc_plan_next^post19 >= 0 /\ -1+n1111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-3*n62*(-1+n9)*n71-y^0-2*n511*n2211*n3111*n71 >= 0 /\ -1+n62 >= 0 /\ -1+n0^0 >= 0 /\ -1+n3111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1+n511 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n9 >= 0 /\ -1+n2211 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-x^0-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-3*n62*(-1+n9)*n71-2*n511*n2211*n3111*n71 >= 0 /\ -1+n8 >= 0 /\ -1+n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n421 >= 0)] Blocked [{}, {}, {}, {84[T]}] Step with 63 Trace 75[T], 69[T], 84[(7-pc_plan_next^post19 >= 0 /\ -1+n1111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-3*n62*(-1+n9)*n71-y^0-2*n511*n2211*n3111*n71 >= 0 /\ -1+n62 >= 0 /\ -1+n0^0 >= 0 /\ -1+n3111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1+n511 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n9 >= 0 /\ -1+n2211 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-x^0-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-3*n62*(-1+n9)*n71-2*n511*n2211*n3111*n71 >= 0 /\ -1+n8 >= 0 /\ -1+n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n421 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)] Blocked [{}, {}, {}, {84[T]}, {}] Step with 61 Trace 75[T], 69[T], 84[(7-pc_plan_next^post19 >= 0 /\ -1+n1111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-3*n62*(-1+n9)*n71-y^0-2*n511*n2211*n3111*n71 >= 0 /\ -1+n62 >= 0 /\ -1+n0^0 >= 0 /\ -1+n3111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1+n511 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n9 >= 0 /\ -1+n2211 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-x^0-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-3*n62*(-1+n9)*n71-2*n511*n2211*n3111*n71 >= 0 /\ -1+n8 >= 0 /\ -1+n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n421 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)] Blocked [{}, {}, {}, {84[T]}, {}, {}] Step with 46 Trace 75[T], 69[T], 84[(7-pc_plan_next^post19 >= 0 /\ -1+n1111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-3*n62*(-1+n9)*n71-y^0-2*n511*n2211*n3111*n71 >= 0 /\ -1+n62 >= 0 /\ -1+n0^0 >= 0 /\ -1+n3111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1+n511 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n9 >= 0 /\ -1+n2211 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-x^0-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-3*n62*(-1+n9)*n71-2*n511*n2211*n3111*n71 >= 0 /\ -1+n8 >= 0 /\ -1+n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n421 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {84[T]}, {}, {}, {}] Step with 57 Trace 75[T], 69[T], 84[(7-pc_plan_next^post19 >= 0 /\ -1+n1111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-3*n62*(-1+n9)*n71-y^0-2*n511*n2211*n3111*n71 >= 0 /\ -1+n62 >= 0 /\ -1+n0^0 >= 0 /\ -1+n3111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1+n511 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n9 >= 0 /\ -1+n2211 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-x^0-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-3*n62*(-1+n9)*n71-2*n511*n2211*n3111*n71 >= 0 /\ -1+n8 >= 0 /\ -1+n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n421 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 57[(2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0)] Blocked [{}, {}, {}, {84[T]}, {}, {}, {}, {}] Covered Trace 75[T], 69[T], 84[(7-pc_plan_next^post19 >= 0 /\ -1+n1111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-3*n62*(-1+n9)*n71-y^0-2*n511*n2211*n3111*n71 >= 0 /\ -1+n62 >= 0 /\ -1+n0^0 >= 0 /\ -1+n3111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1+n511 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n9 >= 0 /\ -1+n2211 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-x^0-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-3*n62*(-1+n9)*n71-2*n511*n2211*n3111*n71 >= 0 /\ -1+n8 >= 0 /\ -1+n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n421 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {}, {}, {84[T]}, {}, {}, {57[T]}] Step with 58 Trace 75[T], 69[T], 84[(7-pc_plan_next^post19 >= 0 /\ -1+n1111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-3*n62*(-1+n9)*n71-y^0-2*n511*n2211*n3111*n71 >= 0 /\ -1+n62 >= 0 /\ -1+n0^0 >= 0 /\ -1+n3111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1+n511 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n9 >= 0 /\ -1+n2211 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-x^0-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-3*n62*(-1+n9)*n71-2*n511*n2211*n3111*n71 >= 0 /\ -1+n8 >= 0 /\ -1+n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n421 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 58[(-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0)] Blocked [{}, {}, {}, {84[T]}, {}, {}, {57[T]}, {}] Accelerate Start location: l7 Program variables: executed_drive^0 is_aborted^0 is_aborted_next^0 n0^0 n1^0 pc_drive^0 pc_drive_next^0 pc_loop^0 pc_plan^0 pc_plan_next^0 x^0 x_next^0 y^0 y_next^0 39: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 40: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 41: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 42: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post4, is_aborted_next^0'=is_aborted_next^post4, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 43: l0 -> l1 : is_aborted^0'=is_aborted_next^post5, is_aborted_next^0'=is_aborted_next^post5, pc_drive^0'=pc_drive_next^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 44: l0 -> l1 : is_aborted^0'=is_aborted_next^post6, is_aborted_next^0'=is_aborted_next^post6, pc_drive^0'=pc_drive_next^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 69: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, T, cost: 1 70: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0), cost: 1 71: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 72: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0), cost: 1 73: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 74: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 45: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post7, is_aborted_next^0'=is_aborted_next^post7, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 46: l2 -> l3 : is_aborted^0'=is_aborted_next^post8, is_aborted_next^0'=is_aborted_next^post8, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post8, pc_plan_next^0'=pc_plan_next^post8, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 47: l2 -> l3 : is_aborted^0'=is_aborted_next^post9, is_aborted_next^0'=is_aborted_next^post9, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post9, pc_plan_next^0'=pc_plan_next^post9, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 48: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post10, is_aborted_next^0'=is_aborted_next^post10, pc_drive^0'=2, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 49: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post11, is_aborted_next^0'=is_aborted_next^post11, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post11, pc_plan_next^0'=pc_plan_next^post11, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 50: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post12, pc_plan_next^0'=pc_plan_next^post12, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0), cost: 1 51: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 52: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0), cost: 1 53: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 54: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 55: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0), cost: 1 56: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0), cost: 1 57: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 58: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0), cost: 1 59: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 63: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0), cost: 1 64: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 65: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 66: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 67: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 68: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 76: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^0+3*n, x_next^0'=x^0+3*n, y^0'=y^0+3*n, y_next^0'=y^0+3*n, (7-pc_plan_next^post19 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0), cost: 1 77: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2+x^0, x_next^0'=2*n2+x^0, y^0'=2*n2+y^0, y_next^0'=2*n2+y^0, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n2 >= 0 /\ -1+n0^0-2*n2-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1-2*n2+n1^0-y^0 >= 0), cost: 1 78: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2*n3+x^0+3*n1*n3, x_next^0'=3*n1+2*n2+2*n2*(-1+n3)+x^0+3*n1*(-1+n3), y^0'=2*n2*n3+3*n1*n3+y^0, y_next^0'=3*n1+2*n2+2*n2*(-1+n3)+y^0+3*n1*(-1+n3), (7-pc_drive_next^post20 >= 0 /\ -1+n1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n3 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+n2 >= 0 /\ -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ -1+n1^0 >= 0 /\ -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 79: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+2*n4, x_next^0'=x^0+2*n4, y^0'=2*n4+y^0, y_next^0'=2*n4+y^0, (-1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1-2*n4+n1^0-y^0 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n0^0-x^0-2*n4 >= 0), cost: 1 80: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=3*n11*n5*n31+x^0+2*n4*n5+2*n22*n5*n31, x_next^0'=2*(-1+n5)*n22*n31+x^0+2*n4+3*n11*n31+2*(-1+n5)*n4+3*n11*(-1+n5)*n31+2*n22*n31, y^0'=3*n11*n5*n31+2*n4*n5+y^0+2*n22*n5*n31, y_next^0'=2*(-1+n5)*n22*n31+2*n4+3*n11*n31+2*(-1+n5)*n4+y^0+3*n11*(-1+n5)*n31+2*n22*n31, (-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0), cost: 1 81: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=3*n6+x^0, x_next^0'=3*n6+x^0, y^0'=3*n6+y^0, y_next^0'=3*n6+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-3*n6-x^0 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-3*n6+n1^0-y^0 >= 0), cost: 1 82: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n311*n7*n51*n221+2*n42*n7*n51+x^0+3*n311*n7*n111*n51+3*n6*n7, x_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+x^0+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+3*n311*n111*n51, y^0'=2*n311*n7*n51*n221+2*n42*n7*n51+3*n311*n7*n111*n51+y^0+3*n6*n7, y_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+y^0+3*n311*n111*n51, (7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0), cost: 1 83: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n8+x^0, x_next^0'=2*n8+x^0, y^0'=2*n8+y^0, y_next^0'=2*n8+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n8-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n8+n1^0-y^0 >= 0 /\ -1+n8 >= 0), cost: 1 84: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+x^0+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71, x_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+x^0+3*n62*(-1+n9)*n71+2*n511*n2211*n3111*n71, y^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71+y^0, y_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+3*n62*(-1+n9)*n71+y^0+2*n511*n2211*n3111*n71, (7-pc_plan_next^post19 >= 0 /\ -1+n1111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-3*n62*(-1+n9)*n71-y^0-2*n511*n2211*n3111*n71 >= 0 /\ -1+n62 >= 0 /\ -1+n0^0 >= 0 /\ -1+n3111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1+n511 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n9 >= 0 /\ -1+n2211 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-x^0-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-3*n62*(-1+n9)*n71-2*n511*n2211*n3111*n71 >= 0 /\ -1+n8 >= 0 /\ -1+n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n421 >= 0), cost: 1 85: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=x^0+n10, x_next^0'=x^0+n10, y^0'=y^0+n10, y_next^0'=y^0+n10, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n1^0-y^0-n10 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1+n0^0-x^0-n10 >= 0 /\ -1+n10 >= 0), cost: 1 60: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 61: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0), cost: 1 62: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 75: l7 -> l1 : T, cost: 1 Loop Acceleration Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_drive_next^post20 <= 0 /\ 2-n0^0+x^0 <= 0 /\ -2 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ -6 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ -1 <= 0 /\ -7+pc_plan_next^post20 <= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=x^0+n10, x_next^0'=x^0+n10, y^0'=y^0+n10, y_next^0'=y^0+n10, (7-pc_drive_next^post20 >= 0 /\ 1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ 2 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ 6 >= 0 /\ -1+n1^0-y^0-n10 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1+n0^0-x^0-n10 >= 0 /\ -1+n10 >= 0), cost: 1 -2+n1^0-y^0 >= 0 [0]: montonic decrease yields -1+n1^0-y^0-n10 >= 0 -2+n1^0-y^0 >= 0 [1]: eventual increase yields (-2+n1^0-y^0 >= 0 /\ 1 <= 0) 7-pc_drive_next^post20 >= 0 [0]: monotonic increase yields 7-pc_drive_next^post20 >= 0 1 >= 0 [0]: monotonic increase yields 1 >= 0 -2+n0^0-x^0 >= 0 [0]: montonic decrease yields -1+n0^0-x^0-n10 >= 0 -2+n0^0-x^0 >= 0 [1]: eventual increase yields (1 <= 0 /\ -2+n0^0-x^0 >= 0) -5+pc_drive_next^post20 >= 0 [0]: monotonic increase yields -5+pc_drive_next^post20 >= 0 -1+n0^0 >= 0 [0]: monotonic increase yields -1+n0^0 >= 0 2 >= 0 [0]: monotonic increase yields 2 >= 0 -1+n1^0 >= 0 [0]: monotonic increase yields -1+n1^0 >= 0 -1+pc_plan_next^post20 >= 0 [0]: monotonic increase yields -1+pc_plan_next^post20 >= 0 -1+pc_drive_next^post20 >= 0 [0]: monotonic increase yields -1+pc_drive_next^post20 >= 0, dependencies: -5+pc_drive_next^post20 >= 0 6 >= 0 [0]: monotonic increase yields 6 >= 0 7-pc_plan_next^post20 >= 0 [0]: monotonic increase yields 7-pc_plan_next^post20 >= 0 Replacement map: {-2+n1^0-y^0 >= 0 -> -1+n1^0-y^0-n10 >= 0, 7-pc_drive_next^post20 >= 0 -> 7-pc_drive_next^post20 >= 0, 1 >= 0 -> 1 >= 0, -2+n0^0-x^0 >= 0 -> -1+n0^0-x^0-n10 >= 0, -5+pc_drive_next^post20 >= 0 -> -5+pc_drive_next^post20 >= 0, -1+n0^0 >= 0 -> -1+n0^0 >= 0, 2 >= 0 -> 2 >= 0, -1+n1^0 >= 0 -> -1+n1^0 >= 0, -1+pc_plan_next^post20 >= 0 -> -1+pc_plan_next^post20 >= 0, -1+pc_drive_next^post20 >= 0 -> -1+pc_drive_next^post20 >= 0, 6 >= 0 -> 6 >= 0, 7-pc_plan_next^post20 >= 0 -> 7-pc_plan_next^post20 >= 0} Simplified Guard Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=x^0+n10, x_next^0'=x^0+n10, y^0'=y^0+n10, y_next^0'=y^0+n10, (7-pc_drive_next^post20 >= 0 /\ 1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ 2 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ 6 >= 0 /\ -1+n1^0-y^0-n10 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1+n0^0-x^0-n10 >= 0 /\ -1+n10 >= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=x^0+n10, x_next^0'=x^0+n10, y^0'=y^0+n10, y_next^0'=y^0+n10, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n1^0-y^0-n10 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1+n0^0-x^0-n10 >= 0 /\ -1+n10 >= 0), cost: 1 Trace 75[T], 69[T], 84[(7-pc_plan_next^post19 >= 0 /\ -1+n1111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-3*n62*(-1+n9)*n71-y^0-2*n511*n2211*n3111*n71 >= 0 /\ -1+n62 >= 0 /\ -1+n0^0 >= 0 /\ -1+n3111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1+n511 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n9 >= 0 /\ -1+n2211 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-x^0-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-3*n62*(-1+n9)*n71-2*n511*n2211*n3111*n71 >= 0 /\ -1+n8 >= 0 /\ -1+n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n421 >= 0)], 85[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n1^0-y^0-n10 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1+n0^0-x^0-n10 >= 0 /\ -1+n10 >= 0)] Blocked [{}, {}, {}, {84[T]}, {85[T]}] Restart Step with 75 Trace 75[T] Blocked [{}, {}] Step with 74 Trace 75[T], 74[(1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0)] Blocked [{}, {}, {}] Backtrack Trace 75[T] Blocked [{}, {74[T]}] Step with 73 Trace 75[T], 73[(1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0)] Blocked [{}, {74[T]}, {}] Backtrack Trace 75[T] Blocked [{}, {73[T], 74[T]}] Step with 72 Trace 75[T], 72[(1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0)] Blocked [{}, {73[T], 74[T]}, {}] Backtrack Trace 75[T] Blocked [{}, {72[T], 73[T], 74[T]}] Step with 69 Trace 75[T], 69[T] Blocked [{}, {72[T], 73[T], 74[T]}, {}] Step with 66 Trace 75[T], 69[T], 66[(1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {}, {}] Backtrack Trace 75[T], 69[T] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}] Step with 63 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}] Step with 60 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {}] Step with 50 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T]}, {}] Step with 57 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 57[(2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T]}, {}, {}] Covered Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T]}, {57[T]}] Step with 54 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 54[(-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T]}, {57[T]}, {}] Backtrack Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T]}, {54[T], 57[T]}] Step with 55 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 55[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T]}, {54[T], 57[T]}, {}] Backtrack Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T]}, {54[T], 55[T], 57[T]}] Step with 56 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 56[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T]}, {54[T], 55[T], 57[T]}, {}] Backtrack Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T]}, {54[T], 55[T], 56[T], 57[T]}] Step with 53 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 53[(-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T]}, {54[T], 55[T], 56[T], 57[T]}, {}] Backtrack Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T]}, {53[T], 54[T], 55[T], 56[T], 57[T]}] Step with 51 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 51[(-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T]}, {53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T]}, {51[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}] Step with 52 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 52[(1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T]}, {51[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T]}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}] Backtrack Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T], 50[T]}] Step with 46 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T], 49[T], 50[T]}, {}] Step with 52 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 52[(1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T], 49[T], 50[T]}, {}, {}] Backtrack Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T], 49[T], 50[T]}, {52[T]}] Step with 57 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 57[(2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T], 49[T], 50[T]}, {52[T]}, {}] Covered Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T], 49[T], 50[T]}, {52[T], 57[T]}] Step with 54 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 54[(-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T], 49[T], 50[T]}, {52[T], 57[T]}, {}] Backtrack Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T], 49[T], 50[T]}, {52[T], 54[T], 57[T]}] Step with 55 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 55[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T], 49[T], 50[T]}, {52[T], 54[T], 57[T]}, {}] Backtrack Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T], 49[T], 50[T]}, {52[T], 54[T], 55[T], 57[T]}] Step with 56 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 56[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T], 49[T], 50[T]}, {52[T], 54[T], 55[T], 57[T]}, {}] Backtrack Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T], 49[T], 50[T]}, {52[T], 54[T], 55[T], 56[T], 57[T]}] Step with 53 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 53[(-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T], 49[T], 50[T]}, {52[T], 54[T], 55[T], 56[T], 57[T]}, {}] Backtrack Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T], 49[T], 50[T]}, {52[T], 53[T], 54[T], 55[T], 56[T], 57[T]}] Step with 59 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 59[(1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T], 49[T], 50[T]}, {52[T], 53[T], 54[T], 55[T], 56[T], 57[T]}, {}] Covered Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T], 49[T], 50[T]}, {52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 59[T]}] Step with 58 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 58[(-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T], 49[T], 50[T]}, {52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 59[T]}, {}] Covered Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T], 49[T], 50[T]}, {52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}] Step with 51 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 51[(-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T], 49[T], 50[T]}, {52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 48[T], 49[T], 50[T]}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}] Backtrack Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {}, {45[T], 46[T], 48[T], 49[T], 50[T]}] Backtrack Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {60[T]}] Step with 62 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {60[T]}, {}] Step with 46 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {60[T]}, {}, {}] Step with 51 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 51[(-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {60[T]}, {}, {}, {}] Backtrack Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {60[T]}, {}, {51[T]}] Step with 52 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 52[(1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {60[T]}, {}, {51[T]}, {}] Backtrack Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {60[T]}, {}, {51[T], 52[T]}] Step with 57 Trace 75[T], 69[T], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 57[(2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {60[T]}, {}, {51[T], 52[T]}, {}] Accelerate Start location: l7 Program variables: executed_drive^0 is_aborted^0 is_aborted_next^0 n0^0 n1^0 pc_drive^0 pc_drive_next^0 pc_loop^0 pc_plan^0 pc_plan_next^0 x^0 x_next^0 y^0 y_next^0 39: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 40: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 41: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 42: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post4, is_aborted_next^0'=is_aborted_next^post4, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 43: l0 -> l1 : is_aborted^0'=is_aborted_next^post5, is_aborted_next^0'=is_aborted_next^post5, pc_drive^0'=pc_drive_next^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 44: l0 -> l1 : is_aborted^0'=is_aborted_next^post6, is_aborted_next^0'=is_aborted_next^post6, pc_drive^0'=pc_drive_next^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 69: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, T, cost: 1 70: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0), cost: 1 71: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 72: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0), cost: 1 73: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 74: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 45: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post7, is_aborted_next^0'=is_aborted_next^post7, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 46: l2 -> l3 : is_aborted^0'=is_aborted_next^post8, is_aborted_next^0'=is_aborted_next^post8, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post8, pc_plan_next^0'=pc_plan_next^post8, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 47: l2 -> l3 : is_aborted^0'=is_aborted_next^post9, is_aborted_next^0'=is_aborted_next^post9, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post9, pc_plan_next^0'=pc_plan_next^post9, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 48: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post10, is_aborted_next^0'=is_aborted_next^post10, pc_drive^0'=2, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 49: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post11, is_aborted_next^0'=is_aborted_next^post11, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post11, pc_plan_next^0'=pc_plan_next^post11, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 50: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post12, pc_plan_next^0'=pc_plan_next^post12, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0), cost: 1 51: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 52: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0), cost: 1 53: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 54: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 55: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0), cost: 1 56: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0), cost: 1 57: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 58: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0), cost: 1 59: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 63: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0), cost: 1 64: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 65: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 66: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 67: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 68: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 76: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^0+3*n, x_next^0'=x^0+3*n, y^0'=y^0+3*n, y_next^0'=y^0+3*n, (7-pc_plan_next^post19 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0), cost: 1 77: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2+x^0, x_next^0'=2*n2+x^0, y^0'=2*n2+y^0, y_next^0'=2*n2+y^0, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n2 >= 0 /\ -1+n0^0-2*n2-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1-2*n2+n1^0-y^0 >= 0), cost: 1 78: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2*n3+x^0+3*n1*n3, x_next^0'=3*n1+2*n2+2*n2*(-1+n3)+x^0+3*n1*(-1+n3), y^0'=2*n2*n3+3*n1*n3+y^0, y_next^0'=3*n1+2*n2+2*n2*(-1+n3)+y^0+3*n1*(-1+n3), (7-pc_drive_next^post20 >= 0 /\ -1+n1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n3 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+n2 >= 0 /\ -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ -1+n1^0 >= 0 /\ -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 79: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+2*n4, x_next^0'=x^0+2*n4, y^0'=2*n4+y^0, y_next^0'=2*n4+y^0, (-1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1-2*n4+n1^0-y^0 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n0^0-x^0-2*n4 >= 0), cost: 1 80: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=3*n11*n5*n31+x^0+2*n4*n5+2*n22*n5*n31, x_next^0'=2*(-1+n5)*n22*n31+x^0+2*n4+3*n11*n31+2*(-1+n5)*n4+3*n11*(-1+n5)*n31+2*n22*n31, y^0'=3*n11*n5*n31+2*n4*n5+y^0+2*n22*n5*n31, y_next^0'=2*(-1+n5)*n22*n31+2*n4+3*n11*n31+2*(-1+n5)*n4+y^0+3*n11*(-1+n5)*n31+2*n22*n31, (-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0), cost: 1 81: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=3*n6+x^0, x_next^0'=3*n6+x^0, y^0'=3*n6+y^0, y_next^0'=3*n6+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-3*n6-x^0 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-3*n6+n1^0-y^0 >= 0), cost: 1 82: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n311*n7*n51*n221+2*n42*n7*n51+x^0+3*n311*n7*n111*n51+3*n6*n7, x_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+x^0+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+3*n311*n111*n51, y^0'=2*n311*n7*n51*n221+2*n42*n7*n51+3*n311*n7*n111*n51+y^0+3*n6*n7, y_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+y^0+3*n311*n111*n51, (7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0), cost: 1 83: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n8+x^0, x_next^0'=2*n8+x^0, y^0'=2*n8+y^0, y_next^0'=2*n8+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n8-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n8+n1^0-y^0 >= 0 /\ -1+n8 >= 0), cost: 1 84: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+x^0+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71, x_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+x^0+3*n62*(-1+n9)*n71+2*n511*n2211*n3111*n71, y^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71+y^0, y_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+3*n62*(-1+n9)*n71+y^0+2*n511*n2211*n3111*n71, (7-pc_plan_next^post19 >= 0 /\ -1+n1111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-3*n62*(-1+n9)*n71-y^0-2*n511*n2211*n3111*n71 >= 0 /\ -1+n62 >= 0 /\ -1+n0^0 >= 0 /\ -1+n3111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1+n511 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n9 >= 0 /\ -1+n2211 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-x^0-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-3*n62*(-1+n9)*n71-2*n511*n2211*n3111*n71 >= 0 /\ -1+n8 >= 0 /\ -1+n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n421 >= 0), cost: 1 85: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=x^0+n10, x_next^0'=x^0+n10, y^0'=y^0+n10, y_next^0'=y^0+n10, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n1^0-y^0-n10 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1+n0^0-x^0-n10 >= 0 /\ -1+n10 >= 0), cost: 1 86: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n12+x^0, x_next^0'=2*n12+x^0, y^0'=2*n12+y^0, y_next^0'=2*n12+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0), cost: 1 60: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 61: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0), cost: 1 62: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 75: l7 -> l1 : T, cost: 1 Loop Acceleration Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2+x^0, x_next^0'=2+x^0, y^0'=2+y^0, y_next^0'=2+y^0, (-7+pc_plan_next^post19 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -2 <= 0 /\ 3-n1^0+y^0 <= 0 /\ 1-n0^0 <= 0 /\ -6 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0 /\ -1 <= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n12+x^0, x_next^0'=2*n12+x^0, y^0'=2*n12+y^0, y_next^0'=2*n12+y^0, (7-pc_plan_next^post19 >= 0 /\ 1 >= 0 /\ -1+n0^0 >= 0 /\ 2 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ 6 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0), cost: 1 7-pc_plan_next^post19 >= 0 [0]: monotonic increase yields 7-pc_plan_next^post19 >= 0 -3+n0^0-x^0 >= 0 [0]: montonic decrease yields -1+n0^0-2*n12-x^0 >= 0 -3+n0^0-x^0 >= 0 [1]: eventual increase yields (-3+n0^0-x^0 >= 0 /\ 2 <= 0) 1 >= 0 [0]: monotonic increase yields 1 >= 0 -3+n1^0-y^0 >= 0 [0]: montonic decrease yields -1-2*n12+n1^0-y^0 >= 0 -3+n1^0-y^0 >= 0 [1]: eventual increase yields (-3+n1^0-y^0 >= 0 /\ 2 <= 0) -1+n0^0 >= 0 [0]: monotonic increase yields -1+n0^0 >= 0 2 >= 0 [0]: monotonic increase yields 2 >= 0 -1+n1^0 >= 0 [0]: monotonic increase yields -1+n1^0 >= 0 6 >= 0 [0]: monotonic increase yields 6 >= 0 -1+pc_plan_next^post19 >= 0 [0]: monotonic increase yields -1+pc_plan_next^post19 >= 0 Replacement map: {7-pc_plan_next^post19 >= 0 -> 7-pc_plan_next^post19 >= 0, -3+n0^0-x^0 >= 0 -> -1+n0^0-2*n12-x^0 >= 0, 1 >= 0 -> 1 >= 0, -3+n1^0-y^0 >= 0 -> -1-2*n12+n1^0-y^0 >= 0, -1+n0^0 >= 0 -> -1+n0^0 >= 0, 2 >= 0 -> 2 >= 0, -1+n1^0 >= 0 -> -1+n1^0 >= 0, 6 >= 0 -> 6 >= 0, -1+pc_plan_next^post19 >= 0 -> -1+pc_plan_next^post19 >= 0} Simplified Guard Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n12+x^0, x_next^0'=2*n12+x^0, y^0'=2*n12+y^0, y_next^0'=2*n12+y^0, (7-pc_plan_next^post19 >= 0 /\ 1 >= 0 /\ -1+n0^0 >= 0 /\ 2 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ 6 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n12+x^0, x_next^0'=2*n12+x^0, y^0'=2*n12+y^0, y_next^0'=2*n12+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0), cost: 1 Trace 75[T], 69[T], 86[(7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {86[T]}] Step with 66 Trace 75[T], 69[T], 86[(7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0)], 66[(1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {86[T]}, {}] Backtrack Trace 75[T], 69[T], 86[(7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 86[T]}] Step with 63 Trace 75[T], 69[T], 86[(7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 86[T]}, {}] Step with 62 Trace 75[T], 69[T], 86[(7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 86[T]}, {}, {}] Step with 46 Trace 75[T], 69[T], 86[(7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 86[T]}, {}, {}, {}] Step with 57 Trace 75[T], 69[T], 86[(7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 57[(2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 86[T]}, {}, {}, {}, {}] Covered Trace 75[T], 69[T], 86[(7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 86[T]}, {}, {}, {57[T]}] Step with 54 Trace 75[T], 69[T], 86[(7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 54[(-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 86[T]}, {}, {}, {57[T]}, {}] Backtrack Trace 75[T], 69[T], 86[(7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 86[T]}, {}, {}, {54[T], 57[T]}] Step with 55 Trace 75[T], 69[T], 86[(7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 55[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 86[T]}, {}, {}, {54[T], 57[T]}, {}] Backtrack Trace 75[T], 69[T], 86[(7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 86[T]}, {}, {}, {54[T], 55[T], 57[T]}] Step with 56 Trace 75[T], 69[T], 86[(7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 56[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 86[T]}, {}, {}, {54[T], 55[T], 57[T]}, {}] Backtrack Trace 75[T], 69[T], 86[(7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 86[T]}, {}, {}, {54[T], 55[T], 56[T], 57[T]}] Step with 53 Trace 75[T], 69[T], 86[(7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 53[(-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 86[T]}, {}, {}, {54[T], 55[T], 56[T], 57[T]}, {}] Backtrack Trace 75[T], 69[T], 86[(7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 86[T]}, {}, {}, {53[T], 54[T], 55[T], 56[T], 57[T]}] Step with 59 Trace 75[T], 69[T], 86[(7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 59[(1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 86[T]}, {}, {}, {53[T], 54[T], 55[T], 56[T], 57[T]}, {}] Accelerate Start location: l7 Program variables: executed_drive^0 is_aborted^0 is_aborted_next^0 n0^0 n1^0 pc_drive^0 pc_drive_next^0 pc_loop^0 pc_plan^0 pc_plan_next^0 x^0 x_next^0 y^0 y_next^0 39: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 40: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 41: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 42: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post4, is_aborted_next^0'=is_aborted_next^post4, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 43: l0 -> l1 : is_aborted^0'=is_aborted_next^post5, is_aborted_next^0'=is_aborted_next^post5, pc_drive^0'=pc_drive_next^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 44: l0 -> l1 : is_aborted^0'=is_aborted_next^post6, is_aborted_next^0'=is_aborted_next^post6, pc_drive^0'=pc_drive_next^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 69: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, T, cost: 1 70: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0), cost: 1 71: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 72: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0), cost: 1 73: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 74: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 45: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post7, is_aborted_next^0'=is_aborted_next^post7, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 46: l2 -> l3 : is_aborted^0'=is_aborted_next^post8, is_aborted_next^0'=is_aborted_next^post8, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post8, pc_plan_next^0'=pc_plan_next^post8, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 47: l2 -> l3 : is_aborted^0'=is_aborted_next^post9, is_aborted_next^0'=is_aborted_next^post9, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post9, pc_plan_next^0'=pc_plan_next^post9, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 48: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post10, is_aborted_next^0'=is_aborted_next^post10, pc_drive^0'=2, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 49: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post11, is_aborted_next^0'=is_aborted_next^post11, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post11, pc_plan_next^0'=pc_plan_next^post11, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 50: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post12, pc_plan_next^0'=pc_plan_next^post12, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0), cost: 1 51: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 52: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0), cost: 1 53: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 54: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 55: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0), cost: 1 56: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0), cost: 1 57: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 58: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0), cost: 1 59: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 63: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0), cost: 1 64: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 65: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 66: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 67: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 68: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 76: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^0+3*n, x_next^0'=x^0+3*n, y^0'=y^0+3*n, y_next^0'=y^0+3*n, (7-pc_plan_next^post19 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0), cost: 1 77: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2+x^0, x_next^0'=2*n2+x^0, y^0'=2*n2+y^0, y_next^0'=2*n2+y^0, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n2 >= 0 /\ -1+n0^0-2*n2-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1-2*n2+n1^0-y^0 >= 0), cost: 1 78: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2*n3+x^0+3*n1*n3, x_next^0'=3*n1+2*n2+2*n2*(-1+n3)+x^0+3*n1*(-1+n3), y^0'=2*n2*n3+3*n1*n3+y^0, y_next^0'=3*n1+2*n2+2*n2*(-1+n3)+y^0+3*n1*(-1+n3), (7-pc_drive_next^post20 >= 0 /\ -1+n1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n3 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+n2 >= 0 /\ -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ -1+n1^0 >= 0 /\ -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 79: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+2*n4, x_next^0'=x^0+2*n4, y^0'=2*n4+y^0, y_next^0'=2*n4+y^0, (-1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1-2*n4+n1^0-y^0 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n0^0-x^0-2*n4 >= 0), cost: 1 80: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=3*n11*n5*n31+x^0+2*n4*n5+2*n22*n5*n31, x_next^0'=2*(-1+n5)*n22*n31+x^0+2*n4+3*n11*n31+2*(-1+n5)*n4+3*n11*(-1+n5)*n31+2*n22*n31, y^0'=3*n11*n5*n31+2*n4*n5+y^0+2*n22*n5*n31, y_next^0'=2*(-1+n5)*n22*n31+2*n4+3*n11*n31+2*(-1+n5)*n4+y^0+3*n11*(-1+n5)*n31+2*n22*n31, (-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0), cost: 1 81: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=3*n6+x^0, x_next^0'=3*n6+x^0, y^0'=3*n6+y^0, y_next^0'=3*n6+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-3*n6-x^0 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-3*n6+n1^0-y^0 >= 0), cost: 1 82: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n311*n7*n51*n221+2*n42*n7*n51+x^0+3*n311*n7*n111*n51+3*n6*n7, x_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+x^0+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+3*n311*n111*n51, y^0'=2*n311*n7*n51*n221+2*n42*n7*n51+3*n311*n7*n111*n51+y^0+3*n6*n7, y_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+y^0+3*n311*n111*n51, (7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0), cost: 1 83: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n8+x^0, x_next^0'=2*n8+x^0, y^0'=2*n8+y^0, y_next^0'=2*n8+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n8-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n8+n1^0-y^0 >= 0 /\ -1+n8 >= 0), cost: 1 84: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+x^0+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71, x_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+x^0+3*n62*(-1+n9)*n71+2*n511*n2211*n3111*n71, y^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71+y^0, y_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+3*n62*(-1+n9)*n71+y^0+2*n511*n2211*n3111*n71, (7-pc_plan_next^post19 >= 0 /\ -1+n1111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-3*n62*(-1+n9)*n71-y^0-2*n511*n2211*n3111*n71 >= 0 /\ -1+n62 >= 0 /\ -1+n0^0 >= 0 /\ -1+n3111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1+n511 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n9 >= 0 /\ -1+n2211 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-x^0-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-3*n62*(-1+n9)*n71-2*n511*n2211*n3111*n71 >= 0 /\ -1+n8 >= 0 /\ -1+n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n421 >= 0), cost: 1 85: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=x^0+n10, x_next^0'=x^0+n10, y^0'=y^0+n10, y_next^0'=y^0+n10, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n1^0-y^0-n10 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1+n0^0-x^0-n10 >= 0 /\ -1+n10 >= 0), cost: 1 86: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n12+x^0, x_next^0'=2*n12+x^0, y^0'=2*n12+y^0, y_next^0'=2*n12+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0), cost: 1 87: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+n13, x_next^0'=x^0+n13, y^0'=n13+y^0, y_next^0'=n13+y^0, (-1+n0^0-x^0-n13 >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1-n13+n1^0-y^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0), cost: 1 60: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 61: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0), cost: 1 62: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 75: l7 -> l1 : T, cost: 1 Loop Acceleration Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ 2-n0^0+x^0 <= 0 /\ -2 <= 0 /\ 1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ -6 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -1 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+n13, x_next^0'=x^0+n13, y^0'=n13+y^0, y_next^0'=n13+y^0, (1 >= 0 /\ -1+n0^0-x^0-n13 >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1-n13+n1^0-y^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 2 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 6 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0), cost: 1 -2+n1^0-y^0 >= 0 [0]: montonic decrease yields -1-n13+n1^0-y^0 >= 0 -2+n1^0-y^0 >= 0 [1]: eventual increase yields (-2+n1^0-y^0 >= 0 /\ 1 <= 0) 1 >= 0 [0]: monotonic increase yields 1 >= 0 -2+n0^0-x^0 >= 0 [0]: montonic decrease yields -1+n0^0-x^0-n13 >= 0 -2+n0^0-x^0 >= 0 [1]: eventual increase yields (1 <= 0 /\ -2+n0^0-x^0 >= 0) -1+pc_drive_next^post21 >= 0 [0]: monotonic increase yields -1+pc_drive_next^post21 >= 0 -1+n0^0 >= 0 [0]: monotonic increase yields -1+n0^0 >= 0 7-pc_plan_next^post21 >= 0 [0]: monotonic increase yields 7-pc_plan_next^post21 >= 0 2 >= 0 [0]: monotonic increase yields 2 >= 0 3-pc_drive_next^post21 >= 0 [0]: monotonic increase yields 3-pc_drive_next^post21 >= 0 -1+n1^0 >= 0 [0]: monotonic increase yields -1+n1^0 >= 0 6 >= 0 [0]: monotonic increase yields 6 >= 0 7-pc_drive_next^post21 >= 0 [0]: monotonic increase yields 7-pc_drive_next^post21 >= 0, dependencies: 3-pc_drive_next^post21 >= 0 -1+pc_plan_next^post21 >= 0 [0]: monotonic increase yields -1+pc_plan_next^post21 >= 0 Replacement map: {-2+n1^0-y^0 >= 0 -> -1-n13+n1^0-y^0 >= 0, 1 >= 0 -> 1 >= 0, -2+n0^0-x^0 >= 0 -> -1+n0^0-x^0-n13 >= 0, -1+pc_drive_next^post21 >= 0 -> -1+pc_drive_next^post21 >= 0, -1+n0^0 >= 0 -> -1+n0^0 >= 0, 7-pc_plan_next^post21 >= 0 -> 7-pc_plan_next^post21 >= 0, 2 >= 0 -> 2 >= 0, 3-pc_drive_next^post21 >= 0 -> 3-pc_drive_next^post21 >= 0, -1+n1^0 >= 0 -> -1+n1^0 >= 0, 6 >= 0 -> 6 >= 0, 7-pc_drive_next^post21 >= 0 -> 7-pc_drive_next^post21 >= 0, -1+pc_plan_next^post21 >= 0 -> -1+pc_plan_next^post21 >= 0} Simplified Guard Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+n13, x_next^0'=x^0+n13, y^0'=n13+y^0, y_next^0'=n13+y^0, (1 >= 0 /\ -1+n0^0-x^0-n13 >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1-n13+n1^0-y^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 2 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 6 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+n13, x_next^0'=x^0+n13, y^0'=n13+y^0, y_next^0'=n13+y^0, (-1+n0^0-x^0-n13 >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1-n13+n1^0-y^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0), cost: 1 Trace 75[T], 69[T], 86[(7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0)], 87[(-1+n0^0-x^0-n13 >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1-n13+n1^0-y^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 86[T]}, {87[T]}] Accelerate Start location: l7 Program variables: executed_drive^0 is_aborted^0 is_aborted_next^0 n0^0 n1^0 pc_drive^0 pc_drive_next^0 pc_loop^0 pc_plan^0 pc_plan_next^0 x^0 x_next^0 y^0 y_next^0 39: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 40: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 41: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 42: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post4, is_aborted_next^0'=is_aborted_next^post4, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 43: l0 -> l1 : is_aborted^0'=is_aborted_next^post5, is_aborted_next^0'=is_aborted_next^post5, pc_drive^0'=pc_drive_next^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 44: l0 -> l1 : is_aborted^0'=is_aborted_next^post6, is_aborted_next^0'=is_aborted_next^post6, pc_drive^0'=pc_drive_next^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 69: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, T, cost: 1 70: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0), cost: 1 71: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 72: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0), cost: 1 73: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 74: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 45: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post7, is_aborted_next^0'=is_aborted_next^post7, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 46: l2 -> l3 : is_aborted^0'=is_aborted_next^post8, is_aborted_next^0'=is_aborted_next^post8, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post8, pc_plan_next^0'=pc_plan_next^post8, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 47: l2 -> l3 : is_aborted^0'=is_aborted_next^post9, is_aborted_next^0'=is_aborted_next^post9, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post9, pc_plan_next^0'=pc_plan_next^post9, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 48: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post10, is_aborted_next^0'=is_aborted_next^post10, pc_drive^0'=2, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 49: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post11, is_aborted_next^0'=is_aborted_next^post11, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post11, pc_plan_next^0'=pc_plan_next^post11, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 50: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post12, pc_plan_next^0'=pc_plan_next^post12, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0), cost: 1 51: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 52: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0), cost: 1 53: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 54: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 55: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0), cost: 1 56: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0), cost: 1 57: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 58: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0), cost: 1 59: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 63: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0), cost: 1 64: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 65: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 66: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 67: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 68: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 76: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^0+3*n, x_next^0'=x^0+3*n, y^0'=y^0+3*n, y_next^0'=y^0+3*n, (7-pc_plan_next^post19 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0), cost: 1 77: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2+x^0, x_next^0'=2*n2+x^0, y^0'=2*n2+y^0, y_next^0'=2*n2+y^0, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n2 >= 0 /\ -1+n0^0-2*n2-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1-2*n2+n1^0-y^0 >= 0), cost: 1 78: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2*n3+x^0+3*n1*n3, x_next^0'=3*n1+2*n2+2*n2*(-1+n3)+x^0+3*n1*(-1+n3), y^0'=2*n2*n3+3*n1*n3+y^0, y_next^0'=3*n1+2*n2+2*n2*(-1+n3)+y^0+3*n1*(-1+n3), (7-pc_drive_next^post20 >= 0 /\ -1+n1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n3 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+n2 >= 0 /\ -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ -1+n1^0 >= 0 /\ -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 79: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+2*n4, x_next^0'=x^0+2*n4, y^0'=2*n4+y^0, y_next^0'=2*n4+y^0, (-1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1-2*n4+n1^0-y^0 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n0^0-x^0-2*n4 >= 0), cost: 1 80: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=3*n11*n5*n31+x^0+2*n4*n5+2*n22*n5*n31, x_next^0'=2*(-1+n5)*n22*n31+x^0+2*n4+3*n11*n31+2*(-1+n5)*n4+3*n11*(-1+n5)*n31+2*n22*n31, y^0'=3*n11*n5*n31+2*n4*n5+y^0+2*n22*n5*n31, y_next^0'=2*(-1+n5)*n22*n31+2*n4+3*n11*n31+2*(-1+n5)*n4+y^0+3*n11*(-1+n5)*n31+2*n22*n31, (-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0), cost: 1 81: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=3*n6+x^0, x_next^0'=3*n6+x^0, y^0'=3*n6+y^0, y_next^0'=3*n6+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-3*n6-x^0 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-3*n6+n1^0-y^0 >= 0), cost: 1 82: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n311*n7*n51*n221+2*n42*n7*n51+x^0+3*n311*n7*n111*n51+3*n6*n7, x_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+x^0+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+3*n311*n111*n51, y^0'=2*n311*n7*n51*n221+2*n42*n7*n51+3*n311*n7*n111*n51+y^0+3*n6*n7, y_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+y^0+3*n311*n111*n51, (7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0), cost: 1 83: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n8+x^0, x_next^0'=2*n8+x^0, y^0'=2*n8+y^0, y_next^0'=2*n8+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n8-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n8+n1^0-y^0 >= 0 /\ -1+n8 >= 0), cost: 1 84: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+x^0+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71, x_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+x^0+3*n62*(-1+n9)*n71+2*n511*n2211*n3111*n71, y^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71+y^0, y_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+3*n62*(-1+n9)*n71+y^0+2*n511*n2211*n3111*n71, (7-pc_plan_next^post19 >= 0 /\ -1+n1111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-3*n62*(-1+n9)*n71-y^0-2*n511*n2211*n3111*n71 >= 0 /\ -1+n62 >= 0 /\ -1+n0^0 >= 0 /\ -1+n3111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1+n511 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n9 >= 0 /\ -1+n2211 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-x^0-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-3*n62*(-1+n9)*n71-2*n511*n2211*n3111*n71 >= 0 /\ -1+n8 >= 0 /\ -1+n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n421 >= 0), cost: 1 85: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=x^0+n10, x_next^0'=x^0+n10, y^0'=y^0+n10, y_next^0'=y^0+n10, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n1^0-y^0-n10 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1+n0^0-x^0-n10 >= 0 /\ -1+n10 >= 0), cost: 1 86: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n12+x^0, x_next^0'=2*n12+x^0, y^0'=2*n12+y^0, y_next^0'=2*n12+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0), cost: 1 87: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+n13, x_next^0'=x^0+n13, y^0'=n13+y^0, y_next^0'=n13+y^0, (-1+n0^0-x^0-n13 >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1-n13+n1^0-y^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0), cost: 1 88: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=n14*n13+2*n121*n14+x^0, x_next^0'=2*n121+x^0+n13+(-1+n14)*n13+2*n121*(-1+n14), y^0'=n14*n13+2*n121*n14+y^0, y_next^0'=2*n121+n13+(-1+n14)*n13+2*n121*(-1+n14)+y^0, (-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0), cost: 1 60: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 61: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0), cost: 1 62: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 75: l7 -> l1 : T, cost: 1 Loop Acceleration Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=2*n121+x^0+n13, x_next^0'=2*n121+x^0+n13, y^0'=2*n121+n13+y^0, y_next^0'=2*n121+n13+y^0, (-1-2*n121-n13+n1^0-y^0 >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n121 >= 0 /\ -1+n0^0-2*n121-x^0-n13 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -6 <= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*n121-x^0 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1-2*n121+n1^0-y^0 >= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=n14*n13+2*n121*n14+x^0, x_next^0'=2*n121+x^0+n13+(-1+n14)*n13+2*n121*(-1+n14), y^0'=n14*n13+2*n121*n14+y^0, y_next^0'=2*n121+n13+(-1+n14)*n13+2*n121*(-1+n14)+y^0, (-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ 6 >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0), cost: 1 -1-2*n121-n13+n1^0-y^0 >= 0 [0]: montonic decrease yields -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0, dependencies: -1+n13 >= 0 -1+n121 >= 0 -1-2*n121-n13+n1^0-y^0 >= 0 [1]: eventual decrease yields (-1-2*n121-n13+n1^0-y^0 >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0), dependencies: -1+n13 >= 0 -1+n121 >= 0 -1-2*n121-n13+n1^0-y^0 >= 0 [2]: eventual increase yields (-1-2*n121-n13+n1^0-y^0 >= 0 /\ 2*n121+n13 <= 0), dependencies: -1+n13 >= 0 -1+n121 >= 0 -1+n13 >= 0 [0]: monotonic increase yields -1+n13 >= 0 -1+pc_drive_next^post21 >= 0 [0]: monotonic increase yields -1+pc_drive_next^post21 >= 0 -1+n0^0 >= 0 [0]: monotonic increase yields -1+n0^0 >= 0 -1+n121 >= 0 [0]: monotonic increase yields -1+n121 >= 0 -1+n0^0-2*n121-x^0-n13 >= 0 [0]: montonic decrease yields -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0, dependencies: -1+n13 >= 0 -1+n121 >= 0 -1+n0^0-2*n121-x^0-n13 >= 0 [1]: eventual increase yields (-1+n0^0-2*n121-x^0-n13 >= 0 /\ 2*n121+n13 <= 0), dependencies: -1+n13 >= 0 -1+n121 >= 0 7-pc_plan_next^post21 >= 0 [0]: monotonic increase yields 7-pc_plan_next^post21 >= 0 3-pc_drive_next^post21 >= 0 [0]: monotonic increase yields 3-pc_drive_next^post21 >= 0 -1+n0^0-2*n121-x^0 >= 0 [0]: montonic decrease yields -1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0, dependencies: -1+n13 >= 0 -1+n121 >= 0 -1+n0^0-2*n121-x^0 >= 0 [1]: eventual increase yields (-1+n0^0-2*n121-x^0 >= 0 /\ 2*n121+n13 <= 0), dependencies: -1+n13 >= 0 -1+n121 >= 0 -1+n1^0 >= 0 [0]: monotonic increase yields -1+n1^0 >= 0 6 >= 0 [0]: monotonic increase yields 6 >= 0 7-pc_drive_next^post21 >= 0 [0]: monotonic increase yields 7-pc_drive_next^post21 >= 0, dependencies: 3-pc_drive_next^post21 >= 0 -1+pc_plan_next^post21 >= 0 [0]: monotonic increase yields -1+pc_plan_next^post21 >= 0 -1-2*n121+n1^0-y^0 >= 0 [0]: montonic decrease yields -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0, dependencies: -1-2*n121-n13+n1^0-y^0 >= 0 -1+n13 >= 0 -1-2*n121+n1^0-y^0 >= 0 [1]: eventual increase yields (-1-2*n121+n1^0-y^0 >= 0 /\ 2*n121+n13 <= 0), dependencies: -1+n13 >= 0 -1+n121 >= 0 Replacement map: {-1-2*n121-n13+n1^0-y^0 >= 0 -> -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0, -1+n13 >= 0 -> -1+n13 >= 0, -1+pc_drive_next^post21 >= 0 -> -1+pc_drive_next^post21 >= 0, -1+n0^0 >= 0 -> -1+n0^0 >= 0, -1+n121 >= 0 -> -1+n121 >= 0, -1+n0^0-2*n121-x^0-n13 >= 0 -> -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0, 7-pc_plan_next^post21 >= 0 -> 7-pc_plan_next^post21 >= 0, 3-pc_drive_next^post21 >= 0 -> 3-pc_drive_next^post21 >= 0, -1+n0^0-2*n121-x^0 >= 0 -> -1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0, -1+n1^0 >= 0 -> -1+n1^0 >= 0, 6 >= 0 -> 6 >= 0, 7-pc_drive_next^post21 >= 0 -> 7-pc_drive_next^post21 >= 0, -1+pc_plan_next^post21 >= 0 -> -1+pc_plan_next^post21 >= 0, -1-2*n121+n1^0-y^0 >= 0 -> -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0} Simplified Guard Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=n14*n13+2*n121*n14+x^0, x_next^0'=2*n121+x^0+n13+(-1+n14)*n13+2*n121*(-1+n14), y^0'=n14*n13+2*n121*n14+y^0, y_next^0'=2*n121+n13+(-1+n14)*n13+2*n121*(-1+n14)+y^0, (-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ 6 >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=n14*n13+2*n121*n14+x^0, x_next^0'=2*n121+x^0+n13+(-1+n14)*n13+2*n121*(-1+n14), y^0'=n14*n13+2*n121*n14+y^0, y_next^0'=2*n121+n13+(-1+n14)*n13+2*n121*(-1+n14)+y^0, (-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0), cost: 1 Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {88[T]}] Step with 66 Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 66[(1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {88[T]}, {}] Backtrack Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}] Step with 63 Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {}] Step with 62 Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {}, {}] Step with 46 Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {}, {}, {}] Step with 59 Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 59[(1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {}, {}, {}, {}] Covered Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {}, {}, {59[T]}] Step with 58 Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 58[(-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {}, {}, {59[T]}, {}] Accelerate Start location: l7 Program variables: executed_drive^0 is_aborted^0 is_aborted_next^0 n0^0 n1^0 pc_drive^0 pc_drive_next^0 pc_loop^0 pc_plan^0 pc_plan_next^0 x^0 x_next^0 y^0 y_next^0 39: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 40: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 41: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 42: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post4, is_aborted_next^0'=is_aborted_next^post4, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 43: l0 -> l1 : is_aborted^0'=is_aborted_next^post5, is_aborted_next^0'=is_aborted_next^post5, pc_drive^0'=pc_drive_next^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 44: l0 -> l1 : is_aborted^0'=is_aborted_next^post6, is_aborted_next^0'=is_aborted_next^post6, pc_drive^0'=pc_drive_next^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 69: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, T, cost: 1 70: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0), cost: 1 71: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 72: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0), cost: 1 73: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 74: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 45: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post7, is_aborted_next^0'=is_aborted_next^post7, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 46: l2 -> l3 : is_aborted^0'=is_aborted_next^post8, is_aborted_next^0'=is_aborted_next^post8, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post8, pc_plan_next^0'=pc_plan_next^post8, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 47: l2 -> l3 : is_aborted^0'=is_aborted_next^post9, is_aborted_next^0'=is_aborted_next^post9, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post9, pc_plan_next^0'=pc_plan_next^post9, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 48: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post10, is_aborted_next^0'=is_aborted_next^post10, pc_drive^0'=2, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 49: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post11, is_aborted_next^0'=is_aborted_next^post11, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post11, pc_plan_next^0'=pc_plan_next^post11, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 50: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post12, pc_plan_next^0'=pc_plan_next^post12, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0), cost: 1 51: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 52: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0), cost: 1 53: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 54: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 55: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0), cost: 1 56: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0), cost: 1 57: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 58: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0), cost: 1 59: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 63: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0), cost: 1 64: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 65: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 66: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 67: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 68: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 76: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^0+3*n, x_next^0'=x^0+3*n, y^0'=y^0+3*n, y_next^0'=y^0+3*n, (7-pc_plan_next^post19 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0), cost: 1 77: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2+x^0, x_next^0'=2*n2+x^0, y^0'=2*n2+y^0, y_next^0'=2*n2+y^0, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n2 >= 0 /\ -1+n0^0-2*n2-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1-2*n2+n1^0-y^0 >= 0), cost: 1 78: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2*n3+x^0+3*n1*n3, x_next^0'=3*n1+2*n2+2*n2*(-1+n3)+x^0+3*n1*(-1+n3), y^0'=2*n2*n3+3*n1*n3+y^0, y_next^0'=3*n1+2*n2+2*n2*(-1+n3)+y^0+3*n1*(-1+n3), (7-pc_drive_next^post20 >= 0 /\ -1+n1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n3 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+n2 >= 0 /\ -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ -1+n1^0 >= 0 /\ -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 79: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+2*n4, x_next^0'=x^0+2*n4, y^0'=2*n4+y^0, y_next^0'=2*n4+y^0, (-1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1-2*n4+n1^0-y^0 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n0^0-x^0-2*n4 >= 0), cost: 1 80: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=3*n11*n5*n31+x^0+2*n4*n5+2*n22*n5*n31, x_next^0'=2*(-1+n5)*n22*n31+x^0+2*n4+3*n11*n31+2*(-1+n5)*n4+3*n11*(-1+n5)*n31+2*n22*n31, y^0'=3*n11*n5*n31+2*n4*n5+y^0+2*n22*n5*n31, y_next^0'=2*(-1+n5)*n22*n31+2*n4+3*n11*n31+2*(-1+n5)*n4+y^0+3*n11*(-1+n5)*n31+2*n22*n31, (-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0), cost: 1 81: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=3*n6+x^0, x_next^0'=3*n6+x^0, y^0'=3*n6+y^0, y_next^0'=3*n6+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-3*n6-x^0 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-3*n6+n1^0-y^0 >= 0), cost: 1 82: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n311*n7*n51*n221+2*n42*n7*n51+x^0+3*n311*n7*n111*n51+3*n6*n7, x_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+x^0+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+3*n311*n111*n51, y^0'=2*n311*n7*n51*n221+2*n42*n7*n51+3*n311*n7*n111*n51+y^0+3*n6*n7, y_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+y^0+3*n311*n111*n51, (7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0), cost: 1 83: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n8+x^0, x_next^0'=2*n8+x^0, y^0'=2*n8+y^0, y_next^0'=2*n8+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n8-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n8+n1^0-y^0 >= 0 /\ -1+n8 >= 0), cost: 1 84: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+x^0+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71, x_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+x^0+3*n62*(-1+n9)*n71+2*n511*n2211*n3111*n71, y^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71+y^0, y_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+3*n62*(-1+n9)*n71+y^0+2*n511*n2211*n3111*n71, (7-pc_plan_next^post19 >= 0 /\ -1+n1111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-3*n62*(-1+n9)*n71-y^0-2*n511*n2211*n3111*n71 >= 0 /\ -1+n62 >= 0 /\ -1+n0^0 >= 0 /\ -1+n3111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1+n511 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n9 >= 0 /\ -1+n2211 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-x^0-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-3*n62*(-1+n9)*n71-2*n511*n2211*n3111*n71 >= 0 /\ -1+n8 >= 0 /\ -1+n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n421 >= 0), cost: 1 85: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=x^0+n10, x_next^0'=x^0+n10, y^0'=y^0+n10, y_next^0'=y^0+n10, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n1^0-y^0-n10 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1+n0^0-x^0-n10 >= 0 /\ -1+n10 >= 0), cost: 1 86: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n12+x^0, x_next^0'=2*n12+x^0, y^0'=2*n12+y^0, y_next^0'=2*n12+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0), cost: 1 87: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+n13, x_next^0'=x^0+n13, y^0'=n13+y^0, y_next^0'=n13+y^0, (-1+n0^0-x^0-n13 >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1-n13+n1^0-y^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0), cost: 1 88: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=n14*n13+2*n121*n14+x^0, x_next^0'=2*n121+x^0+n13+(-1+n14)*n13+2*n121*(-1+n14), y^0'=n14*n13+2*n121*n14+y^0, y_next^0'=2*n121+n13+(-1+n14)*n13+2*n121*(-1+n14)+y^0, (-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0), cost: 1 89: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=n15+x^0, x_next^0'=n15+x^0, y^0'=n15+y^0, y_next^0'=n15+y^0, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 60: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 61: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0), cost: 1 62: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 75: l7 -> l1 : T, cost: 1 Loop Acceleration Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_drive_next^post20 <= 0 /\ 2-n0^0+x^0 <= 0 /\ -2 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ -6 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ -1 <= 0 /\ -7+pc_plan_next^post20 <= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=n15+x^0, x_next^0'=n15+x^0, y^0'=n15+y^0, y_next^0'=n15+y^0, (7-pc_drive_next^post20 >= 0 /\ 1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ 2 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ 6 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 -2+n1^0-y^0 >= 0 [0]: montonic decrease yields -1-n15+n1^0-y^0 >= 0 -2+n1^0-y^0 >= 0 [1]: eventual increase yields (-2+n1^0-y^0 >= 0 /\ 1 <= 0) 7-pc_drive_next^post20 >= 0 [0]: monotonic increase yields 7-pc_drive_next^post20 >= 0 1 >= 0 [0]: monotonic increase yields 1 >= 0 -2+n0^0-x^0 >= 0 [0]: montonic decrease yields -1+n0^0-n15-x^0 >= 0 -2+n0^0-x^0 >= 0 [1]: eventual increase yields (1 <= 0 /\ -2+n0^0-x^0 >= 0) -5+pc_drive_next^post20 >= 0 [0]: monotonic increase yields -5+pc_drive_next^post20 >= 0 -1+n0^0 >= 0 [0]: monotonic increase yields -1+n0^0 >= 0 2 >= 0 [0]: monotonic increase yields 2 >= 0 -1+n1^0 >= 0 [0]: monotonic increase yields -1+n1^0 >= 0 -1+pc_plan_next^post20 >= 0 [0]: monotonic increase yields -1+pc_plan_next^post20 >= 0 -1+pc_drive_next^post20 >= 0 [0]: monotonic increase yields -1+pc_drive_next^post20 >= 0, dependencies: -5+pc_drive_next^post20 >= 0 6 >= 0 [0]: monotonic increase yields 6 >= 0 7-pc_plan_next^post20 >= 0 [0]: monotonic increase yields 7-pc_plan_next^post20 >= 0 Replacement map: {-2+n1^0-y^0 >= 0 -> -1-n15+n1^0-y^0 >= 0, 7-pc_drive_next^post20 >= 0 -> 7-pc_drive_next^post20 >= 0, 1 >= 0 -> 1 >= 0, -2+n0^0-x^0 >= 0 -> -1+n0^0-n15-x^0 >= 0, -5+pc_drive_next^post20 >= 0 -> -5+pc_drive_next^post20 >= 0, -1+n0^0 >= 0 -> -1+n0^0 >= 0, 2 >= 0 -> 2 >= 0, -1+n1^0 >= 0 -> -1+n1^0 >= 0, -1+pc_plan_next^post20 >= 0 -> -1+pc_plan_next^post20 >= 0, -1+pc_drive_next^post20 >= 0 -> -1+pc_drive_next^post20 >= 0, 6 >= 0 -> 6 >= 0, 7-pc_plan_next^post20 >= 0 -> 7-pc_plan_next^post20 >= 0} Simplified Guard Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=n15+x^0, x_next^0'=n15+x^0, y^0'=n15+y^0, y_next^0'=n15+y^0, (7-pc_drive_next^post20 >= 0 /\ 1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ 2 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ 6 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=n15+x^0, x_next^0'=n15+x^0, y^0'=n15+y^0, y_next^0'=n15+y^0, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {89[T]}] Acceleration Failed marked recursive suffix as redundant Step with 66 Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)], 66[(1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {89[T]}, {}] Backtrack Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {66[T], 89[T]}] Step with 63 Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {66[T], 89[T]}, {}] Step with 62 Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {66[T], 89[T]}, {}, {}] Step with 46 Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {66[T], 89[T]}, {}, {}, {}] Step with 58 Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 58[(-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {66[T], 89[T]}, {}, {}, {}, {}] Covered Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {66[T], 89[T]}, {}, {}, {58[T]}] Step with 51 Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 51[(-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {66[T], 89[T]}, {}, {}, {58[T]}, {}] Backtrack Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {66[T], 89[T]}, {}, {}, {51[T], 58[T]}] Step with 52 Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 52[(1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {66[T], 89[T]}, {}, {}, {51[T], 58[T]}, {}] Backtrack Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {66[T], 89[T]}, {}, {}, {51[T], 52[T], 58[T]}] Step with 57 Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 57[(2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {66[T], 89[T]}, {}, {}, {51[T], 52[T], 58[T]}, {}] Covered Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {66[T], 89[T]}, {}, {}, {51[T], 52[T], 57[T], 58[T]}] Step with 54 Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 54[(-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {66[T], 89[T]}, {}, {}, {51[T], 52[T], 57[T], 58[T]}, {}] Backtrack Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {66[T], 89[T]}, {}, {}, {51[T], 52[T], 54[T], 57[T], 58[T]}] Step with 55 Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 55[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {66[T], 89[T]}, {}, {}, {51[T], 52[T], 54[T], 57[T], 58[T]}, {}] Backtrack Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {66[T], 89[T]}, {}, {}, {51[T], 52[T], 54[T], 55[T], 57[T], 58[T]}] Step with 56 Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 56[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {66[T], 89[T]}, {}, {}, {51[T], 52[T], 54[T], 55[T], 57[T], 58[T]}, {}] Backtrack Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {66[T], 89[T]}, {}, {}, {51[T], 52[T], 54[T], 55[T], 56[T], 57[T], 58[T]}] Step with 53 Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 53[(-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {66[T], 89[T]}, {}, {}, {51[T], 52[T], 54[T], 55[T], 56[T], 57[T], 58[T]}, {}] Backtrack Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {66[T], 89[T]}, {}, {}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T]}] Step with 59 Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 59[(1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {66[T], 89[T]}, {}, {}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T]}, {}] Covered Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {66[T], 89[T]}, {}, {}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}] Backtrack Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {66[T], 89[T]}, {}, {46[T]}] Step with 50 Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {66[T], 89[T]}, {}, {45[T], 46[T], 47[T], 48[T]}, {}] Step with 51 Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 51[(-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {66[T], 89[T]}, {}, {45[T], 46[T], 47[T], 48[T]}, {58[T], 59[T]}, {}] Backtrack Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {66[T], 89[T]}, {}, {45[T], 46[T], 47[T], 48[T]}, {51[T], 58[T], 59[T]}] Step with 52 Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 52[(1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {66[T], 89[T]}, {}, {45[T], 46[T], 47[T], 48[T]}, {51[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {66[T], 89[T]}, {}, {45[T], 46[T], 47[T], 48[T]}, {51[T], 52[T], 58[T], 59[T]}] Step with 57 Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 57[(2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {66[T], 89[T]}, {}, {45[T], 46[T], 47[T], 48[T]}, {51[T], 52[T], 58[T], 59[T]}, {}] Accelerate Start location: l7 Program variables: executed_drive^0 is_aborted^0 is_aborted_next^0 n0^0 n1^0 pc_drive^0 pc_drive_next^0 pc_loop^0 pc_plan^0 pc_plan_next^0 x^0 x_next^0 y^0 y_next^0 39: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 40: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 41: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 42: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post4, is_aborted_next^0'=is_aborted_next^post4, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 43: l0 -> l1 : is_aborted^0'=is_aborted_next^post5, is_aborted_next^0'=is_aborted_next^post5, pc_drive^0'=pc_drive_next^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 44: l0 -> l1 : is_aborted^0'=is_aborted_next^post6, is_aborted_next^0'=is_aborted_next^post6, pc_drive^0'=pc_drive_next^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 69: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, T, cost: 1 70: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0), cost: 1 71: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 72: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0), cost: 1 73: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 74: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 45: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post7, is_aborted_next^0'=is_aborted_next^post7, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 46: l2 -> l3 : is_aborted^0'=is_aborted_next^post8, is_aborted_next^0'=is_aborted_next^post8, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post8, pc_plan_next^0'=pc_plan_next^post8, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 47: l2 -> l3 : is_aborted^0'=is_aborted_next^post9, is_aborted_next^0'=is_aborted_next^post9, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post9, pc_plan_next^0'=pc_plan_next^post9, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 48: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post10, is_aborted_next^0'=is_aborted_next^post10, pc_drive^0'=2, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 49: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post11, is_aborted_next^0'=is_aborted_next^post11, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post11, pc_plan_next^0'=pc_plan_next^post11, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 50: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post12, pc_plan_next^0'=pc_plan_next^post12, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0), cost: 1 51: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 52: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0), cost: 1 53: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 54: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 55: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0), cost: 1 56: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0), cost: 1 57: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 58: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0), cost: 1 59: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 63: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0), cost: 1 64: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 65: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 66: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 67: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 68: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 76: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^0+3*n, x_next^0'=x^0+3*n, y^0'=y^0+3*n, y_next^0'=y^0+3*n, (7-pc_plan_next^post19 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0), cost: 1 77: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2+x^0, x_next^0'=2*n2+x^0, y^0'=2*n2+y^0, y_next^0'=2*n2+y^0, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n2 >= 0 /\ -1+n0^0-2*n2-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1-2*n2+n1^0-y^0 >= 0), cost: 1 78: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2*n3+x^0+3*n1*n3, x_next^0'=3*n1+2*n2+2*n2*(-1+n3)+x^0+3*n1*(-1+n3), y^0'=2*n2*n3+3*n1*n3+y^0, y_next^0'=3*n1+2*n2+2*n2*(-1+n3)+y^0+3*n1*(-1+n3), (7-pc_drive_next^post20 >= 0 /\ -1+n1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n3 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+n2 >= 0 /\ -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ -1+n1^0 >= 0 /\ -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 79: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+2*n4, x_next^0'=x^0+2*n4, y^0'=2*n4+y^0, y_next^0'=2*n4+y^0, (-1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1-2*n4+n1^0-y^0 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n0^0-x^0-2*n4 >= 0), cost: 1 80: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=3*n11*n5*n31+x^0+2*n4*n5+2*n22*n5*n31, x_next^0'=2*(-1+n5)*n22*n31+x^0+2*n4+3*n11*n31+2*(-1+n5)*n4+3*n11*(-1+n5)*n31+2*n22*n31, y^0'=3*n11*n5*n31+2*n4*n5+y^0+2*n22*n5*n31, y_next^0'=2*(-1+n5)*n22*n31+2*n4+3*n11*n31+2*(-1+n5)*n4+y^0+3*n11*(-1+n5)*n31+2*n22*n31, (-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0), cost: 1 81: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=3*n6+x^0, x_next^0'=3*n6+x^0, y^0'=3*n6+y^0, y_next^0'=3*n6+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-3*n6-x^0 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-3*n6+n1^0-y^0 >= 0), cost: 1 82: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n311*n7*n51*n221+2*n42*n7*n51+x^0+3*n311*n7*n111*n51+3*n6*n7, x_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+x^0+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+3*n311*n111*n51, y^0'=2*n311*n7*n51*n221+2*n42*n7*n51+3*n311*n7*n111*n51+y^0+3*n6*n7, y_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+y^0+3*n311*n111*n51, (7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0), cost: 1 83: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n8+x^0, x_next^0'=2*n8+x^0, y^0'=2*n8+y^0, y_next^0'=2*n8+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n8-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n8+n1^0-y^0 >= 0 /\ -1+n8 >= 0), cost: 1 84: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+x^0+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71, x_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+x^0+3*n62*(-1+n9)*n71+2*n511*n2211*n3111*n71, y^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71+y^0, y_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+3*n62*(-1+n9)*n71+y^0+2*n511*n2211*n3111*n71, (7-pc_plan_next^post19 >= 0 /\ -1+n1111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-3*n62*(-1+n9)*n71-y^0-2*n511*n2211*n3111*n71 >= 0 /\ -1+n62 >= 0 /\ -1+n0^0 >= 0 /\ -1+n3111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1+n511 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n9 >= 0 /\ -1+n2211 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-x^0-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-3*n62*(-1+n9)*n71-2*n511*n2211*n3111*n71 >= 0 /\ -1+n8 >= 0 /\ -1+n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n421 >= 0), cost: 1 85: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=x^0+n10, x_next^0'=x^0+n10, y^0'=y^0+n10, y_next^0'=y^0+n10, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n1^0-y^0-n10 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1+n0^0-x^0-n10 >= 0 /\ -1+n10 >= 0), cost: 1 86: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n12+x^0, x_next^0'=2*n12+x^0, y^0'=2*n12+y^0, y_next^0'=2*n12+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0), cost: 1 87: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+n13, x_next^0'=x^0+n13, y^0'=n13+y^0, y_next^0'=n13+y^0, (-1+n0^0-x^0-n13 >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1-n13+n1^0-y^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0), cost: 1 88: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=n14*n13+2*n121*n14+x^0, x_next^0'=2*n121+x^0+n13+(-1+n14)*n13+2*n121*(-1+n14), y^0'=n14*n13+2*n121*n14+y^0, y_next^0'=2*n121+n13+(-1+n14)*n13+2*n121*(-1+n14)+y^0, (-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0), cost: 1 89: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=n15+x^0, x_next^0'=n15+x^0, y^0'=n15+y^0, y_next^0'=n15+y^0, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 90: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n17+x^0, x_next^0'=2*n17+x^0, y^0'=2*n17+y^0, y_next^0'=2*n17+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n17 >= 0 /\ -1+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n17+n0^0-x^0 >= 0 /\ -1-2*n17+n1^0-y^0 >= 0), cost: 1 60: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 61: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0), cost: 1 62: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 75: l7 -> l1 : T, cost: 1 Loop Acceleration Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2+x^0, x_next^0'=2+x^0, y^0'=2+y^0, y_next^0'=2+y^0, (-7+pc_plan_next^post19 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -2 <= 0 /\ 3-n1^0+y^0 <= 0 /\ 1-n0^0 <= 0 /\ -6 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n17+x^0, x_next^0'=2*n17+x^0, y^0'=2*n17+y^0, y_next^0'=2*n17+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n17 >= 0 /\ -1+n0^0 >= 0 /\ 2 >= 0 /\ -1+n1^0 >= 0 /\ 6 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n17+n0^0-x^0 >= 0 /\ -1-2*n17+n1^0-y^0 >= 0), cost: 1 7-pc_plan_next^post19 >= 0 [0]: monotonic increase yields 7-pc_plan_next^post19 >= 0 -3+n0^0-x^0 >= 0 [0]: montonic decrease yields -1-2*n17+n0^0-x^0 >= 0 -3+n0^0-x^0 >= 0 [1]: eventual increase yields (-3+n0^0-x^0 >= 0 /\ 2 <= 0) -3+n1^0-y^0 >= 0 [0]: montonic decrease yields -1-2*n17+n1^0-y^0 >= 0 -3+n1^0-y^0 >= 0 [1]: eventual increase yields (-3+n1^0-y^0 >= 0 /\ 2 <= 0) -1+n0^0 >= 0 [0]: monotonic increase yields -1+n0^0 >= 0 2 >= 0 [0]: monotonic increase yields 2 >= 0 -1+n1^0 >= 0 [0]: monotonic increase yields -1+n1^0 >= 0 6 >= 0 [0]: monotonic increase yields 6 >= 0 -1+pc_plan_next^post19 >= 0 [0]: monotonic increase yields -1+pc_plan_next^post19 >= 0 Replacement map: {7-pc_plan_next^post19 >= 0 -> 7-pc_plan_next^post19 >= 0, -3+n0^0-x^0 >= 0 -> -1-2*n17+n0^0-x^0 >= 0, -3+n1^0-y^0 >= 0 -> -1-2*n17+n1^0-y^0 >= 0, -1+n0^0 >= 0 -> -1+n0^0 >= 0, 2 >= 0 -> 2 >= 0, -1+n1^0 >= 0 -> -1+n1^0 >= 0, 6 >= 0 -> 6 >= 0, -1+pc_plan_next^post19 >= 0 -> -1+pc_plan_next^post19 >= 0} Simplified Guard Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n17+x^0, x_next^0'=2*n17+x^0, y^0'=2*n17+y^0, y_next^0'=2*n17+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n17 >= 0 /\ -1+n0^0 >= 0 /\ 2 >= 0 /\ -1+n1^0 >= 0 /\ 6 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n17+n0^0-x^0 >= 0 /\ -1-2*n17+n1^0-y^0 >= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n17+x^0, x_next^0'=2*n17+x^0, y^0'=2*n17+y^0, y_next^0'=2*n17+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n17 >= 0 /\ -1+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n17+n0^0-x^0 >= 0 /\ -1-2*n17+n1^0-y^0 >= 0), cost: 1 Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 89[(7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0)], 90[(7-pc_plan_next^post19 >= 0 /\ -1+n17 >= 0 /\ -1+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n17+n0^0-x^0 >= 0 /\ -1-2*n17+n1^0-y^0 >= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {66[T], 89[T]}, {90[T]}] Accelerate Start location: l7 Program variables: executed_drive^0 is_aborted^0 is_aborted_next^0 n0^0 n1^0 pc_drive^0 pc_drive_next^0 pc_loop^0 pc_plan^0 pc_plan_next^0 x^0 x_next^0 y^0 y_next^0 39: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 40: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 41: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 42: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post4, is_aborted_next^0'=is_aborted_next^post4, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 43: l0 -> l1 : is_aborted^0'=is_aborted_next^post5, is_aborted_next^0'=is_aborted_next^post5, pc_drive^0'=pc_drive_next^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 44: l0 -> l1 : is_aborted^0'=is_aborted_next^post6, is_aborted_next^0'=is_aborted_next^post6, pc_drive^0'=pc_drive_next^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 69: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, T, cost: 1 70: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0), cost: 1 71: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 72: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0), cost: 1 73: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 74: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 45: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post7, is_aborted_next^0'=is_aborted_next^post7, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 46: l2 -> l3 : is_aborted^0'=is_aborted_next^post8, is_aborted_next^0'=is_aborted_next^post8, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post8, pc_plan_next^0'=pc_plan_next^post8, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 47: l2 -> l3 : is_aborted^0'=is_aborted_next^post9, is_aborted_next^0'=is_aborted_next^post9, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post9, pc_plan_next^0'=pc_plan_next^post9, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 48: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post10, is_aborted_next^0'=is_aborted_next^post10, pc_drive^0'=2, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 49: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post11, is_aborted_next^0'=is_aborted_next^post11, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post11, pc_plan_next^0'=pc_plan_next^post11, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 50: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post12, pc_plan_next^0'=pc_plan_next^post12, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0), cost: 1 51: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 52: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0), cost: 1 53: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 54: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 55: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0), cost: 1 56: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0), cost: 1 57: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 58: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0), cost: 1 59: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 63: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0), cost: 1 64: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 65: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 66: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 67: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 68: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 76: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^0+3*n, x_next^0'=x^0+3*n, y^0'=y^0+3*n, y_next^0'=y^0+3*n, (7-pc_plan_next^post19 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0), cost: 1 77: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2+x^0, x_next^0'=2*n2+x^0, y^0'=2*n2+y^0, y_next^0'=2*n2+y^0, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n2 >= 0 /\ -1+n0^0-2*n2-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1-2*n2+n1^0-y^0 >= 0), cost: 1 78: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2*n3+x^0+3*n1*n3, x_next^0'=3*n1+2*n2+2*n2*(-1+n3)+x^0+3*n1*(-1+n3), y^0'=2*n2*n3+3*n1*n3+y^0, y_next^0'=3*n1+2*n2+2*n2*(-1+n3)+y^0+3*n1*(-1+n3), (7-pc_drive_next^post20 >= 0 /\ -1+n1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n3 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+n2 >= 0 /\ -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ -1+n1^0 >= 0 /\ -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 79: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+2*n4, x_next^0'=x^0+2*n4, y^0'=2*n4+y^0, y_next^0'=2*n4+y^0, (-1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1-2*n4+n1^0-y^0 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n0^0-x^0-2*n4 >= 0), cost: 1 80: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=3*n11*n5*n31+x^0+2*n4*n5+2*n22*n5*n31, x_next^0'=2*(-1+n5)*n22*n31+x^0+2*n4+3*n11*n31+2*(-1+n5)*n4+3*n11*(-1+n5)*n31+2*n22*n31, y^0'=3*n11*n5*n31+2*n4*n5+y^0+2*n22*n5*n31, y_next^0'=2*(-1+n5)*n22*n31+2*n4+3*n11*n31+2*(-1+n5)*n4+y^0+3*n11*(-1+n5)*n31+2*n22*n31, (-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0), cost: 1 81: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=3*n6+x^0, x_next^0'=3*n6+x^0, y^0'=3*n6+y^0, y_next^0'=3*n6+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-3*n6-x^0 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-3*n6+n1^0-y^0 >= 0), cost: 1 82: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n311*n7*n51*n221+2*n42*n7*n51+x^0+3*n311*n7*n111*n51+3*n6*n7, x_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+x^0+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+3*n311*n111*n51, y^0'=2*n311*n7*n51*n221+2*n42*n7*n51+3*n311*n7*n111*n51+y^0+3*n6*n7, y_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+y^0+3*n311*n111*n51, (7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0), cost: 1 83: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n8+x^0, x_next^0'=2*n8+x^0, y^0'=2*n8+y^0, y_next^0'=2*n8+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n8-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n8+n1^0-y^0 >= 0 /\ -1+n8 >= 0), cost: 1 84: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+x^0+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71, x_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+x^0+3*n62*(-1+n9)*n71+2*n511*n2211*n3111*n71, y^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71+y^0, y_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+3*n62*(-1+n9)*n71+y^0+2*n511*n2211*n3111*n71, (7-pc_plan_next^post19 >= 0 /\ -1+n1111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-3*n62*(-1+n9)*n71-y^0-2*n511*n2211*n3111*n71 >= 0 /\ -1+n62 >= 0 /\ -1+n0^0 >= 0 /\ -1+n3111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1+n511 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n9 >= 0 /\ -1+n2211 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-x^0-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-3*n62*(-1+n9)*n71-2*n511*n2211*n3111*n71 >= 0 /\ -1+n8 >= 0 /\ -1+n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n421 >= 0), cost: 1 85: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=x^0+n10, x_next^0'=x^0+n10, y^0'=y^0+n10, y_next^0'=y^0+n10, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n1^0-y^0-n10 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1+n0^0-x^0-n10 >= 0 /\ -1+n10 >= 0), cost: 1 86: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n12+x^0, x_next^0'=2*n12+x^0, y^0'=2*n12+y^0, y_next^0'=2*n12+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0), cost: 1 87: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+n13, x_next^0'=x^0+n13, y^0'=n13+y^0, y_next^0'=n13+y^0, (-1+n0^0-x^0-n13 >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1-n13+n1^0-y^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0), cost: 1 88: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=n14*n13+2*n121*n14+x^0, x_next^0'=2*n121+x^0+n13+(-1+n14)*n13+2*n121*(-1+n14), y^0'=n14*n13+2*n121*n14+y^0, y_next^0'=2*n121+n13+(-1+n14)*n13+2*n121*(-1+n14)+y^0, (-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0), cost: 1 89: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=n15+x^0, x_next^0'=n15+x^0, y^0'=n15+y^0, y_next^0'=n15+y^0, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 90: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n17+x^0, x_next^0'=2*n17+x^0, y^0'=2*n17+y^0, y_next^0'=2*n17+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n17 >= 0 /\ -1+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n17+n0^0-x^0 >= 0 /\ -1-2*n17+n1^0-y^0 >= 0), cost: 1 91: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n17*n18+n151*n18+x^0, x_next^0'=2*n17+n151+2*n17*(-1+n18)+n151*(-1+n18)+x^0, y^0'=2*n17*n18+n151*n18+y^0, y_next^0'=2*n17+n151+2*n17*(-1+n18)+n151*(-1+n18)+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1-n151+n0^0-2*n17*(-1+n18)-n151*(-1+n18)-x^0 >= 0 /\ -1-2*n17-n151-2*n17*(-1+n18)-n151*(-1+n18)+n1^0-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-n151*(-1+n18)-x^0 >= 0 /\ -1-n151-2*n17*(-1+n18)-n151*(-1+n18)+n1^0-y^0 >= 0 /\ -1+n18 >= 0), cost: 1 60: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 61: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0), cost: 1 62: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 75: l7 -> l1 : T, cost: 1 Loop Acceleration Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n17+n151+x^0, x_next^0'=2*n17+n151+x^0, y^0'=2*n17+n151+y^0, y_next^0'=2*n17+n151+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -2 <= 0 /\ -1+n0^0 >= 0 /\ -1-n151+n1^0-y^0 >= 0 /\ -1-2*n17-n151+n0^0-x^0 >= 0 /\ -6 <= 0 /\ -1-n151+n0^0-x^0 >= 0 /\ -1-2*n17-n151+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n17*n18+n151*n18+x^0, x_next^0'=2*n17+n151+2*n17*(-1+n18)+n151*(-1+n18)+x^0, y^0'=2*n17*n18+n151*n18+y^0, y_next^0'=2*n17+n151+2*n17*(-1+n18)+n151*(-1+n18)+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1-n151+n0^0-2*n17*(-1+n18)-n151*(-1+n18)-x^0 >= 0 /\ -1-2*n17-n151-2*n17*(-1+n18)-n151*(-1+n18)+n1^0-y^0 >= 0 /\ -1+n0^0 >= 0 /\ 2 >= 0 /\ -1+n1^0 >= 0 /\ 6 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-n151*(-1+n18)-x^0 >= 0 /\ -1-n151-2*n17*(-1+n18)-n151*(-1+n18)+n1^0-y^0 >= 0 /\ -1+n18 >= 0), cost: 1 7-pc_plan_next^post19 >= 0 [0]: monotonic increase yields 7-pc_plan_next^post19 >= 0 -1+n17 >= 0 [0]: monotonic increase yields -1+n17 >= 0 -1+n151 >= 0 [0]: monotonic increase yields -1+n151 >= 0 -1+n0^0 >= 0 [0]: monotonic increase yields -1+n0^0 >= 0 -1-n151+n1^0-y^0 >= 0 [0]: montonic decrease yields -1-n151-2*n17*(-1+n18)-n151*(-1+n18)+n1^0-y^0 >= 0, dependencies: -1+n17 >= 0 -1-2*n17-n151+n1^0-y^0 >= 0 -1-n151+n1^0-y^0 >= 0 [1]: eventual decrease yields (-1-n151+n1^0-y^0 >= 0 /\ -1-n151-2*n17*(-1+n18)-n151*(-1+n18)+n1^0-y^0 >= 0), dependencies: -1+n17 >= 0 -1+n151 >= 0 -1-n151+n1^0-y^0 >= 0 [2]: eventual increase yields (-1-n151+n1^0-y^0 >= 0 /\ 2*n17+n151 <= 0), dependencies: -1+n17 >= 0 -1+n151 >= 0 -1-2*n17-n151+n0^0-x^0 >= 0 [0]: montonic decrease yields -1-2*n17-n151+n0^0-2*n17*(-1+n18)-n151*(-1+n18)-x^0 >= 0, dependencies: -1+n17 >= 0 -1+n151 >= 0 -1-2*n17-n151+n0^0-x^0 >= 0 [1]: eventual increase yields (2*n17+n151 <= 0 /\ -1-2*n17-n151+n0^0-x^0 >= 0), dependencies: -1+n17 >= 0 -1+n151 >= 0 -1-n151+n0^0-x^0 >= 0 [0]: montonic decrease yields -1-n151+n0^0-2*n17*(-1+n18)-n151*(-1+n18)-x^0 >= 0, dependencies: -1+n17 >= 0 -1-2*n17-n151+n0^0-x^0 >= 0 -1-n151+n0^0-x^0 >= 0 [1]: eventual increase yields (2*n17+n151 <= 0 /\ -1-n151+n0^0-x^0 >= 0), dependencies: -1+n17 >= 0 -1+n151 >= 0 2 >= 0 [0]: monotonic increase yields 2 >= 0 -1-2*n17-n151+n1^0-y^0 >= 0 [0]: montonic decrease yields -1-2*n17-n151-2*n17*(-1+n18)-n151*(-1+n18)+n1^0-y^0 >= 0, dependencies: -1+n17 >= 0 -1+n151 >= 0 -1-2*n17-n151+n1^0-y^0 >= 0 [1]: eventual increase yields (2*n17+n151 <= 0 /\ -1-2*n17-n151+n1^0-y^0 >= 0), dependencies: -1+n17 >= 0 -1+n151 >= 0 -1+n1^0 >= 0 [0]: monotonic increase yields -1+n1^0 >= 0 6 >= 0 [0]: monotonic increase yields 6 >= 0 -1+pc_plan_next^post19 >= 0 [0]: monotonic increase yields -1+pc_plan_next^post19 >= 0 Replacement map: {7-pc_plan_next^post19 >= 0 -> 7-pc_plan_next^post19 >= 0, -1+n17 >= 0 -> -1+n17 >= 0, -1+n151 >= 0 -> -1+n151 >= 0, -1+n0^0 >= 0 -> -1+n0^0 >= 0, -1-n151+n1^0-y^0 >= 0 -> -1-n151-2*n17*(-1+n18)-n151*(-1+n18)+n1^0-y^0 >= 0, -1-2*n17-n151+n0^0-x^0 >= 0 -> -1-2*n17-n151+n0^0-2*n17*(-1+n18)-n151*(-1+n18)-x^0 >= 0, -1-n151+n0^0-x^0 >= 0 -> -1-n151+n0^0-2*n17*(-1+n18)-n151*(-1+n18)-x^0 >= 0, 2 >= 0 -> 2 >= 0, -1-2*n17-n151+n1^0-y^0 >= 0 -> -1-2*n17-n151-2*n17*(-1+n18)-n151*(-1+n18)+n1^0-y^0 >= 0, -1+n1^0 >= 0 -> -1+n1^0 >= 0, 6 >= 0 -> 6 >= 0, -1+pc_plan_next^post19 >= 0 -> -1+pc_plan_next^post19 >= 0} Simplified Guard Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n17*n18+n151*n18+x^0, x_next^0'=2*n17+n151+2*n17*(-1+n18)+n151*(-1+n18)+x^0, y^0'=2*n17*n18+n151*n18+y^0, y_next^0'=2*n17+n151+2*n17*(-1+n18)+n151*(-1+n18)+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1-n151+n0^0-2*n17*(-1+n18)-n151*(-1+n18)-x^0 >= 0 /\ -1-2*n17-n151-2*n17*(-1+n18)-n151*(-1+n18)+n1^0-y^0 >= 0 /\ -1+n0^0 >= 0 /\ 2 >= 0 /\ -1+n1^0 >= 0 /\ 6 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-n151*(-1+n18)-x^0 >= 0 /\ -1-n151-2*n17*(-1+n18)-n151*(-1+n18)+n1^0-y^0 >= 0 /\ -1+n18 >= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n17*n18+n151*n18+x^0, x_next^0'=2*n17+n151+2*n17*(-1+n18)+n151*(-1+n18)+x^0, y^0'=2*n17*n18+n151*n18+y^0, y_next^0'=2*n17+n151+2*n17*(-1+n18)+n151*(-1+n18)+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1-n151+n0^0-2*n17*(-1+n18)-n151*(-1+n18)-x^0 >= 0 /\ -1-2*n17-n151-2*n17*(-1+n18)-n151*(-1+n18)+n1^0-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-n151*(-1+n18)-x^0 >= 0 /\ -1-n151-2*n17*(-1+n18)-n151*(-1+n18)+n1^0-y^0 >= 0 /\ -1+n18 >= 0), cost: 1 Trace 75[T], 69[T], 88[(-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0)], 91[(7-pc_plan_next^post19 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1-n151+n0^0-2*n17*(-1+n18)-n151*(-1+n18)-x^0 >= 0 /\ -1-2*n17-n151-2*n17*(-1+n18)-n151*(-1+n18)+n1^0-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-n151*(-1+n18)-x^0 >= 0 /\ -1-n151-2*n17*(-1+n18)-n151*(-1+n18)+n1^0-y^0 >= 0 /\ -1+n18 >= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 88[T]}, {91[T]}] Accelerate Start location: l7 Program variables: executed_drive^0 is_aborted^0 is_aborted_next^0 n0^0 n1^0 pc_drive^0 pc_drive_next^0 pc_loop^0 pc_plan^0 pc_plan_next^0 x^0 x_next^0 y^0 y_next^0 39: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 40: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 41: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 42: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post4, is_aborted_next^0'=is_aborted_next^post4, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 43: l0 -> l1 : is_aborted^0'=is_aborted_next^post5, is_aborted_next^0'=is_aborted_next^post5, pc_drive^0'=pc_drive_next^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 44: l0 -> l1 : is_aborted^0'=is_aborted_next^post6, is_aborted_next^0'=is_aborted_next^post6, pc_drive^0'=pc_drive_next^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 69: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, T, cost: 1 70: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0), cost: 1 71: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 72: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0), cost: 1 73: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 74: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 45: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post7, is_aborted_next^0'=is_aborted_next^post7, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 46: l2 -> l3 : is_aborted^0'=is_aborted_next^post8, is_aborted_next^0'=is_aborted_next^post8, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post8, pc_plan_next^0'=pc_plan_next^post8, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 47: l2 -> l3 : is_aborted^0'=is_aborted_next^post9, is_aborted_next^0'=is_aborted_next^post9, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post9, pc_plan_next^0'=pc_plan_next^post9, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 48: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post10, is_aborted_next^0'=is_aborted_next^post10, pc_drive^0'=2, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 49: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post11, is_aborted_next^0'=is_aborted_next^post11, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post11, pc_plan_next^0'=pc_plan_next^post11, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 50: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post12, pc_plan_next^0'=pc_plan_next^post12, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0), cost: 1 51: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 52: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0), cost: 1 53: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 54: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 55: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0), cost: 1 56: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0), cost: 1 57: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 58: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0), cost: 1 59: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 63: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0), cost: 1 64: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 65: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 66: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 67: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 68: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 76: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^0+3*n, x_next^0'=x^0+3*n, y^0'=y^0+3*n, y_next^0'=y^0+3*n, (7-pc_plan_next^post19 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0), cost: 1 77: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2+x^0, x_next^0'=2*n2+x^0, y^0'=2*n2+y^0, y_next^0'=2*n2+y^0, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n2 >= 0 /\ -1+n0^0-2*n2-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1-2*n2+n1^0-y^0 >= 0), cost: 1 78: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2*n3+x^0+3*n1*n3, x_next^0'=3*n1+2*n2+2*n2*(-1+n3)+x^0+3*n1*(-1+n3), y^0'=2*n2*n3+3*n1*n3+y^0, y_next^0'=3*n1+2*n2+2*n2*(-1+n3)+y^0+3*n1*(-1+n3), (7-pc_drive_next^post20 >= 0 /\ -1+n1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n3 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+n2 >= 0 /\ -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ -1+n1^0 >= 0 /\ -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 79: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+2*n4, x_next^0'=x^0+2*n4, y^0'=2*n4+y^0, y_next^0'=2*n4+y^0, (-1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1-2*n4+n1^0-y^0 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n0^0-x^0-2*n4 >= 0), cost: 1 80: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=3*n11*n5*n31+x^0+2*n4*n5+2*n22*n5*n31, x_next^0'=2*(-1+n5)*n22*n31+x^0+2*n4+3*n11*n31+2*(-1+n5)*n4+3*n11*(-1+n5)*n31+2*n22*n31, y^0'=3*n11*n5*n31+2*n4*n5+y^0+2*n22*n5*n31, y_next^0'=2*(-1+n5)*n22*n31+2*n4+3*n11*n31+2*(-1+n5)*n4+y^0+3*n11*(-1+n5)*n31+2*n22*n31, (-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0), cost: 1 81: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=3*n6+x^0, x_next^0'=3*n6+x^0, y^0'=3*n6+y^0, y_next^0'=3*n6+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-3*n6-x^0 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-3*n6+n1^0-y^0 >= 0), cost: 1 82: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n311*n7*n51*n221+2*n42*n7*n51+x^0+3*n311*n7*n111*n51+3*n6*n7, x_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+x^0+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+3*n311*n111*n51, y^0'=2*n311*n7*n51*n221+2*n42*n7*n51+3*n311*n7*n111*n51+y^0+3*n6*n7, y_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+y^0+3*n311*n111*n51, (7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0), cost: 1 83: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n8+x^0, x_next^0'=2*n8+x^0, y^0'=2*n8+y^0, y_next^0'=2*n8+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n8-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n8+n1^0-y^0 >= 0 /\ -1+n8 >= 0), cost: 1 84: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+x^0+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71, x_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+x^0+3*n62*(-1+n9)*n71+2*n511*n2211*n3111*n71, y^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71+y^0, y_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+3*n62*(-1+n9)*n71+y^0+2*n511*n2211*n3111*n71, (7-pc_plan_next^post19 >= 0 /\ -1+n1111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-3*n62*(-1+n9)*n71-y^0-2*n511*n2211*n3111*n71 >= 0 /\ -1+n62 >= 0 /\ -1+n0^0 >= 0 /\ -1+n3111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1+n511 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n9 >= 0 /\ -1+n2211 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-x^0-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-3*n62*(-1+n9)*n71-2*n511*n2211*n3111*n71 >= 0 /\ -1+n8 >= 0 /\ -1+n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n421 >= 0), cost: 1 85: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=x^0+n10, x_next^0'=x^0+n10, y^0'=y^0+n10, y_next^0'=y^0+n10, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n1^0-y^0-n10 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1+n0^0-x^0-n10 >= 0 /\ -1+n10 >= 0), cost: 1 86: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n12+x^0, x_next^0'=2*n12+x^0, y^0'=2*n12+y^0, y_next^0'=2*n12+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0), cost: 1 87: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+n13, x_next^0'=x^0+n13, y^0'=n13+y^0, y_next^0'=n13+y^0, (-1+n0^0-x^0-n13 >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1-n13+n1^0-y^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0), cost: 1 88: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=n14*n13+2*n121*n14+x^0, x_next^0'=2*n121+x^0+n13+(-1+n14)*n13+2*n121*(-1+n14), y^0'=n14*n13+2*n121*n14+y^0, y_next^0'=2*n121+n13+(-1+n14)*n13+2*n121*(-1+n14)+y^0, (-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0), cost: 1 89: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=n15+x^0, x_next^0'=n15+x^0, y^0'=n15+y^0, y_next^0'=n15+y^0, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 90: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n17+x^0, x_next^0'=2*n17+x^0, y^0'=2*n17+y^0, y_next^0'=2*n17+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n17 >= 0 /\ -1+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n17+n0^0-x^0 >= 0 /\ -1-2*n17+n1^0-y^0 >= 0), cost: 1 91: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n17*n18+n151*n18+x^0, x_next^0'=2*n17+n151+2*n17*(-1+n18)+n151*(-1+n18)+x^0, y^0'=2*n17*n18+n151*n18+y^0, y_next^0'=2*n17+n151+2*n17*(-1+n18)+n151*(-1+n18)+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1-n151+n0^0-2*n17*(-1+n18)-n151*(-1+n18)-x^0 >= 0 /\ -1-2*n17-n151-2*n17*(-1+n18)-n151*(-1+n18)+n1^0-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-n151*(-1+n18)-x^0 >= 0 /\ -1-n151-2*n17*(-1+n18)-n151*(-1+n18)+n1^0-y^0 >= 0 /\ -1+n18 >= 0), cost: 1 92: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n17*n19*n18+n151*n19*n18+x^0+n19*n132*n141+2*n19*n141*n1211, x_next^0'=2*n17+n151+2*(-1+n19)*n141*n1211+2*n17*(-1+n18)+2*n141*n1211+n132*n141+n151*(-1+n18)+x^0+n132*(-1+n19)*n141+n151*(-1+n19)*n18+2*n17*(-1+n19)*n18, y^0'=2*n17*n19*n18+n151*n19*n18+y^0+n19*n132*n141+2*n19*n141*n1211, y_next^0'=2*n17+n151+2*(-1+n19)*n141*n1211+2*n17*(-1+n18)+2*n141*n1211+n132*n141+n151*(-1+n18)+n132*(-1+n19)*n141+n151*(-1+n19)*n18+y^0+2*n17*(-1+n19)*n18, (7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0), cost: 1 60: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 61: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0), cost: 1 62: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 75: l7 -> l1 : T, cost: 1 Loop Acceleration Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n17*n18+2*n141*n1211+n151*n18+n132*n141+x^0, x_next^0'=2*n17+n151+2*n17*(-1+n18)+2*n141*n1211+n132*n141+n151*(-1+n18)+x^0, y^0'=2*n17*n18+2*n141*n1211+n151*n18+n132*n141+y^0, y_next^0'=2*n17+n151+2*n17*(-1+n18)+2*n141*n1211+n132*n141+n151*(-1+n18)+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n0^0-2*(-1+n141)*n1211-x^0-(-1+n141)*n132-2*n1211 >= 0 /\ -1-2*n17-n151-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)+n1^0-y^0 >= 0 /\ -1+n151 >= 0 /\ -2 <= 0 /\ -1-n132-2*(-1+n141)*n1211+n1^0-(-1+n141)*n132-y^0-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1-n151-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)+n1^0-y^0 >= 0 /\ -1-2*(-1+n141)*n1211+n1^0-(-1+n141)*n132-y^0-2*n1211 >= 0 /\ -6 <= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n0^0-n132-2*(-1+n141)*n1211-x^0-(-1+n141)*n132-2*n1211 >= 0 /\ -1+n1211 >= 0 /\ -1+n18 >= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n17*n19*n18+n151*n19*n18+x^0+n19*n132*n141+2*n19*n141*n1211, x_next^0'=2*n17+n151+2*(-1+n19)*n141*n1211+2*n17*(-1+n18)+2*n141*n1211+n132*n141+n151*(-1+n18)+x^0+n132*(-1+n19)*n141+n151*(-1+n19)*n18+2*n17*(-1+n19)*n18, y^0'=2*n17*n19*n18+n151*n19*n18+y^0+n19*n132*n141+2*n19*n141*n1211, y_next^0'=2*n17+n151+2*(-1+n19)*n141*n1211+2*n17*(-1+n18)+2*n141*n1211+n132*n141+n151*(-1+n18)+n132*(-1+n19)*n141+n151*(-1+n19)*n18+y^0+2*n17*(-1+n19)*n18, (7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ 2 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ 6 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0), cost: 1 7-pc_plan_next^post19 >= 0 [0]: monotonic increase yields 7-pc_plan_next^post19 >= 0 -1+n141 >= 0 [0]: monotonic increase yields -1+n141 >= 0 -1+n17 >= 0 [0]: monotonic increase yields -1+n17 >= 0 -1+n0^0-2*(-1+n141)*n1211-x^0-(-1+n141)*n132-2*n1211 >= 0 [0]: montonic decrease yields -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0, dependencies: -1+n132 >= 0 -1+n0^0-n132-2*(-1+n141)*n1211-x^0-(-1+n141)*n132-2*n1211 >= 0 -1+n0^0-2*(-1+n141)*n1211-x^0-(-1+n141)*n132-2*n1211 >= 0 [1]: eventual decrease yields (-1+n0^0-2*(-1+n141)*n1211-x^0-(-1+n141)*n132-2*n1211 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0) -1+n0^0-2*(-1+n141)*n1211-x^0-(-1+n141)*n132-2*n1211 >= 0 [2]: eventual increase yields (-1+n0^0-2*(-1+n141)*n1211-x^0-(-1+n141)*n132-2*n1211 >= 0 /\ 2*n17*n18+2*n141*n1211+n151*n18+n132*n141 <= 0) -1-2*n17-n151-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)+n1^0-y^0 >= 0 [0]: montonic decrease yields -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0, dependencies: -1+n141 >= 0 -1+n17 >= 0 -1+n151 >= 0 -1+n132 >= 0 -1+n1211 >= 0 -1+n18 >= 0 -1-2*n17-n151-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)+n1^0-y^0 >= 0 [1]: eventual decrease yields (-1-2*n17-n151-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)+n1^0-y^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0) -1-2*n17-n151-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)+n1^0-y^0 >= 0 [2]: eventual increase yields (-1-2*n17-n151-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)+n1^0-y^0 >= 0 /\ 2*n17*n18+2*n141*n1211+n151*n18+n132*n141 <= 0) -1+n151 >= 0 [0]: monotonic increase yields -1+n151 >= 0 -1-n132-2*(-1+n141)*n1211+n1^0-(-1+n141)*n132-y^0-2*n1211 >= 0 [0]: montonic decrease yields -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0, dependencies: -1+n17 >= 0 -1-2*n17-n151-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)+n1^0-y^0 >= 0 -1+n151 >= 0 -1+n18 >= 0 -1-n132-2*(-1+n141)*n1211+n1^0-(-1+n141)*n132-y^0-2*n1211 >= 0 [1]: eventual decrease yields (-1-n132-2*(-1+n141)*n1211+n1^0-(-1+n141)*n132-y^0-2*n1211 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0) -1-n132-2*(-1+n141)*n1211+n1^0-(-1+n141)*n132-y^0-2*n1211 >= 0 [2]: eventual increase yields (-1-n132-2*(-1+n141)*n1211+n1^0-(-1+n141)*n132-y^0-2*n1211 >= 0 /\ 2*n17*n18+2*n141*n1211+n151*n18+n132*n141 <= 0) -1+n0^0 >= 0 [0]: monotonic increase yields -1+n0^0 >= 0 -1-n151-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)+n1^0-y^0 >= 0 [0]: montonic decrease yields -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0, dependencies: -1+n17 >= 0 -1-2*n17-n151-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)+n1^0-y^0 >= 0 -1-n151-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)+n1^0-y^0 >= 0 [1]: eventual increase yields (-1-n151-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)+n1^0-y^0 >= 0 /\ 2*n17*n18+2*n141*n1211+n151*n18+n132*n141 <= 0) -1-2*(-1+n141)*n1211+n1^0-(-1+n141)*n132-y^0-2*n1211 >= 0 [0]: montonic decrease yields -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0, dependencies: -1-n132-2*(-1+n141)*n1211+n1^0-(-1+n141)*n132-y^0-2*n1211 >= 0 -1+n132 >= 0 -1-2*(-1+n141)*n1211+n1^0-(-1+n141)*n132-y^0-2*n1211 >= 0 [1]: eventual decrease yields (-1-2*(-1+n141)*n1211+n1^0-(-1+n141)*n132-y^0-2*n1211 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0) -1-2*(-1+n141)*n1211+n1^0-(-1+n141)*n132-y^0-2*n1211 >= 0 [2]: eventual increase yields (-1-2*(-1+n141)*n1211+n1^0-(-1+n141)*n132-y^0-2*n1211 >= 0 /\ 2*n17*n18+2*n141*n1211+n151*n18+n132*n141 <= 0) -1+n132 >= 0 [0]: monotonic increase yields -1+n132 >= 0 2 >= 0 [0]: monotonic increase yields 2 >= 0 -1+n1^0 >= 0 [0]: monotonic increase yields -1+n1^0 >= 0 -1-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 [0]: montonic decrease yields -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0, dependencies: -1+n17 >= 0 -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 -1-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 [1]: eventual decrease yields (-1-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0) -1-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 [2]: eventual increase yields (-1-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ 2*n17*n18+2*n141*n1211+n151*n18+n132*n141 <= 0) 6 >= 0 [0]: monotonic increase yields 6 >= 0 -1+pc_plan_next^post19 >= 0 [0]: monotonic increase yields -1+pc_plan_next^post19 >= 0 -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 [0]: montonic decrease yields -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0, dependencies: -1+n141 >= 0 -1+n132 >= 0 -1+n0^0-n132-2*(-1+n141)*n1211-x^0-(-1+n141)*n132-2*n1211 >= 0 -1+n1211 >= 0 -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 [1]: eventual decrease yields (-1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0) -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 [2]: eventual increase yields (-1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ 2*n17*n18+2*n141*n1211+n151*n18+n132*n141 <= 0) -1+n0^0-n132-2*(-1+n141)*n1211-x^0-(-1+n141)*n132-2*n1211 >= 0 [0]: montonic decrease yields -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0, dependencies: -1+n17 >= 0 -1+n151 >= 0 -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 -1+n18 >= 0 -1+n0^0-n132-2*(-1+n141)*n1211-x^0-(-1+n141)*n132-2*n1211 >= 0 [1]: eventual decrease yields (-1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0-n132-2*(-1+n141)*n1211-x^0-(-1+n141)*n132-2*n1211 >= 0) -1+n0^0-n132-2*(-1+n141)*n1211-x^0-(-1+n141)*n132-2*n1211 >= 0 [2]: eventual increase yields (-1+n0^0-n132-2*(-1+n141)*n1211-x^0-(-1+n141)*n132-2*n1211 >= 0 /\ 2*n17*n18+2*n141*n1211+n151*n18+n132*n141 <= 0) -1+n1211 >= 0 [0]: monotonic increase yields -1+n1211 >= 0 -1+n18 >= 0 [0]: monotonic increase yields -1+n18 >= 0 Replacement map: {7-pc_plan_next^post19 >= 0 -> 7-pc_plan_next^post19 >= 0, -1+n141 >= 0 -> -1+n141 >= 0, -1+n17 >= 0 -> -1+n17 >= 0, -1+n0^0-2*(-1+n141)*n1211-x^0-(-1+n141)*n132-2*n1211 >= 0 -> -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0, -1-2*n17-n151-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)+n1^0-y^0 >= 0 -> -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0, -1+n151 >= 0 -> -1+n151 >= 0, -1-n132-2*(-1+n141)*n1211+n1^0-(-1+n141)*n132-y^0-2*n1211 >= 0 -> -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0, -1+n0^0 >= 0 -> -1+n0^0 >= 0, -1-n151-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)+n1^0-y^0 >= 0 -> -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0, -1-2*(-1+n141)*n1211+n1^0-(-1+n141)*n132-y^0-2*n1211 >= 0 -> -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0, -1+n132 >= 0 -> -1+n132 >= 0, 2 >= 0 -> 2 >= 0, -1+n1^0 >= 0 -> -1+n1^0 >= 0, -1-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 -> -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0, 6 >= 0 -> 6 >= 0, -1+pc_plan_next^post19 >= 0 -> -1+pc_plan_next^post19 >= 0, -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 -> (-1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0), -1+n0^0-n132-2*(-1+n141)*n1211-x^0-(-1+n141)*n132-2*n1211 >= 0 -> -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0, -1+n1211 >= 0 -> -1+n1211 >= 0, -1+n18 >= 0 -> -1+n18 >= 0} Simplified Guard Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n17*n19*n18+n151*n19*n18+x^0+n19*n132*n141+2*n19*n141*n1211, x_next^0'=2*n17+n151+2*(-1+n19)*n141*n1211+2*n17*(-1+n18)+2*n141*n1211+n132*n141+n151*(-1+n18)+x^0+n132*(-1+n19)*n141+n151*(-1+n19)*n18+2*n17*(-1+n19)*n18, y^0'=2*n17*n19*n18+n151*n19*n18+y^0+n19*n132*n141+2*n19*n141*n1211, y_next^0'=2*n17+n151+2*(-1+n19)*n141*n1211+2*n17*(-1+n18)+2*n141*n1211+n132*n141+n151*(-1+n18)+n132*(-1+n19)*n141+n151*(-1+n19)*n18+y^0+2*n17*(-1+n19)*n18, (7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ 2 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ 6 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n17*n19*n18+n151*n19*n18+x^0+n19*n132*n141+2*n19*n141*n1211, x_next^0'=2*n17+n151+2*(-1+n19)*n141*n1211+2*n17*(-1+n18)+2*n141*n1211+n132*n141+n151*(-1+n18)+x^0+n132*(-1+n19)*n141+n151*(-1+n19)*n18+2*n17*(-1+n19)*n18, y^0'=2*n17*n19*n18+n151*n19*n18+y^0+n19*n132*n141+2*n19*n141*n1211, y_next^0'=2*n17+n151+2*(-1+n19)*n141*n1211+2*n17*(-1+n18)+2*n141*n1211+n132*n141+n151*(-1+n18)+n132*(-1+n19)*n141+n151*(-1+n19)*n18+y^0+2*n17*(-1+n19)*n18, (7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0), cost: 1 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {92[T]}] Step with 66 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 66[(1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {92[T]}, {}] Backtrack Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}] Step with 63 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}] Step with 62 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {}] Step with 50 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {}, {}] Step with 57 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 57[(2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {}, {}, {}] Covered Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {}, {57[T]}] Step with 54 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 54[(-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {}, {57[T]}, {}] Backtrack Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {}, {54[T], 57[T]}] Step with 55 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 55[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {}, {54[T], 57[T]}, {}] Backtrack Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {}, {54[T], 55[T], 57[T]}] Step with 56 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 56[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {}, {54[T], 55[T], 57[T]}, {}] Backtrack Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {}, {54[T], 55[T], 56[T], 57[T]}] Step with 53 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 53[(-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {}, {54[T], 55[T], 56[T], 57[T]}, {}] Backtrack Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {}, {53[T], 54[T], 55[T], 56[T], 57[T]}] Step with 51 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 51[(-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {}, {53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {}, {51[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}] Step with 52 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 52[(1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {}, {51[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}] Backtrack Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {50[T]}] Step with 46 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {49[T], 50[T]}, {}] Step with 52 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 52[(1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {49[T], 50[T]}, {}, {}] Backtrack Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {49[T], 50[T]}, {52[T]}] Step with 57 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 57[(2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {49[T], 50[T]}, {52[T]}, {}] Covered Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {49[T], 50[T]}, {52[T], 57[T]}] Step with 54 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 54[(-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {49[T], 50[T]}, {52[T], 57[T]}, {}] Backtrack Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {49[T], 50[T]}, {52[T], 54[T], 57[T]}] Step with 55 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 55[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {49[T], 50[T]}, {52[T], 54[T], 57[T]}, {}] Backtrack Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {49[T], 50[T]}, {52[T], 54[T], 55[T], 57[T]}] Step with 56 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 56[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {49[T], 50[T]}, {52[T], 54[T], 55[T], 57[T]}, {}] Backtrack Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {49[T], 50[T]}, {52[T], 54[T], 55[T], 56[T], 57[T]}] Step with 53 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 53[(-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {49[T], 50[T]}, {52[T], 54[T], 55[T], 56[T], 57[T]}, {}] Backtrack Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {49[T], 50[T]}, {52[T], 53[T], 54[T], 55[T], 56[T], 57[T]}] Step with 59 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 59[(1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {49[T], 50[T]}, {52[T], 53[T], 54[T], 55[T], 56[T], 57[T]}, {}] Covered Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {49[T], 50[T]}, {52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 59[T]}] Step with 58 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 58[(-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {49[T], 50[T]}, {52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 59[T]}, {}] Covered Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {49[T], 50[T]}, {52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}] Step with 51 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 51[(-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {49[T], 50[T]}, {52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {49[T], 50[T]}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}] Backtrack Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {}, {46[T], 49[T], 50[T]}] Backtrack Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {62[T]}] Step with 61 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {62[T]}, {}] Step with 46 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {62[T]}, {}, {}] Step with 51 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 51[(-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {62[T]}, {}, {}, {}] Backtrack Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {62[T]}, {}, {51[T]}] Step with 52 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 52[(1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {62[T]}, {}, {51[T]}, {}] Backtrack Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {62[T]}, {}, {51[T], 52[T]}] Step with 57 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 57[(2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {62[T]}, {}, {51[T], 52[T]}, {}] Covered Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {62[T]}, {}, {51[T], 52[T], 57[T]}] Step with 54 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 54[(-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {62[T]}, {}, {51[T], 52[T], 57[T]}, {}] Backtrack Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {62[T]}, {}, {51[T], 52[T], 54[T], 57[T]}] Step with 55 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 55[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {62[T]}, {}, {51[T], 52[T], 54[T], 57[T]}, {}] Backtrack Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {62[T]}, {}, {51[T], 52[T], 54[T], 55[T], 57[T]}] Step with 56 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 56[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {62[T]}, {}, {51[T], 52[T], 54[T], 55[T], 57[T]}, {}] Backtrack Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {62[T]}, {}, {51[T], 52[T], 54[T], 55[T], 56[T], 57[T]}] Step with 53 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 53[(-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {62[T]}, {}, {51[T], 52[T], 54[T], 55[T], 56[T], 57[T]}, {}] Backtrack Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {62[T]}, {}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 57[T]}] Step with 59 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 59[(1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {62[T]}, {}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 57[T]}, {}] Accelerate Start location: l7 Program variables: executed_drive^0 is_aborted^0 is_aborted_next^0 n0^0 n1^0 pc_drive^0 pc_drive_next^0 pc_loop^0 pc_plan^0 pc_plan_next^0 x^0 x_next^0 y^0 y_next^0 39: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 40: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 41: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 42: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post4, is_aborted_next^0'=is_aborted_next^post4, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 43: l0 -> l1 : is_aborted^0'=is_aborted_next^post5, is_aborted_next^0'=is_aborted_next^post5, pc_drive^0'=pc_drive_next^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 44: l0 -> l1 : is_aborted^0'=is_aborted_next^post6, is_aborted_next^0'=is_aborted_next^post6, pc_drive^0'=pc_drive_next^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 69: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, T, cost: 1 70: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0), cost: 1 71: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 72: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0), cost: 1 73: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 74: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 45: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post7, is_aborted_next^0'=is_aborted_next^post7, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 46: l2 -> l3 : is_aborted^0'=is_aborted_next^post8, is_aborted_next^0'=is_aborted_next^post8, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post8, pc_plan_next^0'=pc_plan_next^post8, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 47: l2 -> l3 : is_aborted^0'=is_aborted_next^post9, is_aborted_next^0'=is_aborted_next^post9, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post9, pc_plan_next^0'=pc_plan_next^post9, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 48: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post10, is_aborted_next^0'=is_aborted_next^post10, pc_drive^0'=2, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 49: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post11, is_aborted_next^0'=is_aborted_next^post11, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post11, pc_plan_next^0'=pc_plan_next^post11, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 50: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post12, pc_plan_next^0'=pc_plan_next^post12, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0), cost: 1 51: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 52: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0), cost: 1 53: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 54: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 55: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0), cost: 1 56: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0), cost: 1 57: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 58: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0), cost: 1 59: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 63: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0), cost: 1 64: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 65: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 66: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 67: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 68: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 76: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^0+3*n, x_next^0'=x^0+3*n, y^0'=y^0+3*n, y_next^0'=y^0+3*n, (7-pc_plan_next^post19 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0), cost: 1 77: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2+x^0, x_next^0'=2*n2+x^0, y^0'=2*n2+y^0, y_next^0'=2*n2+y^0, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n2 >= 0 /\ -1+n0^0-2*n2-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1-2*n2+n1^0-y^0 >= 0), cost: 1 78: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2*n3+x^0+3*n1*n3, x_next^0'=3*n1+2*n2+2*n2*(-1+n3)+x^0+3*n1*(-1+n3), y^0'=2*n2*n3+3*n1*n3+y^0, y_next^0'=3*n1+2*n2+2*n2*(-1+n3)+y^0+3*n1*(-1+n3), (7-pc_drive_next^post20 >= 0 /\ -1+n1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n3 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+n2 >= 0 /\ -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ -1+n1^0 >= 0 /\ -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 79: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+2*n4, x_next^0'=x^0+2*n4, y^0'=2*n4+y^0, y_next^0'=2*n4+y^0, (-1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1-2*n4+n1^0-y^0 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n0^0-x^0-2*n4 >= 0), cost: 1 80: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=3*n11*n5*n31+x^0+2*n4*n5+2*n22*n5*n31, x_next^0'=2*(-1+n5)*n22*n31+x^0+2*n4+3*n11*n31+2*(-1+n5)*n4+3*n11*(-1+n5)*n31+2*n22*n31, y^0'=3*n11*n5*n31+2*n4*n5+y^0+2*n22*n5*n31, y_next^0'=2*(-1+n5)*n22*n31+2*n4+3*n11*n31+2*(-1+n5)*n4+y^0+3*n11*(-1+n5)*n31+2*n22*n31, (-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0), cost: 1 81: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=3*n6+x^0, x_next^0'=3*n6+x^0, y^0'=3*n6+y^0, y_next^0'=3*n6+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-3*n6-x^0 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-3*n6+n1^0-y^0 >= 0), cost: 1 82: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n311*n7*n51*n221+2*n42*n7*n51+x^0+3*n311*n7*n111*n51+3*n6*n7, x_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+x^0+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+3*n311*n111*n51, y^0'=2*n311*n7*n51*n221+2*n42*n7*n51+3*n311*n7*n111*n51+y^0+3*n6*n7, y_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+y^0+3*n311*n111*n51, (7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0), cost: 1 83: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n8+x^0, x_next^0'=2*n8+x^0, y^0'=2*n8+y^0, y_next^0'=2*n8+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n8-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n8+n1^0-y^0 >= 0 /\ -1+n8 >= 0), cost: 1 84: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+x^0+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71, x_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+x^0+3*n62*(-1+n9)*n71+2*n511*n2211*n3111*n71, y^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71+y^0, y_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+3*n62*(-1+n9)*n71+y^0+2*n511*n2211*n3111*n71, (7-pc_plan_next^post19 >= 0 /\ -1+n1111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-3*n62*(-1+n9)*n71-y^0-2*n511*n2211*n3111*n71 >= 0 /\ -1+n62 >= 0 /\ -1+n0^0 >= 0 /\ -1+n3111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1+n511 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n9 >= 0 /\ -1+n2211 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-x^0-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-3*n62*(-1+n9)*n71-2*n511*n2211*n3111*n71 >= 0 /\ -1+n8 >= 0 /\ -1+n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n421 >= 0), cost: 1 85: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=x^0+n10, x_next^0'=x^0+n10, y^0'=y^0+n10, y_next^0'=y^0+n10, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n1^0-y^0-n10 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1+n0^0-x^0-n10 >= 0 /\ -1+n10 >= 0), cost: 1 86: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n12+x^0, x_next^0'=2*n12+x^0, y^0'=2*n12+y^0, y_next^0'=2*n12+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0), cost: 1 87: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+n13, x_next^0'=x^0+n13, y^0'=n13+y^0, y_next^0'=n13+y^0, (-1+n0^0-x^0-n13 >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1-n13+n1^0-y^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0), cost: 1 88: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=n14*n13+2*n121*n14+x^0, x_next^0'=2*n121+x^0+n13+(-1+n14)*n13+2*n121*(-1+n14), y^0'=n14*n13+2*n121*n14+y^0, y_next^0'=2*n121+n13+(-1+n14)*n13+2*n121*(-1+n14)+y^0, (-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0), cost: 1 89: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=n15+x^0, x_next^0'=n15+x^0, y^0'=n15+y^0, y_next^0'=n15+y^0, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 90: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n17+x^0, x_next^0'=2*n17+x^0, y^0'=2*n17+y^0, y_next^0'=2*n17+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n17 >= 0 /\ -1+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n17+n0^0-x^0 >= 0 /\ -1-2*n17+n1^0-y^0 >= 0), cost: 1 91: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n17*n18+n151*n18+x^0, x_next^0'=2*n17+n151+2*n17*(-1+n18)+n151*(-1+n18)+x^0, y^0'=2*n17*n18+n151*n18+y^0, y_next^0'=2*n17+n151+2*n17*(-1+n18)+n151*(-1+n18)+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1-n151+n0^0-2*n17*(-1+n18)-n151*(-1+n18)-x^0 >= 0 /\ -1-2*n17-n151-2*n17*(-1+n18)-n151*(-1+n18)+n1^0-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-n151*(-1+n18)-x^0 >= 0 /\ -1-n151-2*n17*(-1+n18)-n151*(-1+n18)+n1^0-y^0 >= 0 /\ -1+n18 >= 0), cost: 1 92: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n17*n19*n18+n151*n19*n18+x^0+n19*n132*n141+2*n19*n141*n1211, x_next^0'=2*n17+n151+2*(-1+n19)*n141*n1211+2*n17*(-1+n18)+2*n141*n1211+n132*n141+n151*(-1+n18)+x^0+n132*(-1+n19)*n141+n151*(-1+n19)*n18+2*n17*(-1+n19)*n18, y^0'=2*n17*n19*n18+n151*n19*n18+y^0+n19*n132*n141+2*n19*n141*n1211, y_next^0'=2*n17+n151+2*(-1+n19)*n141*n1211+2*n17*(-1+n18)+2*n141*n1211+n132*n141+n151*(-1+n18)+n132*(-1+n19)*n141+n151*(-1+n19)*n18+y^0+2*n17*(-1+n19)*n18, (7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0), cost: 1 93: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=n20+x^0, x_next^0'=n20+x^0, y^0'=n20+y^0, y_next^0'=n20+y^0, (-1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1-n20+n1^0-y^0 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-n20-x^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n20 >= 0), cost: 1 60: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 61: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0), cost: 1 62: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 75: l7 -> l1 : T, cost: 1 Loop Acceleration Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ 2-n0^0+x^0 <= 0 /\ -2 <= 0 /\ 1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ -6 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -1 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=n20+x^0, x_next^0'=n20+x^0, y^0'=n20+y^0, y_next^0'=n20+y^0, (1 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1-n20+n1^0-y^0 >= 0 /\ 2 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 6 >= 0 /\ -1+n0^0-n20-x^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n20 >= 0), cost: 1 -2+n1^0-y^0 >= 0 [0]: montonic decrease yields -1-n20+n1^0-y^0 >= 0 -2+n1^0-y^0 >= 0 [1]: eventual increase yields (-2+n1^0-y^0 >= 0 /\ 1 <= 0) 1 >= 0 [0]: monotonic increase yields 1 >= 0 -2+n0^0-x^0 >= 0 [0]: montonic decrease yields -1+n0^0-n20-x^0 >= 0 -2+n0^0-x^0 >= 0 [1]: eventual increase yields (1 <= 0 /\ -2+n0^0-x^0 >= 0) -1+pc_drive_next^post21 >= 0 [0]: monotonic increase yields -1+pc_drive_next^post21 >= 0 -1+n0^0 >= 0 [0]: monotonic increase yields -1+n0^0 >= 0 7-pc_plan_next^post21 >= 0 [0]: monotonic increase yields 7-pc_plan_next^post21 >= 0 2 >= 0 [0]: monotonic increase yields 2 >= 0 3-pc_drive_next^post21 >= 0 [0]: monotonic increase yields 3-pc_drive_next^post21 >= 0 -1+n1^0 >= 0 [0]: monotonic increase yields -1+n1^0 >= 0 6 >= 0 [0]: monotonic increase yields 6 >= 0 7-pc_drive_next^post21 >= 0 [0]: monotonic increase yields 7-pc_drive_next^post21 >= 0, dependencies: 3-pc_drive_next^post21 >= 0 -1+pc_plan_next^post21 >= 0 [0]: monotonic increase yields -1+pc_plan_next^post21 >= 0 Replacement map: {-2+n1^0-y^0 >= 0 -> -1-n20+n1^0-y^0 >= 0, 1 >= 0 -> 1 >= 0, -2+n0^0-x^0 >= 0 -> -1+n0^0-n20-x^0 >= 0, -1+pc_drive_next^post21 >= 0 -> -1+pc_drive_next^post21 >= 0, -1+n0^0 >= 0 -> -1+n0^0 >= 0, 7-pc_plan_next^post21 >= 0 -> 7-pc_plan_next^post21 >= 0, 2 >= 0 -> 2 >= 0, 3-pc_drive_next^post21 >= 0 -> 3-pc_drive_next^post21 >= 0, -1+n1^0 >= 0 -> -1+n1^0 >= 0, 6 >= 0 -> 6 >= 0, 7-pc_drive_next^post21 >= 0 -> 7-pc_drive_next^post21 >= 0, -1+pc_plan_next^post21 >= 0 -> -1+pc_plan_next^post21 >= 0} Simplified Guard Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=n20+x^0, x_next^0'=n20+x^0, y^0'=n20+y^0, y_next^0'=n20+y^0, (1 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1-n20+n1^0-y^0 >= 0 /\ 2 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 6 >= 0 /\ -1+n0^0-n20-x^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n20 >= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=n20+x^0, x_next^0'=n20+x^0, y^0'=n20+y^0, y_next^0'=n20+y^0, (-1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1-n20+n1^0-y^0 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-n20-x^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n20 >= 0), cost: 1 Trace 75[T], 69[T], 92[(7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0)], 93[(-1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1-n20+n1^0-y^0 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-n20-x^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n20 >= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {66[T], 92[T]}, {93[T]}] Accelerate Start location: l7 Program variables: executed_drive^0 is_aborted^0 is_aborted_next^0 n0^0 n1^0 pc_drive^0 pc_drive_next^0 pc_loop^0 pc_plan^0 pc_plan_next^0 x^0 x_next^0 y^0 y_next^0 39: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 40: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 41: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 42: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post4, is_aborted_next^0'=is_aborted_next^post4, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 43: l0 -> l1 : is_aborted^0'=is_aborted_next^post5, is_aborted_next^0'=is_aborted_next^post5, pc_drive^0'=pc_drive_next^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 44: l0 -> l1 : is_aborted^0'=is_aborted_next^post6, is_aborted_next^0'=is_aborted_next^post6, pc_drive^0'=pc_drive_next^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 69: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, T, cost: 1 70: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0), cost: 1 71: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 72: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0), cost: 1 73: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 74: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 45: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post7, is_aborted_next^0'=is_aborted_next^post7, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 46: l2 -> l3 : is_aborted^0'=is_aborted_next^post8, is_aborted_next^0'=is_aborted_next^post8, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post8, pc_plan_next^0'=pc_plan_next^post8, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 47: l2 -> l3 : is_aborted^0'=is_aborted_next^post9, is_aborted_next^0'=is_aborted_next^post9, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post9, pc_plan_next^0'=pc_plan_next^post9, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 48: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post10, is_aborted_next^0'=is_aborted_next^post10, pc_drive^0'=2, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 49: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post11, is_aborted_next^0'=is_aborted_next^post11, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post11, pc_plan_next^0'=pc_plan_next^post11, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 50: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post12, pc_plan_next^0'=pc_plan_next^post12, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0), cost: 1 51: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 52: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0), cost: 1 53: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 54: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 55: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0), cost: 1 56: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0), cost: 1 57: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 58: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0), cost: 1 59: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 63: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0), cost: 1 64: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 65: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 66: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 67: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 68: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 76: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^0+3*n, x_next^0'=x^0+3*n, y^0'=y^0+3*n, y_next^0'=y^0+3*n, (7-pc_plan_next^post19 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0), cost: 1 77: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2+x^0, x_next^0'=2*n2+x^0, y^0'=2*n2+y^0, y_next^0'=2*n2+y^0, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n2 >= 0 /\ -1+n0^0-2*n2-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1-2*n2+n1^0-y^0 >= 0), cost: 1 78: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2*n3+x^0+3*n1*n3, x_next^0'=3*n1+2*n2+2*n2*(-1+n3)+x^0+3*n1*(-1+n3), y^0'=2*n2*n3+3*n1*n3+y^0, y_next^0'=3*n1+2*n2+2*n2*(-1+n3)+y^0+3*n1*(-1+n3), (7-pc_drive_next^post20 >= 0 /\ -1+n1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n3 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+n2 >= 0 /\ -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ -1+n1^0 >= 0 /\ -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 79: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+2*n4, x_next^0'=x^0+2*n4, y^0'=2*n4+y^0, y_next^0'=2*n4+y^0, (-1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1-2*n4+n1^0-y^0 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n0^0-x^0-2*n4 >= 0), cost: 1 80: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=3*n11*n5*n31+x^0+2*n4*n5+2*n22*n5*n31, x_next^0'=2*(-1+n5)*n22*n31+x^0+2*n4+3*n11*n31+2*(-1+n5)*n4+3*n11*(-1+n5)*n31+2*n22*n31, y^0'=3*n11*n5*n31+2*n4*n5+y^0+2*n22*n5*n31, y_next^0'=2*(-1+n5)*n22*n31+2*n4+3*n11*n31+2*(-1+n5)*n4+y^0+3*n11*(-1+n5)*n31+2*n22*n31, (-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0), cost: 1 81: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=3*n6+x^0, x_next^0'=3*n6+x^0, y^0'=3*n6+y^0, y_next^0'=3*n6+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-3*n6-x^0 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-3*n6+n1^0-y^0 >= 0), cost: 1 82: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n311*n7*n51*n221+2*n42*n7*n51+x^0+3*n311*n7*n111*n51+3*n6*n7, x_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+x^0+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+3*n311*n111*n51, y^0'=2*n311*n7*n51*n221+2*n42*n7*n51+3*n311*n7*n111*n51+y^0+3*n6*n7, y_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+y^0+3*n311*n111*n51, (7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0), cost: 1 83: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n8+x^0, x_next^0'=2*n8+x^0, y^0'=2*n8+y^0, y_next^0'=2*n8+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n8-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n8+n1^0-y^0 >= 0 /\ -1+n8 >= 0), cost: 1 84: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+x^0+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71, x_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+x^0+3*n62*(-1+n9)*n71+2*n511*n2211*n3111*n71, y^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71+y^0, y_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+3*n62*(-1+n9)*n71+y^0+2*n511*n2211*n3111*n71, (7-pc_plan_next^post19 >= 0 /\ -1+n1111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-3*n62*(-1+n9)*n71-y^0-2*n511*n2211*n3111*n71 >= 0 /\ -1+n62 >= 0 /\ -1+n0^0 >= 0 /\ -1+n3111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1+n511 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n9 >= 0 /\ -1+n2211 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-x^0-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-3*n62*(-1+n9)*n71-2*n511*n2211*n3111*n71 >= 0 /\ -1+n8 >= 0 /\ -1+n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n421 >= 0), cost: 1 85: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=x^0+n10, x_next^0'=x^0+n10, y^0'=y^0+n10, y_next^0'=y^0+n10, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n1^0-y^0-n10 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1+n0^0-x^0-n10 >= 0 /\ -1+n10 >= 0), cost: 1 86: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n12+x^0, x_next^0'=2*n12+x^0, y^0'=2*n12+y^0, y_next^0'=2*n12+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0), cost: 1 87: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+n13, x_next^0'=x^0+n13, y^0'=n13+y^0, y_next^0'=n13+y^0, (-1+n0^0-x^0-n13 >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1-n13+n1^0-y^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0), cost: 1 88: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=n14*n13+2*n121*n14+x^0, x_next^0'=2*n121+x^0+n13+(-1+n14)*n13+2*n121*(-1+n14), y^0'=n14*n13+2*n121*n14+y^0, y_next^0'=2*n121+n13+(-1+n14)*n13+2*n121*(-1+n14)+y^0, (-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0), cost: 1 89: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=n15+x^0, x_next^0'=n15+x^0, y^0'=n15+y^0, y_next^0'=n15+y^0, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 90: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n17+x^0, x_next^0'=2*n17+x^0, y^0'=2*n17+y^0, y_next^0'=2*n17+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n17 >= 0 /\ -1+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n17+n0^0-x^0 >= 0 /\ -1-2*n17+n1^0-y^0 >= 0), cost: 1 91: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n17*n18+n151*n18+x^0, x_next^0'=2*n17+n151+2*n17*(-1+n18)+n151*(-1+n18)+x^0, y^0'=2*n17*n18+n151*n18+y^0, y_next^0'=2*n17+n151+2*n17*(-1+n18)+n151*(-1+n18)+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1-n151+n0^0-2*n17*(-1+n18)-n151*(-1+n18)-x^0 >= 0 /\ -1-2*n17-n151-2*n17*(-1+n18)-n151*(-1+n18)+n1^0-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-n151*(-1+n18)-x^0 >= 0 /\ -1-n151-2*n17*(-1+n18)-n151*(-1+n18)+n1^0-y^0 >= 0 /\ -1+n18 >= 0), cost: 1 92: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n17*n19*n18+n151*n19*n18+x^0+n19*n132*n141+2*n19*n141*n1211, x_next^0'=2*n17+n151+2*(-1+n19)*n141*n1211+2*n17*(-1+n18)+2*n141*n1211+n132*n141+n151*(-1+n18)+x^0+n132*(-1+n19)*n141+n151*(-1+n19)*n18+2*n17*(-1+n19)*n18, y^0'=2*n17*n19*n18+n151*n19*n18+y^0+n19*n132*n141+2*n19*n141*n1211, y_next^0'=2*n17+n151+2*(-1+n19)*n141*n1211+2*n17*(-1+n18)+2*n141*n1211+n132*n141+n151*(-1+n18)+n132*(-1+n19)*n141+n151*(-1+n19)*n18+y^0+2*n17*(-1+n19)*n18, (7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0), cost: 1 93: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=n20+x^0, x_next^0'=n20+x^0, y^0'=n20+y^0, y_next^0'=n20+y^0, (-1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1-n20+n1^0-y^0 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-n20-x^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n20 >= 0), cost: 1 94: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=2*n23*n1411*n191*n12111+2*n173*n23*n182*n191+x^0+n1321*n23*n1411*n191+n23*n182*n191*n1512+n23*n20, x_next^0'=n1321*n1411*n191+2*n173*n182*(-1+n23)*n191+n182*n191*n1512+2*n173*n182*n191+n182*(-1+n23)*n191*n1512+n20+x^0+n20*(-1+n23)+2*n1411*(-1+n23)*n191*n12111+2*n1411*n191*n12111+n1321*n1411*(-1+n23)*n191, y^0'=2*n23*n1411*n191*n12111+2*n173*n23*n182*n191+n1321*n23*n1411*n191+y^0+n23*n182*n191*n1512+n23*n20, y_next^0'=n1321*n1411*n191+2*n173*n182*(-1+n23)*n191+n182*n191*n1512+2*n173*n182*n191+n182*(-1+n23)*n191*n1512+n20+n20*(-1+n23)+2*n1411*(-1+n23)*n191*n12111+2*n1411*n191*n12111+y^0+n1321*n1411*(-1+n23)*n191, (-1-n1512*(-1+n182)-2*n173-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n1411 >= 0 /\ -1+n0^0-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n0^0-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n1321-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-n1321*n1411*n191-2*n173*n182*(-1+n23)*n191-n182*n191*n1512-2*n173*n182*n191-n182*(-1+n23)*n191*n1512-n20-x^0-n20*(-1+n23)-2*n1411*(-1+n23)*n191*n12111-2*n1411*n191*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n173 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1-n1512*(-1+n182)+n0^0-2*n173-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n1^0 >= 0 /\ -1+n1321 >= 0 /\ -1-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n1321-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n191 >= 0 /\ -1-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1-n1512*(-1+n182)-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n1512 >= 0 /\ -1+n23 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1-n1321*n1411*n191-2*n173*n182*(-1+n23)*n191-n182*n191*n1512-2*n173*n182*n191-n182*(-1+n23)*n191*n1512-n20-n20*(-1+n23)+n1^0-2*n1411*(-1+n23)*n191*n12111-2*n1411*n191*n12111-y^0-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n20 >= 0 /\ -1-n1512*(-1+n182)+n0^0-2*n173-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-x^0-n20*(-1+n23)-2*n1411*(-1+n23)*n191*n12111-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n12111 >= 0 /\ -1+n182 >= 0 /\ -1-n1512*(-1+n182)+n0^0-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0), cost: 1 60: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 61: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0), cost: 1 62: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 75: l7 -> l1 : T, cost: 1 Loop Acceleration Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=n1321*n1411*n191+n182*n191*n1512+2*n173*n182*n191+n20+x^0+2*n1411*n191*n12111, x_next^0'=n1321*n1411*n191+n182*n191*n1512+2*n173*n182*n191+n20+x^0+2*n1411*n191*n12111, y^0'=n1321*n1411*n191+n182*n191*n1512+2*n173*n182*n191+n20+2*n1411*n191*n12111+y^0, y_next^0'=n1321*n1411*n191+n182*n191*n1512+2*n173*n182*n191+n20+2*n1411*n191*n12111+y^0, (-1+n1411 >= 0 /\ -1+n0^0-2*(-1+n1411)*n12111-n1321-n182*(-1+n191)*n1512-x^0-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n173*n182*(-1+n191)-2*n12111 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1-n1321*n1411*n191-n182*n191*n1512-2*n173*n182*n191-n20+n1^0-2*n1411*n191*n12111-y^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -6 <= 0 /\ -1+n173 >= 0 /\ -1+n0^0-n1321*n1411*n191-n182*n191*n1512-2*n173*n182*n191-n20-x^0-2*n1411*n191*n12111 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1-n1512*(-1+n182)-2*n173-n1321*n1411-2*n1411*n12111-n182*(-1+n191)*n1512-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182) >= 0 /\ -1+n1^0 >= 0 /\ -1+n1321 >= 0 /\ -1+n191 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n1512 >= 0 /\ -1-n1512*(-1+n182)-n1321*n1411-2*n1411*n12111-n182*(-1+n191)*n1512-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182) >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n0^0-2*(-1+n1411)*n12111-n182*(-1+n191)*n1512-x^0-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n173*n182*(-1+n191)-2*n12111 >= 0 /\ -1-2*(-1+n1411)*n12111-n1321-n182*(-1+n191)*n1512-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n173*n182*(-1+n191)-y^0-2*n12111 >= 0 /\ -1+n20 >= 0 /\ -1+n12111 >= 0 /\ -1+n182 >= 0 /\ -1-n1512*(-1+n182)+n0^0-2*n173-n1321*n1411-2*n1411*n12111-x^0-n1512-2*n173*(-1+n182) >= 0 /\ -1-n1512*(-1+n182)+n0^0-n1321*n1411-2*n1411*n12111-n182*(-1+n191)*n1512-x^0-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-2*n173*n182*(-1+n191)-n1512-2*n173*(-1+n182) >= 0 /\ -1-n1512*(-1+n182)+n0^0-2*n173-n1321*n1411-2*n1411*n12111-n182*(-1+n191)*n1512-x^0-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-2*n173*n182*(-1+n191)-n1512-2*n173*(-1+n182) >= 0 /\ -1-2*(-1+n1411)*n12111-n182*(-1+n191)*n1512-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n173*n182*(-1+n191)-y^0-2*n12111 >= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=2*n23*n1411*n191*n12111+2*n173*n23*n182*n191+x^0+n1321*n23*n1411*n191+n23*n182*n191*n1512+n23*n20, x_next^0'=n1321*n1411*n191+2*n173*n182*(-1+n23)*n191+n182*n191*n1512+2*n173*n182*n191+n182*(-1+n23)*n191*n1512+n20+x^0+n20*(-1+n23)+2*n1411*(-1+n23)*n191*n12111+2*n1411*n191*n12111+n1321*n1411*(-1+n23)*n191, y^0'=2*n23*n1411*n191*n12111+2*n173*n23*n182*n191+n1321*n23*n1411*n191+y^0+n23*n182*n191*n1512+n23*n20, y_next^0'=n1321*n1411*n191+2*n173*n182*(-1+n23)*n191+n182*n191*n1512+2*n173*n182*n191+n182*(-1+n23)*n191*n1512+n20+n20*(-1+n23)+2*n1411*(-1+n23)*n191*n12111+2*n1411*n191*n12111+y^0+n1321*n1411*(-1+n23)*n191, (-1-n1512*(-1+n182)-2*n173-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n1411 >= 0 /\ -1+n0^0-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n0^0-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n1321-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-n1321*n1411*n191-2*n173*n182*(-1+n23)*n191-n182*n191*n1512-2*n173*n182*n191-n182*(-1+n23)*n191*n1512-n20-x^0-n20*(-1+n23)-2*n1411*(-1+n23)*n191*n12111-2*n1411*n191*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n173 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1-n1512*(-1+n182)+n0^0-2*n173-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n1^0 >= 0 /\ -1+n1321 >= 0 /\ -1-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n1321-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n191 >= 0 /\ 6 >= 0 /\ -1-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1-n1512*(-1+n182)-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n1512 >= 0 /\ -1+n23 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1-n1321*n1411*n191-2*n173*n182*(-1+n23)*n191-n182*n191*n1512-2*n173*n182*n191-n182*(-1+n23)*n191*n1512-n20-n20*(-1+n23)+n1^0-2*n1411*(-1+n23)*n191*n12111-2*n1411*n191*n12111-y^0-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n20 >= 0 /\ -1-n1512*(-1+n182)+n0^0-2*n173-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-x^0-n20*(-1+n23)-2*n1411*(-1+n23)*n191*n12111-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n12111 >= 0 /\ -1+n182 >= 0 /\ -1-n1512*(-1+n182)+n0^0-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0), cost: 1 -1+n1411 >= 0 [0]: monotonic increase yields -1+n1411 >= 0 -1+n0^0-2*(-1+n1411)*n12111-n1321-n182*(-1+n191)*n1512-x^0-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n173*n182*(-1+n191)-2*n12111 >= 0 [0]: montonic decrease yields -1+n0^0-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n1321-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0, dependencies: -1+n173 >= 0 -1+n0^0-n1321*n1411*n191-n182*n191*n1512-2*n173*n182*n191-n20-x^0-2*n1411*n191*n12111 >= 0 -1+n1512 >= 0 -1+n20 >= 0 -1+n182 >= 0 -1+n0^0-2*(-1+n1411)*n12111-n1321-n182*(-1+n191)*n1512-x^0-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n173*n182*(-1+n191)-2*n12111 >= 0 [1]: eventual decrease yields (-1+n0^0-2*(-1+n1411)*n12111-n1321-n182*(-1+n191)*n1512-x^0-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n173*n182*(-1+n191)-2*n12111 >= 0 /\ -1+n0^0-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n1321-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0) -1+n0^0-2*(-1+n1411)*n12111-n1321-n182*(-1+n191)*n1512-x^0-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n173*n182*(-1+n191)-2*n12111 >= 0 [2]: eventual increase yields (n1321*n1411*n191+n182*n191*n1512+2*n173*n182*n191+n20+2*n1411*n191*n12111 <= 0 /\ -1+n0^0-2*(-1+n1411)*n12111-n1321-n182*(-1+n191)*n1512-x^0-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n173*n182*(-1+n191)-2*n12111 >= 0) -1+pc_drive_next^post21 >= 0 [0]: monotonic increase yields -1+pc_drive_next^post21 >= 0 -1+n0^0 >= 0 [0]: monotonic increase yields -1+n0^0 >= 0 -1-n1321*n1411*n191-n182*n191*n1512-2*n173*n182*n191-n20+n1^0-2*n1411*n191*n12111-y^0 >= 0 [0]: montonic decrease yields -1-n1321*n1411*n191-2*n173*n182*(-1+n23)*n191-n182*n191*n1512-2*n173*n182*n191-n182*(-1+n23)*n191*n1512-n20-n20*(-1+n23)+n1^0-2*n1411*(-1+n23)*n191*n12111-2*n1411*n191*n12111-y^0-n1321*n1411*(-1+n23)*n191 >= 0, dependencies: -1+n1411 >= 0 -1+n173 >= 0 -1+n1321 >= 0 -1+n191 >= 0 -1+n1512 >= 0 -1+n20 >= 0 -1+n12111 >= 0 -1+n182 >= 0 -1-n1321*n1411*n191-n182*n191*n1512-2*n173*n182*n191-n20+n1^0-2*n1411*n191*n12111-y^0 >= 0 [1]: eventual decrease yields (-1-n1321*n1411*n191-n182*n191*n1512-2*n173*n182*n191-n20+n1^0-2*n1411*n191*n12111-y^0 >= 0 /\ -1-n1321*n1411*n191-2*n173*n182*(-1+n23)*n191-n182*n191*n1512-2*n173*n182*n191-n182*(-1+n23)*n191*n1512-n20-n20*(-1+n23)+n1^0-2*n1411*(-1+n23)*n191*n12111-2*n1411*n191*n12111-y^0-n1321*n1411*(-1+n23)*n191 >= 0) -1-n1321*n1411*n191-n182*n191*n1512-2*n173*n182*n191-n20+n1^0-2*n1411*n191*n12111-y^0 >= 0 [2]: eventual increase yields (n1321*n1411*n191+n182*n191*n1512+2*n173*n182*n191+n20+2*n1411*n191*n12111 <= 0 /\ -1-n1321*n1411*n191-n182*n191*n1512-2*n173*n182*n191-n20+n1^0-2*n1411*n191*n12111-y^0 >= 0) 7-pc_plan_next^post21 >= 0 [0]: monotonic increase yields 7-pc_plan_next^post21 >= 0 -1+n173 >= 0 [0]: monotonic increase yields -1+n173 >= 0 -1+n0^0-n1321*n1411*n191-n182*n191*n1512-2*n173*n182*n191-n20-x^0-2*n1411*n191*n12111 >= 0 [0]: montonic decrease yields -1+n0^0-n1321*n1411*n191-2*n173*n182*(-1+n23)*n191-n182*n191*n1512-2*n173*n182*n191-n182*(-1+n23)*n191*n1512-n20-x^0-n20*(-1+n23)-2*n1411*(-1+n23)*n191*n12111-2*n1411*n191*n12111-n1321*n1411*(-1+n23)*n191 >= 0, dependencies: -1+n1411 >= 0 -1+n173 >= 0 -1+n1321 >= 0 -1+n191 >= 0 -1+n1512 >= 0 -1+n20 >= 0 -1+n12111 >= 0 -1+n182 >= 0 -1+n0^0-n1321*n1411*n191-n182*n191*n1512-2*n173*n182*n191-n20-x^0-2*n1411*n191*n12111 >= 0 [1]: eventual decrease yields (-1+n0^0-n1321*n1411*n191-2*n173*n182*(-1+n23)*n191-n182*n191*n1512-2*n173*n182*n191-n182*(-1+n23)*n191*n1512-n20-x^0-n20*(-1+n23)-2*n1411*(-1+n23)*n191*n12111-2*n1411*n191*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n0^0-n1321*n1411*n191-n182*n191*n1512-2*n173*n182*n191-n20-x^0-2*n1411*n191*n12111 >= 0) -1+n0^0-n1321*n1411*n191-n182*n191*n1512-2*n173*n182*n191-n20-x^0-2*n1411*n191*n12111 >= 0 [2]: eventual increase yields (n1321*n1411*n191+n182*n191*n1512+2*n173*n182*n191+n20+2*n1411*n191*n12111 <= 0 /\ -1+n0^0-n1321*n1411*n191-n182*n191*n1512-2*n173*n182*n191-n20-x^0-2*n1411*n191*n12111 >= 0) 3-pc_drive_next^post21 >= 0 [0]: monotonic increase yields 3-pc_drive_next^post21 >= 0 -1-n1512*(-1+n182)-2*n173-n1321*n1411-2*n1411*n12111-n182*(-1+n191)*n1512-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182) >= 0 [0]: montonic decrease yields -1-n1512*(-1+n182)-2*n173-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0, dependencies: -1-n1321*n1411*n191-n182*n191*n1512-2*n173*n182*n191-n20+n1^0-2*n1411*n191*n12111-y^0 >= 0 -1+n20 >= 0 -1-n1512*(-1+n182)-2*n173-n1321*n1411-2*n1411*n12111-n182*(-1+n191)*n1512-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182) >= 0 [1]: eventual decrease yields (-1-n1512*(-1+n182)-2*n173-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1-n1512*(-1+n182)-2*n173-n1321*n1411-2*n1411*n12111-n182*(-1+n191)*n1512-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182) >= 0) -1-n1512*(-1+n182)-2*n173-n1321*n1411-2*n1411*n12111-n182*(-1+n191)*n1512-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182) >= 0 [2]: eventual increase yields (n1321*n1411*n191+n182*n191*n1512+2*n173*n182*n191+n20+2*n1411*n191*n12111 <= 0 /\ -1-n1512*(-1+n182)-2*n173-n1321*n1411-2*n1411*n12111-n182*(-1+n191)*n1512-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182) >= 0) -1+n1^0 >= 0 [0]: monotonic increase yields -1+n1^0 >= 0 -1+n1321 >= 0 [0]: monotonic increase yields -1+n1321 >= 0 -1+n191 >= 0 [0]: monotonic increase yields -1+n191 >= 0 6 >= 0 [0]: monotonic increase yields 6 >= 0 7-pc_drive_next^post21 >= 0 [0]: monotonic increase yields 7-pc_drive_next^post21 >= 0 -1+n1512 >= 0 [0]: monotonic increase yields -1+n1512 >= 0 -1-n1512*(-1+n182)-n1321*n1411-2*n1411*n12111-n182*(-1+n191)*n1512-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182) >= 0 [0]: montonic decrease yields -1-n1512*(-1+n182)-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0, dependencies: -1-n1321*n1411*n191-n182*n191*n1512-2*n173*n182*n191-n20+n1^0-2*n1411*n191*n12111-y^0 >= 0 -1+n173 >= 0 -1+n20 >= 0 -1-n1512*(-1+n182)-n1321*n1411-2*n1411*n12111-n182*(-1+n191)*n1512-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182) >= 0 [1]: eventual decrease yields (-1-n1512*(-1+n182)-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1-n1512*(-1+n182)-n1321*n1411-2*n1411*n12111-n182*(-1+n191)*n1512-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182) >= 0) -1-n1512*(-1+n182)-n1321*n1411-2*n1411*n12111-n182*(-1+n191)*n1512-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182) >= 0 [2]: eventual increase yields (n1321*n1411*n191+n182*n191*n1512+2*n173*n182*n191+n20+2*n1411*n191*n12111 <= 0 /\ -1-n1512*(-1+n182)-n1321*n1411-2*n1411*n12111-n182*(-1+n191)*n1512-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182) >= 0) -1+pc_plan_next^post21 >= 0 [0]: monotonic increase yields -1+pc_plan_next^post21 >= 0 -1+n0^0-2*(-1+n1411)*n12111-n182*(-1+n191)*n1512-x^0-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n173*n182*(-1+n191)-2*n12111 >= 0 [0]: montonic decrease yields -1+n0^0-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0, dependencies: -1+n0^0-2*(-1+n1411)*n12111-n1321-n182*(-1+n191)*n1512-x^0-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n173*n182*(-1+n191)-2*n12111 >= 0 -1+n1321 >= 0 -1+n0^0-2*(-1+n1411)*n12111-n182*(-1+n191)*n1512-x^0-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n173*n182*(-1+n191)-2*n12111 >= 0 [1]: eventual increase yields (n1321*n1411*n191+n182*n191*n1512+2*n173*n182*n191+n20+2*n1411*n191*n12111 <= 0 /\ -1+n0^0-2*(-1+n1411)*n12111-n182*(-1+n191)*n1512-x^0-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n173*n182*(-1+n191)-2*n12111 >= 0) -1-2*(-1+n1411)*n12111-n1321-n182*(-1+n191)*n1512-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n173*n182*(-1+n191)-y^0-2*n12111 >= 0 [0]: montonic decrease yields -1-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n1321-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0, dependencies: -1-n1321*n1411*n191-n182*n191*n1512-2*n173*n182*n191-n20+n1^0-2*n1411*n191*n12111-y^0 >= 0 -1+n173 >= 0 -1+n1512 >= 0 -1+n20 >= 0 -1+n182 >= 0 -1-2*(-1+n1411)*n12111-n1321-n182*(-1+n191)*n1512-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n173*n182*(-1+n191)-y^0-2*n12111 >= 0 [1]: eventual decrease yields (-1-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n1321-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1-2*(-1+n1411)*n12111-n1321-n182*(-1+n191)*n1512-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n173*n182*(-1+n191)-y^0-2*n12111 >= 0) -1-2*(-1+n1411)*n12111-n1321-n182*(-1+n191)*n1512-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n173*n182*(-1+n191)-y^0-2*n12111 >= 0 [2]: eventual increase yields (n1321*n1411*n191+n182*n191*n1512+2*n173*n182*n191+n20+2*n1411*n191*n12111 <= 0 /\ -1-2*(-1+n1411)*n12111-n1321-n182*(-1+n191)*n1512-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n173*n182*(-1+n191)-y^0-2*n12111 >= 0) -1+n20 >= 0 [0]: monotonic increase yields -1+n20 >= 0 -1+n12111 >= 0 [0]: monotonic increase yields -1+n12111 >= 0 -1+n182 >= 0 [0]: monotonic increase yields -1+n182 >= 0 -1-n1512*(-1+n182)+n0^0-2*n173-n1321*n1411-2*n1411*n12111-x^0-n1512-2*n173*(-1+n182) >= 0 [0]: montonic decrease yields -1-n1512*(-1+n182)+n0^0-2*n173-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-x^0-n20*(-1+n23)-2*n1411*(-1+n23)*n191*n12111-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0, dependencies: -1+n1411 >= 0 -1+n173 >= 0 -1+n1321 >= 0 -1+n191 >= 0 -1+n1512 >= 0 -1+n20 >= 0 -1+n12111 >= 0 -1+n182 >= 0 -1-n1512*(-1+n182)+n0^0-2*n173-n1321*n1411-2*n1411*n12111-x^0-n1512-2*n173*(-1+n182) >= 0 [1]: eventual increase yields (n1321*n1411*n191+n182*n191*n1512+2*n173*n182*n191+n20+2*n1411*n191*n12111 <= 0 /\ -1-n1512*(-1+n182)+n0^0-2*n173-n1321*n1411-2*n1411*n12111-x^0-n1512-2*n173*(-1+n182) >= 0) -1-n1512*(-1+n182)+n0^0-n1321*n1411-2*n1411*n12111-n182*(-1+n191)*n1512-x^0-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-2*n173*n182*(-1+n191)-n1512-2*n173*(-1+n182) >= 0 [0]: montonic decrease yields -1-n1512*(-1+n182)+n0^0-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0, dependencies: -1+n173 >= 0 -1+n0^0-n1321*n1411*n191-n182*n191*n1512-2*n173*n182*n191-n20-x^0-2*n1411*n191*n12111 >= 0 -1+n20 >= 0 -1-n1512*(-1+n182)+n0^0-n1321*n1411-2*n1411*n12111-n182*(-1+n191)*n1512-x^0-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-2*n173*n182*(-1+n191)-n1512-2*n173*(-1+n182) >= 0 [1]: eventual increase yields (n1321*n1411*n191+n182*n191*n1512+2*n173*n182*n191+n20+2*n1411*n191*n12111 <= 0 /\ -1-n1512*(-1+n182)+n0^0-n1321*n1411-2*n1411*n12111-n182*(-1+n191)*n1512-x^0-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-2*n173*n182*(-1+n191)-n1512-2*n173*(-1+n182) >= 0) -1-n1512*(-1+n182)+n0^0-2*n173-n1321*n1411-2*n1411*n12111-n182*(-1+n191)*n1512-x^0-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-2*n173*n182*(-1+n191)-n1512-2*n173*(-1+n182) >= 0 [0]: montonic decrease yields -1-n1512*(-1+n182)+n0^0-2*n173-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0, dependencies: -1+n0^0-n1321*n1411*n191-n182*n191*n1512-2*n173*n182*n191-n20-x^0-2*n1411*n191*n12111 >= 0 -1+n20 >= 0 -1-n1512*(-1+n182)+n0^0-2*n173-n1321*n1411-2*n1411*n12111-n182*(-1+n191)*n1512-x^0-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-2*n173*n182*(-1+n191)-n1512-2*n173*(-1+n182) >= 0 [1]: eventual increase yields (n1321*n1411*n191+n182*n191*n1512+2*n173*n182*n191+n20+2*n1411*n191*n12111 <= 0 /\ -1-n1512*(-1+n182)+n0^0-2*n173-n1321*n1411-2*n1411*n12111-n182*(-1+n191)*n1512-x^0-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-2*n173*n182*(-1+n191)-n1512-2*n173*(-1+n182) >= 0) -1-2*(-1+n1411)*n12111-n182*(-1+n191)*n1512-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n173*n182*(-1+n191)-y^0-2*n12111 >= 0 [0]: montonic decrease yields -1-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0, dependencies: -1+n1321 >= 0 -1-2*(-1+n1411)*n12111-n1321-n182*(-1+n191)*n1512-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n173*n182*(-1+n191)-y^0-2*n12111 >= 0 -1-2*(-1+n1411)*n12111-n182*(-1+n191)*n1512-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n173*n182*(-1+n191)-y^0-2*n12111 >= 0 [1]: eventual increase yields (n1321*n1411*n191+n182*n191*n1512+2*n173*n182*n191+n20+2*n1411*n191*n12111 <= 0 /\ -1-2*(-1+n1411)*n12111-n182*(-1+n191)*n1512-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n173*n182*(-1+n191)-y^0-2*n12111 >= 0) Replacement map: {-1+n1411 >= 0 -> -1+n1411 >= 0, -1+n0^0-2*(-1+n1411)*n12111-n1321-n182*(-1+n191)*n1512-x^0-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n173*n182*(-1+n191)-2*n12111 >= 0 -> -1+n0^0-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n1321-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0, -1+pc_drive_next^post21 >= 0 -> -1+pc_drive_next^post21 >= 0, -1+n0^0 >= 0 -> -1+n0^0 >= 0, -1-n1321*n1411*n191-n182*n191*n1512-2*n173*n182*n191-n20+n1^0-2*n1411*n191*n12111-y^0 >= 0 -> -1-n1321*n1411*n191-2*n173*n182*(-1+n23)*n191-n182*n191*n1512-2*n173*n182*n191-n182*(-1+n23)*n191*n1512-n20-n20*(-1+n23)+n1^0-2*n1411*(-1+n23)*n191*n12111-2*n1411*n191*n12111-y^0-n1321*n1411*(-1+n23)*n191 >= 0, 7-pc_plan_next^post21 >= 0 -> 7-pc_plan_next^post21 >= 0, -1+n173 >= 0 -> -1+n173 >= 0, -1+n0^0-n1321*n1411*n191-n182*n191*n1512-2*n173*n182*n191-n20-x^0-2*n1411*n191*n12111 >= 0 -> -1+n0^0-n1321*n1411*n191-2*n173*n182*(-1+n23)*n191-n182*n191*n1512-2*n173*n182*n191-n182*(-1+n23)*n191*n1512-n20-x^0-n20*(-1+n23)-2*n1411*(-1+n23)*n191*n12111-2*n1411*n191*n12111-n1321*n1411*(-1+n23)*n191 >= 0, 3-pc_drive_next^post21 >= 0 -> 3-pc_drive_next^post21 >= 0, -1-n1512*(-1+n182)-2*n173-n1321*n1411-2*n1411*n12111-n182*(-1+n191)*n1512-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182) >= 0 -> -1-n1512*(-1+n182)-2*n173-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0, -1+n1^0 >= 0 -> -1+n1^0 >= 0, -1+n1321 >= 0 -> -1+n1321 >= 0, -1+n191 >= 0 -> -1+n191 >= 0, 6 >= 0 -> 6 >= 0, 7-pc_drive_next^post21 >= 0 -> 7-pc_drive_next^post21 >= 0, -1+n1512 >= 0 -> -1+n1512 >= 0, -1-n1512*(-1+n182)-n1321*n1411-2*n1411*n12111-n182*(-1+n191)*n1512-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182) >= 0 -> -1-n1512*(-1+n182)-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0, -1+pc_plan_next^post21 >= 0 -> -1+pc_plan_next^post21 >= 0, -1+n0^0-2*(-1+n1411)*n12111-n182*(-1+n191)*n1512-x^0-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n173*n182*(-1+n191)-2*n12111 >= 0 -> -1+n0^0-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0, -1-2*(-1+n1411)*n12111-n1321-n182*(-1+n191)*n1512-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n173*n182*(-1+n191)-y^0-2*n12111 >= 0 -> -1-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n1321-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0, -1+n20 >= 0 -> -1+n20 >= 0, -1+n12111 >= 0 -> -1+n12111 >= 0, -1+n182 >= 0 -> -1+n182 >= 0, -1-n1512*(-1+n182)+n0^0-2*n173-n1321*n1411-2*n1411*n12111-x^0-n1512-2*n173*(-1+n182) >= 0 -> -1-n1512*(-1+n182)+n0^0-2*n173-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-x^0-n20*(-1+n23)-2*n1411*(-1+n23)*n191*n12111-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0, -1-n1512*(-1+n182)+n0^0-n1321*n1411-2*n1411*n12111-n182*(-1+n191)*n1512-x^0-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-2*n173*n182*(-1+n191)-n1512-2*n173*(-1+n182) >= 0 -> -1-n1512*(-1+n182)+n0^0-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0, -1-n1512*(-1+n182)+n0^0-2*n173-n1321*n1411-2*n1411*n12111-n182*(-1+n191)*n1512-x^0-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-2*n173*n182*(-1+n191)-n1512-2*n173*(-1+n182) >= 0 -> -1-n1512*(-1+n182)+n0^0-2*n173-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0, -1-2*(-1+n1411)*n12111-n182*(-1+n191)*n1512-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n173*n182*(-1+n191)-y^0-2*n12111 >= 0 -> -1-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0} Simplified Guard Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=2*n23*n1411*n191*n12111+2*n173*n23*n182*n191+x^0+n1321*n23*n1411*n191+n23*n182*n191*n1512+n23*n20, x_next^0'=n1321*n1411*n191+2*n173*n182*(-1+n23)*n191+n182*n191*n1512+2*n173*n182*n191+n182*(-1+n23)*n191*n1512+n20+x^0+n20*(-1+n23)+2*n1411*(-1+n23)*n191*n12111+2*n1411*n191*n12111+n1321*n1411*(-1+n23)*n191, y^0'=2*n23*n1411*n191*n12111+2*n173*n23*n182*n191+n1321*n23*n1411*n191+y^0+n23*n182*n191*n1512+n23*n20, y_next^0'=n1321*n1411*n191+2*n173*n182*(-1+n23)*n191+n182*n191*n1512+2*n173*n182*n191+n182*(-1+n23)*n191*n1512+n20+n20*(-1+n23)+2*n1411*(-1+n23)*n191*n12111+2*n1411*n191*n12111+y^0+n1321*n1411*(-1+n23)*n191, (-1-n1512*(-1+n182)-2*n173-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n1411 >= 0 /\ -1+n0^0-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n0^0-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n1321-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-n1321*n1411*n191-2*n173*n182*(-1+n23)*n191-n182*n191*n1512-2*n173*n182*n191-n182*(-1+n23)*n191*n1512-n20-x^0-n20*(-1+n23)-2*n1411*(-1+n23)*n191*n12111-2*n1411*n191*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n173 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1-n1512*(-1+n182)+n0^0-2*n173-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n1^0 >= 0 /\ -1+n1321 >= 0 /\ -1-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n1321-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n191 >= 0 /\ 6 >= 0 /\ -1-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1-n1512*(-1+n182)-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n1512 >= 0 /\ -1+n23 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1-n1321*n1411*n191-2*n173*n182*(-1+n23)*n191-n182*n191*n1512-2*n173*n182*n191-n182*(-1+n23)*n191*n1512-n20-n20*(-1+n23)+n1^0-2*n1411*(-1+n23)*n191*n12111-2*n1411*n191*n12111-y^0-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n20 >= 0 /\ -1-n1512*(-1+n182)+n0^0-2*n173-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-x^0-n20*(-1+n23)-2*n1411*(-1+n23)*n191*n12111-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n12111 >= 0 /\ -1+n182 >= 0 /\ -1-n1512*(-1+n182)+n0^0-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=2*n23*n1411*n191*n12111+2*n173*n23*n182*n191+x^0+n1321*n23*n1411*n191+n23*n182*n191*n1512+n23*n20, x_next^0'=n1321*n1411*n191+2*n173*n182*(-1+n23)*n191+n182*n191*n1512+2*n173*n182*n191+n182*(-1+n23)*n191*n1512+n20+x^0+n20*(-1+n23)+2*n1411*(-1+n23)*n191*n12111+2*n1411*n191*n12111+n1321*n1411*(-1+n23)*n191, y^0'=2*n23*n1411*n191*n12111+2*n173*n23*n182*n191+n1321*n23*n1411*n191+y^0+n23*n182*n191*n1512+n23*n20, y_next^0'=n1321*n1411*n191+2*n173*n182*(-1+n23)*n191+n182*n191*n1512+2*n173*n182*n191+n182*(-1+n23)*n191*n1512+n20+n20*(-1+n23)+2*n1411*(-1+n23)*n191*n12111+2*n1411*n191*n12111+y^0+n1321*n1411*(-1+n23)*n191, (-1-n1512*(-1+n182)-2*n173-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n1411 >= 0 /\ -1+n0^0-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n0^0-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n1321-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-n1321*n1411*n191-2*n173*n182*(-1+n23)*n191-n182*n191*n1512-2*n173*n182*n191-n182*(-1+n23)*n191*n1512-n20-x^0-n20*(-1+n23)-2*n1411*(-1+n23)*n191*n12111-2*n1411*n191*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n173 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1-n1512*(-1+n182)+n0^0-2*n173-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n1^0 >= 0 /\ -1+n1321 >= 0 /\ -1-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n1321-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n191 >= 0 /\ -1-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1-n1512*(-1+n182)-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n1512 >= 0 /\ -1+n23 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1-n1321*n1411*n191-2*n173*n182*(-1+n23)*n191-n182*n191*n1512-2*n173*n182*n191-n182*(-1+n23)*n191*n1512-n20-n20*(-1+n23)+n1^0-2*n1411*(-1+n23)*n191*n12111-2*n1411*n191*n12111-y^0-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n20 >= 0 /\ -1-n1512*(-1+n182)+n0^0-2*n173-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-x^0-n20*(-1+n23)-2*n1411*(-1+n23)*n191*n12111-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n12111 >= 0 /\ -1+n182 >= 0 /\ -1-n1512*(-1+n182)+n0^0-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0), cost: 1 Trace 75[T], 69[T], 94[(-1-n1512*(-1+n182)-2*n173-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n1411 >= 0 /\ -1+n0^0-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n0^0-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n1321-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-n1321*n1411*n191-2*n173*n182*(-1+n23)*n191-n182*n191*n1512-2*n173*n182*n191-n182*(-1+n23)*n191*n1512-n20-x^0-n20*(-1+n23)-2*n1411*(-1+n23)*n191*n12111-2*n1411*n191*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n173 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1-n1512*(-1+n182)+n0^0-2*n173-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n1^0 >= 0 /\ -1+n1321 >= 0 /\ -1-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n1321-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n191 >= 0 /\ -1-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1-n1512*(-1+n182)-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n1512 >= 0 /\ -1+n23 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1-n1321*n1411*n191-2*n173*n182*(-1+n23)*n191-n182*n191*n1512-2*n173*n182*n191-n182*(-1+n23)*n191*n1512-n20-n20*(-1+n23)+n1^0-2*n1411*(-1+n23)*n191*n12111-2*n1411*n191*n12111-y^0-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n20 >= 0 /\ -1-n1512*(-1+n182)+n0^0-2*n173-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-x^0-n20*(-1+n23)-2*n1411*(-1+n23)*n191*n12111-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n12111 >= 0 /\ -1+n182 >= 0 /\ -1-n1512*(-1+n182)+n0^0-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0)] Blocked [{}, {72[T], 73[T], 74[T]}, {66[T]}, {94[T]}] Restart Step with 75 Trace 75[T] Blocked [{}, {}] Step with 72 Trace 75[T], 72[(1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0)] Blocked [{}, {}, {}] Backtrack Trace 75[T] Blocked [{}, {72[T]}] Step with 70 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)] Blocked [{}, {72[T]}, {}] Step with 63 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)] Blocked [{}, {72[T]}, {}, {}] Step with 60 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)] Blocked [{}, {72[T]}, {}, {}, {}] Step with 50 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {}, {48[T], 49[T]}, {}] Step with 54 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 54[(-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0)] Blocked [{}, {72[T]}, {}, {}, {48[T], 49[T]}, {58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {}, {48[T], 49[T]}, {54[T], 58[T], 59[T]}] Step with 55 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 55[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0)] Blocked [{}, {72[T]}, {}, {}, {48[T], 49[T]}, {54[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {}, {48[T], 49[T]}, {54[T], 55[T], 58[T], 59[T]}] Step with 57 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 57[(2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0)] Blocked [{}, {72[T]}, {}, {}, {48[T], 49[T]}, {54[T], 55[T], 58[T], 59[T]}, {}] Covered Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {}, {48[T], 49[T]}, {54[T], 55[T], 57[T], 58[T], 59[T]}] Step with 51 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 51[(-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0)] Blocked [{}, {72[T]}, {}, {}, {48[T], 49[T]}, {54[T], 55[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {}, {48[T], 49[T]}, {51[T], 54[T], 55[T], 57[T], 58[T], 59[T]}] Step with 56 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 56[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0)] Blocked [{}, {72[T]}, {}, {}, {48[T], 49[T]}, {51[T], 54[T], 55[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {}, {48[T], 49[T]}, {51[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}] Step with 52 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 52[(1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0)] Blocked [{}, {72[T]}, {}, {}, {48[T], 49[T]}, {51[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {}, {48[T], 49[T]}, {51[T], 52[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}] Step with 53 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 53[(-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0)] Blocked [{}, {72[T]}, {}, {}, {48[T], 49[T]}, {51[T], 52[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {}, {48[T], 49[T]}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)] Blocked [{}, {72[T]}, {}, {}, {48[T], 49[T], 50[T]}] Step with 46 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {}, {47[T], 48[T], 49[T], 50[T]}, {}] Step with 53 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 53[(-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0)] Blocked [{}, {72[T]}, {}, {}, {47[T], 48[T], 49[T], 50[T]}, {}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {}, {47[T], 48[T], 49[T], 50[T]}, {53[T]}] Step with 59 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 59[(1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0)] Blocked [{}, {72[T]}, {}, {}, {47[T], 48[T], 49[T], 50[T]}, {53[T]}, {}] Covered Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {}, {47[T], 48[T], 49[T], 50[T]}, {53[T], 59[T]}] Step with 58 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 58[(-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0)] Blocked [{}, {72[T]}, {}, {}, {47[T], 48[T], 49[T], 50[T]}, {53[T], 59[T]}, {}] Covered Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {}, {47[T], 48[T], 49[T], 50[T]}, {53[T], 58[T], 59[T]}] Step with 54 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 54[(-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0)] Blocked [{}, {72[T]}, {}, {}, {47[T], 48[T], 49[T], 50[T]}, {53[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {}, {47[T], 48[T], 49[T], 50[T]}, {53[T], 54[T], 58[T], 59[T]}] Step with 55 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 55[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0)] Blocked [{}, {72[T]}, {}, {}, {47[T], 48[T], 49[T], 50[T]}, {53[T], 54[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {}, {47[T], 48[T], 49[T], 50[T]}, {53[T], 54[T], 55[T], 58[T], 59[T]}] Step with 57 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 57[(2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0)] Blocked [{}, {72[T]}, {}, {}, {47[T], 48[T], 49[T], 50[T]}, {53[T], 54[T], 55[T], 58[T], 59[T]}, {}] Covered Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {}, {47[T], 48[T], 49[T], 50[T]}, {53[T], 54[T], 55[T], 57[T], 58[T], 59[T]}] Step with 51 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 51[(-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0)] Blocked [{}, {72[T]}, {}, {}, {47[T], 48[T], 49[T], 50[T]}, {53[T], 54[T], 55[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {}, {47[T], 48[T], 49[T], 50[T]}, {51[T], 53[T], 54[T], 55[T], 57[T], 58[T], 59[T]}] Step with 56 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 56[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0)] Blocked [{}, {72[T]}, {}, {}, {47[T], 48[T], 49[T], 50[T]}, {51[T], 53[T], 54[T], 55[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {}, {47[T], 48[T], 49[T], 50[T]}, {51[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}] Step with 52 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 52[(1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0)] Blocked [{}, {72[T]}, {}, {}, {47[T], 48[T], 49[T], 50[T]}, {51[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {}, {47[T], 48[T], 49[T], 50[T]}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)] Blocked [{}, {72[T]}, {}, {}, {46[T], 47[T], 48[T], 49[T], 50[T]}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}] Step with 62 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {}] Step with 46 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {}, {}] Step with 52 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 52[(1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {}, {}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {}, {52[T]}] Step with 53 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 53[(-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {}, {52[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {}, {52[T], 53[T]}] Step with 59 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 59[(1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {}, {52[T], 53[T]}, {}] Covered Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {}, {52[T], 53[T], 59[T]}] Step with 58 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 58[(-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {}, {52[T], 53[T], 59[T]}, {}] Covered Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {}, {52[T], 53[T], 58[T], 59[T]}] Step with 54 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 54[(-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {}, {52[T], 53[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {}, {52[T], 53[T], 54[T], 58[T], 59[T]}] Step with 55 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 55[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {}, {52[T], 53[T], 54[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {}, {52[T], 53[T], 54[T], 55[T], 58[T], 59[T]}] Step with 57 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 57[(2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {}, {52[T], 53[T], 54[T], 55[T], 58[T], 59[T]}, {}] Covered Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {}, {52[T], 53[T], 54[T], 55[T], 57[T], 58[T], 59[T]}] Step with 51 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 51[(-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {}, {52[T], 53[T], 54[T], 55[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {}, {51[T], 52[T], 53[T], 54[T], 55[T], 57[T], 58[T], 59[T]}] Step with 56 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 56[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {}, {51[T], 52[T], 53[T], 54[T], 55[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {46[T]}] Step with 50 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {45[T], 46[T], 48[T], 49[T]}, {}] Step with 56 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 56[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {45[T], 46[T], 48[T], 49[T]}, {}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {45[T], 46[T], 48[T], 49[T]}, {56[T]}] Step with 52 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 52[(1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {45[T], 46[T], 48[T], 49[T]}, {56[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {45[T], 46[T], 48[T], 49[T]}, {52[T], 56[T]}] Step with 53 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 53[(-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {45[T], 46[T], 48[T], 49[T]}, {52[T], 56[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {45[T], 46[T], 48[T], 49[T]}, {52[T], 53[T], 56[T]}] Step with 54 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 54[(-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {45[T], 46[T], 48[T], 49[T]}, {52[T], 53[T], 56[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {45[T], 46[T], 48[T], 49[T]}, {52[T], 53[T], 54[T], 56[T], 58[T], 59[T]}] Step with 55 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 55[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {45[T], 46[T], 48[T], 49[T]}, {52[T], 53[T], 54[T], 56[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {45[T], 46[T], 48[T], 49[T]}, {52[T], 53[T], 54[T], 55[T], 56[T], 58[T], 59[T]}] Step with 57 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 57[(2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {45[T], 46[T], 48[T], 49[T]}, {52[T], 53[T], 54[T], 55[T], 56[T], 58[T], 59[T]}, {}] Covered Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {45[T], 46[T], 48[T], 49[T]}, {52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}] Step with 51 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 51[(-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {45[T], 46[T], 48[T], 49[T]}, {52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {45[T], 46[T], 48[T], 49[T]}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)] Blocked [{}, {72[T]}, {}, {60[T]}, {45[T], 46[T], 48[T], 49[T], 50[T]}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)] Blocked [{}, {72[T]}, {}, {60[T], 62[T]}] Step with 61 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)] Blocked [{}, {72[T]}, {}, {60[T], 62[T]}, {}] Step with 50 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {60[T], 62[T]}, {}, {}] Step with 51 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 51[(-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0)] Blocked [{}, {72[T]}, {}, {60[T], 62[T]}, {}, {}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {60[T], 62[T]}, {}, {51[T]}] Step with 56 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 56[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0)] Blocked [{}, {72[T]}, {}, {60[T], 62[T]}, {}, {51[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {60[T], 62[T]}, {}, {51[T], 56[T]}] Step with 52 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 52[(1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0)] Blocked [{}, {72[T]}, {}, {60[T], 62[T]}, {}, {51[T], 56[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {60[T], 62[T]}, {}, {51[T], 52[T], 56[T]}] Step with 53 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 53[(-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0)] Blocked [{}, {72[T]}, {}, {60[T], 62[T]}, {}, {51[T], 52[T], 56[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {60[T], 62[T]}, {}, {51[T], 52[T], 53[T], 56[T]}] Step with 54 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 54[(-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0)] Blocked [{}, {72[T]}, {}, {60[T], 62[T]}, {}, {51[T], 52[T], 53[T], 56[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {60[T], 62[T]}, {}, {51[T], 52[T], 53[T], 54[T], 56[T], 58[T], 59[T]}] Step with 55 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 55[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0)] Blocked [{}, {72[T]}, {}, {60[T], 62[T]}, {}, {51[T], 52[T], 53[T], 54[T], 56[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {60[T], 62[T]}, {}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 58[T], 59[T]}] Step with 57 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 57[(2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0)] Blocked [{}, {72[T]}, {}, {60[T], 62[T]}, {}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 58[T], 59[T]}, {}] Accelerate Start location: l7 Program variables: executed_drive^0 is_aborted^0 is_aborted_next^0 n0^0 n1^0 pc_drive^0 pc_drive_next^0 pc_loop^0 pc_plan^0 pc_plan_next^0 x^0 x_next^0 y^0 y_next^0 39: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 40: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 41: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 42: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post4, is_aborted_next^0'=is_aborted_next^post4, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 43: l0 -> l1 : is_aborted^0'=is_aborted_next^post5, is_aborted_next^0'=is_aborted_next^post5, pc_drive^0'=pc_drive_next^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 44: l0 -> l1 : is_aborted^0'=is_aborted_next^post6, is_aborted_next^0'=is_aborted_next^post6, pc_drive^0'=pc_drive_next^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 69: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, T, cost: 1 70: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0), cost: 1 71: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 72: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0), cost: 1 73: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 74: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 45: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post7, is_aborted_next^0'=is_aborted_next^post7, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 46: l2 -> l3 : is_aborted^0'=is_aborted_next^post8, is_aborted_next^0'=is_aborted_next^post8, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post8, pc_plan_next^0'=pc_plan_next^post8, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 47: l2 -> l3 : is_aborted^0'=is_aborted_next^post9, is_aborted_next^0'=is_aborted_next^post9, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post9, pc_plan_next^0'=pc_plan_next^post9, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 48: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post10, is_aborted_next^0'=is_aborted_next^post10, pc_drive^0'=2, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 49: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post11, is_aborted_next^0'=is_aborted_next^post11, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post11, pc_plan_next^0'=pc_plan_next^post11, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 50: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post12, pc_plan_next^0'=pc_plan_next^post12, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0), cost: 1 51: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 52: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0), cost: 1 53: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 54: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 55: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0), cost: 1 56: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0), cost: 1 57: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 58: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0), cost: 1 59: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 63: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0), cost: 1 64: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 65: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 66: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 67: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 68: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 76: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^0+3*n, x_next^0'=x^0+3*n, y^0'=y^0+3*n, y_next^0'=y^0+3*n, (7-pc_plan_next^post19 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0), cost: 1 77: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2+x^0, x_next^0'=2*n2+x^0, y^0'=2*n2+y^0, y_next^0'=2*n2+y^0, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n2 >= 0 /\ -1+n0^0-2*n2-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1-2*n2+n1^0-y^0 >= 0), cost: 1 78: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2*n3+x^0+3*n1*n3, x_next^0'=3*n1+2*n2+2*n2*(-1+n3)+x^0+3*n1*(-1+n3), y^0'=2*n2*n3+3*n1*n3+y^0, y_next^0'=3*n1+2*n2+2*n2*(-1+n3)+y^0+3*n1*(-1+n3), (7-pc_drive_next^post20 >= 0 /\ -1+n1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n3 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+n2 >= 0 /\ -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ -1+n1^0 >= 0 /\ -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 79: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+2*n4, x_next^0'=x^0+2*n4, y^0'=2*n4+y^0, y_next^0'=2*n4+y^0, (-1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1-2*n4+n1^0-y^0 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n0^0-x^0-2*n4 >= 0), cost: 1 80: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=3*n11*n5*n31+x^0+2*n4*n5+2*n22*n5*n31, x_next^0'=2*(-1+n5)*n22*n31+x^0+2*n4+3*n11*n31+2*(-1+n5)*n4+3*n11*(-1+n5)*n31+2*n22*n31, y^0'=3*n11*n5*n31+2*n4*n5+y^0+2*n22*n5*n31, y_next^0'=2*(-1+n5)*n22*n31+2*n4+3*n11*n31+2*(-1+n5)*n4+y^0+3*n11*(-1+n5)*n31+2*n22*n31, (-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0), cost: 1 81: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=3*n6+x^0, x_next^0'=3*n6+x^0, y^0'=3*n6+y^0, y_next^0'=3*n6+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-3*n6-x^0 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-3*n6+n1^0-y^0 >= 0), cost: 1 82: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n311*n7*n51*n221+2*n42*n7*n51+x^0+3*n311*n7*n111*n51+3*n6*n7, x_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+x^0+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+3*n311*n111*n51, y^0'=2*n311*n7*n51*n221+2*n42*n7*n51+3*n311*n7*n111*n51+y^0+3*n6*n7, y_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+y^0+3*n311*n111*n51, (7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0), cost: 1 83: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n8+x^0, x_next^0'=2*n8+x^0, y^0'=2*n8+y^0, y_next^0'=2*n8+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n8-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n8+n1^0-y^0 >= 0 /\ -1+n8 >= 0), cost: 1 84: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+x^0+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71, x_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+x^0+3*n62*(-1+n9)*n71+2*n511*n2211*n3111*n71, y^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71+y^0, y_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+3*n62*(-1+n9)*n71+y^0+2*n511*n2211*n3111*n71, (7-pc_plan_next^post19 >= 0 /\ -1+n1111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-3*n62*(-1+n9)*n71-y^0-2*n511*n2211*n3111*n71 >= 0 /\ -1+n62 >= 0 /\ -1+n0^0 >= 0 /\ -1+n3111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1+n511 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n9 >= 0 /\ -1+n2211 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-x^0-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-3*n62*(-1+n9)*n71-2*n511*n2211*n3111*n71 >= 0 /\ -1+n8 >= 0 /\ -1+n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n421 >= 0), cost: 1 85: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=x^0+n10, x_next^0'=x^0+n10, y^0'=y^0+n10, y_next^0'=y^0+n10, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n1^0-y^0-n10 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1+n0^0-x^0-n10 >= 0 /\ -1+n10 >= 0), cost: 1 86: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n12+x^0, x_next^0'=2*n12+x^0, y^0'=2*n12+y^0, y_next^0'=2*n12+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0), cost: 1 87: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+n13, x_next^0'=x^0+n13, y^0'=n13+y^0, y_next^0'=n13+y^0, (-1+n0^0-x^0-n13 >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1-n13+n1^0-y^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0), cost: 1 88: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=n14*n13+2*n121*n14+x^0, x_next^0'=2*n121+x^0+n13+(-1+n14)*n13+2*n121*(-1+n14), y^0'=n14*n13+2*n121*n14+y^0, y_next^0'=2*n121+n13+(-1+n14)*n13+2*n121*(-1+n14)+y^0, (-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0), cost: 1 89: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=n15+x^0, x_next^0'=n15+x^0, y^0'=n15+y^0, y_next^0'=n15+y^0, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 90: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n17+x^0, x_next^0'=2*n17+x^0, y^0'=2*n17+y^0, y_next^0'=2*n17+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n17 >= 0 /\ -1+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n17+n0^0-x^0 >= 0 /\ -1-2*n17+n1^0-y^0 >= 0), cost: 1 91: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n17*n18+n151*n18+x^0, x_next^0'=2*n17+n151+2*n17*(-1+n18)+n151*(-1+n18)+x^0, y^0'=2*n17*n18+n151*n18+y^0, y_next^0'=2*n17+n151+2*n17*(-1+n18)+n151*(-1+n18)+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1-n151+n0^0-2*n17*(-1+n18)-n151*(-1+n18)-x^0 >= 0 /\ -1-2*n17-n151-2*n17*(-1+n18)-n151*(-1+n18)+n1^0-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-n151*(-1+n18)-x^0 >= 0 /\ -1-n151-2*n17*(-1+n18)-n151*(-1+n18)+n1^0-y^0 >= 0 /\ -1+n18 >= 0), cost: 1 92: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n17*n19*n18+n151*n19*n18+x^0+n19*n132*n141+2*n19*n141*n1211, x_next^0'=2*n17+n151+2*(-1+n19)*n141*n1211+2*n17*(-1+n18)+2*n141*n1211+n132*n141+n151*(-1+n18)+x^0+n132*(-1+n19)*n141+n151*(-1+n19)*n18+2*n17*(-1+n19)*n18, y^0'=2*n17*n19*n18+n151*n19*n18+y^0+n19*n132*n141+2*n19*n141*n1211, y_next^0'=2*n17+n151+2*(-1+n19)*n141*n1211+2*n17*(-1+n18)+2*n141*n1211+n132*n141+n151*(-1+n18)+n132*(-1+n19)*n141+n151*(-1+n19)*n18+y^0+2*n17*(-1+n19)*n18, (7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0), cost: 1 93: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=n20+x^0, x_next^0'=n20+x^0, y^0'=n20+y^0, y_next^0'=n20+y^0, (-1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1-n20+n1^0-y^0 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-n20-x^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n20 >= 0), cost: 1 94: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=2*n23*n1411*n191*n12111+2*n173*n23*n182*n191+x^0+n1321*n23*n1411*n191+n23*n182*n191*n1512+n23*n20, x_next^0'=n1321*n1411*n191+2*n173*n182*(-1+n23)*n191+n182*n191*n1512+2*n173*n182*n191+n182*(-1+n23)*n191*n1512+n20+x^0+n20*(-1+n23)+2*n1411*(-1+n23)*n191*n12111+2*n1411*n191*n12111+n1321*n1411*(-1+n23)*n191, y^0'=2*n23*n1411*n191*n12111+2*n173*n23*n182*n191+n1321*n23*n1411*n191+y^0+n23*n182*n191*n1512+n23*n20, y_next^0'=n1321*n1411*n191+2*n173*n182*(-1+n23)*n191+n182*n191*n1512+2*n173*n182*n191+n182*(-1+n23)*n191*n1512+n20+n20*(-1+n23)+2*n1411*(-1+n23)*n191*n12111+2*n1411*n191*n12111+y^0+n1321*n1411*(-1+n23)*n191, (-1-n1512*(-1+n182)-2*n173-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n1411 >= 0 /\ -1+n0^0-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n0^0-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n1321-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-n1321*n1411*n191-2*n173*n182*(-1+n23)*n191-n182*n191*n1512-2*n173*n182*n191-n182*(-1+n23)*n191*n1512-n20-x^0-n20*(-1+n23)-2*n1411*(-1+n23)*n191*n12111-2*n1411*n191*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n173 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1-n1512*(-1+n182)+n0^0-2*n173-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n1^0 >= 0 /\ -1+n1321 >= 0 /\ -1-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n1321-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n191 >= 0 /\ -1-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1-n1512*(-1+n182)-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n1512 >= 0 /\ -1+n23 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1-n1321*n1411*n191-2*n173*n182*(-1+n23)*n191-n182*n191*n1512-2*n173*n182*n191-n182*(-1+n23)*n191*n1512-n20-n20*(-1+n23)+n1^0-2*n1411*(-1+n23)*n191*n12111-2*n1411*n191*n12111-y^0-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n20 >= 0 /\ -1-n1512*(-1+n182)+n0^0-2*n173-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-x^0-n20*(-1+n23)-2*n1411*(-1+n23)*n191*n12111-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n12111 >= 0 /\ -1+n182 >= 0 /\ -1-n1512*(-1+n182)+n0^0-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0), cost: 1 95: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^0+2*n24, x_next^0'=x^0+2*n24, y^0'=2*n24+y^0, y_next^0'=2*n24+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0), cost: 1 60: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 61: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0), cost: 1 62: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 75: l7 -> l1 : T, cost: 1 Loop Acceleration Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2+x^0, x_next^0'=2+x^0, y^0'=2+y^0, y_next^0'=2+y^0, (-7+pc_plan_next^post19 <= 0 /\ 3-n0^0+x^0 <= 0 /\ -2 <= 0 /\ 3-n1^0+y^0 <= 0 /\ 1-n0^0 <= 0 /\ -6 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^0+2*n24, x_next^0'=x^0+2*n24, y^0'=2*n24+y^0, y_next^0'=2*n24+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ 2 >= 0 /\ -1+n1^0 >= 0 /\ 6 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0), cost: 1 7-pc_plan_next^post19 >= 0 [0]: monotonic increase yields 7-pc_plan_next^post19 >= 0 -3+n0^0-x^0 >= 0 [0]: montonic decrease yields -1+n0^0-x^0-2*n24 >= 0 -3+n0^0-x^0 >= 0 [1]: eventual increase yields (-3+n0^0-x^0 >= 0 /\ 2 <= 0) -3+n1^0-y^0 >= 0 [0]: montonic decrease yields -1+n1^0-2*n24-y^0 >= 0 -3+n1^0-y^0 >= 0 [1]: eventual increase yields (-3+n1^0-y^0 >= 0 /\ 2 <= 0) -1+n0^0 >= 0 [0]: monotonic increase yields -1+n0^0 >= 0 2 >= 0 [0]: monotonic increase yields 2 >= 0 -1+n1^0 >= 0 [0]: monotonic increase yields -1+n1^0 >= 0 6 >= 0 [0]: monotonic increase yields 6 >= 0 -1+pc_plan_next^post19 >= 0 [0]: monotonic increase yields -1+pc_plan_next^post19 >= 0 Replacement map: {7-pc_plan_next^post19 >= 0 -> 7-pc_plan_next^post19 >= 0, -3+n0^0-x^0 >= 0 -> -1+n0^0-x^0-2*n24 >= 0, -3+n1^0-y^0 >= 0 -> -1+n1^0-2*n24-y^0 >= 0, -1+n0^0 >= 0 -> -1+n0^0 >= 0, 2 >= 0 -> 2 >= 0, -1+n1^0 >= 0 -> -1+n1^0 >= 0, 6 >= 0 -> 6 >= 0, -1+pc_plan_next^post19 >= 0 -> -1+pc_plan_next^post19 >= 0} Simplified Guard Original rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^0+2*n24, x_next^0'=x^0+2*n24, y^0'=2*n24+y^0, y_next^0'=2*n24+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ 2 >= 0 /\ -1+n1^0 >= 0 /\ 6 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0), cost: 1 New rule: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^0+2*n24, x_next^0'=x^0+2*n24, y^0'=2*n24+y^0, y_next^0'=2*n24+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0), cost: 1 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)] Blocked [{}, {72[T]}, {}, {95[T]}] Step with 63 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}] Step with 61 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {}] Step with 50 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {}, {}] Step with 57 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 57[(2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {}, {}, {}] Covered Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {}, {57[T]}] Step with 51 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 51[(-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {}, {57[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {}, {51[T], 57[T]}] Step with 56 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 56[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {}, {51[T], 57[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {}, {51[T], 56[T], 57[T]}] Step with 52 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 52[(1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {}, {51[T], 56[T], 57[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {}, {51[T], 52[T], 56[T], 57[T]}] Step with 53 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 53[(-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {}, {51[T], 52[T], 56[T], 57[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {}, {51[T], 52[T], 53[T], 56[T], 57[T]}] Step with 54 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 54[(-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {}, {51[T], 52[T], 53[T], 56[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {}, {51[T], 52[T], 53[T], 54[T], 56[T], 57[T], 58[T], 59[T]}] Step with 55 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 55[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {}, {51[T], 52[T], 53[T], 54[T], 56[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {50[T]}] Step with 46 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {47[T], 50[T]}, {}] Step with 55 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 55[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {47[T], 50[T]}, {}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {47[T], 50[T]}, {55[T]}] Step with 57 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 57[(2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {47[T], 50[T]}, {55[T]}, {}] Covered Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {47[T], 50[T]}, {55[T], 57[T]}] Step with 51 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 51[(-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {47[T], 50[T]}, {55[T], 57[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {47[T], 50[T]}, {51[T], 55[T], 57[T]}] Step with 56 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 56[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {47[T], 50[T]}, {51[T], 55[T], 57[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {47[T], 50[T]}, {51[T], 55[T], 56[T], 57[T]}] Step with 52 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 52[(1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {47[T], 50[T]}, {51[T], 55[T], 56[T], 57[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {47[T], 50[T]}, {51[T], 52[T], 55[T], 56[T], 57[T]}] Step with 53 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 53[(-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {47[T], 50[T]}, {51[T], 52[T], 55[T], 56[T], 57[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {47[T], 50[T]}, {51[T], 52[T], 53[T], 55[T], 56[T], 57[T]}] Step with 59 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 59[(1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {47[T], 50[T]}, {51[T], 52[T], 53[T], 55[T], 56[T], 57[T]}, {}] Covered Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {47[T], 50[T]}, {51[T], 52[T], 53[T], 55[T], 56[T], 57[T], 59[T]}] Step with 58 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 58[(-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {47[T], 50[T]}, {51[T], 52[T], 53[T], 55[T], 56[T], 57[T], 59[T]}, {}] Covered Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {47[T], 50[T]}, {51[T], 52[T], 53[T], 55[T], 56[T], 57[T], 58[T], 59[T]}] Step with 54 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 54[(-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {47[T], 50[T]}, {51[T], 52[T], 53[T], 55[T], 56[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {47[T], 50[T]}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 61[(1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {}, {46[T], 47[T], 50[T]}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}] Step with 60 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {}] Step with 46 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {}, {}] Step with 54 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 54[(-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {}, {}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {}, {54[T]}] Step with 55 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 55[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {}, {54[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {}, {54[T], 55[T]}] Step with 57 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 57[(2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {}, {54[T], 55[T]}, {}] Covered Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {}, {54[T], 55[T], 57[T]}] Step with 51 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 51[(-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {}, {54[T], 55[T], 57[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {}, {51[T], 54[T], 55[T], 57[T]}] Step with 56 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 56[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {}, {51[T], 54[T], 55[T], 57[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {}, {51[T], 54[T], 55[T], 56[T], 57[T]}] Step with 52 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 52[(1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {}, {51[T], 54[T], 55[T], 56[T], 57[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {}, {51[T], 52[T], 54[T], 55[T], 56[T], 57[T]}] Step with 53 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 53[(-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {}, {51[T], 52[T], 54[T], 55[T], 56[T], 57[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 57[T]}] Step with 59 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 59[(1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 57[T]}, {}] Covered Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 59[T]}] Step with 58 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 58[(-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 59[T]}, {}] Covered Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {46[T]}] Step with 50 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {45[T], 46[T], 48[T], 49[T]}, {}] Step with 54 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 54[(-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {45[T], 46[T], 48[T], 49[T]}, {58[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {45[T], 46[T], 48[T], 49[T]}, {54[T], 58[T]}] Step with 55 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 55[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {45[T], 46[T], 48[T], 49[T]}, {54[T], 58[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {45[T], 46[T], 48[T], 49[T]}, {54[T], 55[T], 58[T]}] Step with 57 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 57[(2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {45[T], 46[T], 48[T], 49[T]}, {54[T], 55[T], 58[T]}, {}] Covered Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {45[T], 46[T], 48[T], 49[T]}, {54[T], 55[T], 57[T], 58[T]}] Step with 51 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 51[(-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {45[T], 46[T], 48[T], 49[T]}, {54[T], 55[T], 57[T], 58[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {45[T], 46[T], 48[T], 49[T]}, {51[T], 54[T], 55[T], 57[T], 58[T]}] Step with 56 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 56[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {45[T], 46[T], 48[T], 49[T]}, {51[T], 54[T], 55[T], 57[T], 58[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {45[T], 46[T], 48[T], 49[T]}, {51[T], 54[T], 55[T], 56[T], 57[T], 58[T]}] Step with 52 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 52[(1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {45[T], 46[T], 48[T], 49[T]}, {51[T], 54[T], 55[T], 56[T], 57[T], 58[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {45[T], 46[T], 48[T], 49[T]}, {51[T], 52[T], 54[T], 55[T], 56[T], 57[T], 58[T]}] Step with 53 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 53[(-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {45[T], 46[T], 48[T], 49[T]}, {51[T], 52[T], 54[T], 55[T], 56[T], 57[T], 58[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {45[T], 46[T], 48[T], 49[T]}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T]}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 60[(1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {61[T]}, {45[T], 46[T], 48[T], 49[T], 50[T]}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}] Step with 62 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {}] Step with 50 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {}, {}] Step with 53 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 53[(-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {}, {}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {}, {53[T]}] Step with 54 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 54[(-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {}, {53[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {}, {53[T], 54[T], 58[T], 59[T]}] Step with 55 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 55[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {}, {53[T], 54[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {}, {53[T], 54[T], 55[T], 58[T], 59[T]}] Step with 57 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 57[(2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {}, {53[T], 54[T], 55[T], 58[T], 59[T]}, {}] Covered Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {}, {53[T], 54[T], 55[T], 57[T], 58[T], 59[T]}] Step with 51 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 51[(-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {}, {53[T], 54[T], 55[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {}, {51[T], 53[T], 54[T], 55[T], 57[T], 58[T], 59[T]}] Step with 56 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 56[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {}, {51[T], 53[T], 54[T], 55[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {}, {51[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}] Step with 52 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)], 52[(1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {}, {51[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 50[(-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {50[T]}] Step with 46 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {47[T], 50[T]}, {}] Step with 52 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 52[(1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {47[T], 50[T]}, {}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {47[T], 50[T]}, {52[T]}] Step with 53 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 53[(-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {47[T], 50[T]}, {52[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {47[T], 50[T]}, {52[T], 53[T]}] Step with 59 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 59[(1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {47[T], 50[T]}, {52[T], 53[T]}, {}] Covered Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {47[T], 50[T]}, {52[T], 53[T], 59[T]}] Step with 58 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 58[(-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {47[T], 50[T]}, {52[T], 53[T], 59[T]}, {}] Covered Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {47[T], 50[T]}, {52[T], 53[T], 58[T], 59[T]}] Step with 54 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 54[(-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {47[T], 50[T]}, {52[T], 53[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {47[T], 50[T]}, {52[T], 53[T], 54[T], 58[T], 59[T]}] Step with 55 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 55[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {47[T], 50[T]}, {52[T], 53[T], 54[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {47[T], 50[T]}, {52[T], 53[T], 54[T], 55[T], 58[T], 59[T]}] Step with 57 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 57[(2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {47[T], 50[T]}, {52[T], 53[T], 54[T], 55[T], 58[T], 59[T]}, {}] Covered Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {47[T], 50[T]}, {52[T], 53[T], 54[T], 55[T], 57[T], 58[T], 59[T]}] Step with 51 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 51[(-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {47[T], 50[T]}, {52[T], 53[T], 54[T], 55[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {47[T], 50[T]}, {51[T], 52[T], 53[T], 54[T], 55[T], 57[T], 58[T], 59[T]}] Step with 56 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 56[(n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {47[T], 50[T]}, {51[T], 52[T], 53[T], 54[T], 55[T], 57[T], 58[T], 59[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {47[T], 50[T]}, {51[T], 52[T], 53[T], 54[T], 55[T], 56[T], 57[T], 58[T], 59[T]}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T]}, {46[T], 47[T], 50[T]}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 63[(-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0)] Blocked [{}, {72[T]}, {}, {95[T]}, {60[T], 61[T], 62[T]}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)] Blocked [{}, {72[T]}, {}, {63[T], 95[T]}] Step with 67 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 67[(1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0)] Blocked [{}, {72[T]}, {}, {63[T], 95[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)] Blocked [{}, {72[T]}, {}, {63[T], 67[T], 95[T]}] Step with 66 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 66[(1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0)] Blocked [{}, {72[T]}, {}, {63[T], 67[T], 95[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)] Blocked [{}, {72[T]}, {}, {63[T], 66[T], 67[T], 95[T]}] Step with 64 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 64[(1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0)] Blocked [{}, {72[T]}, {}, {63[T], 66[T], 67[T], 95[T]}, {}] Step with 62 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 64[(1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)] Blocked [{}, {72[T]}, {}, {63[T], 66[T], 67[T], 95[T]}, {}, {}] Step with 46 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 64[(1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {63[T], 66[T], 67[T], 95[T]}, {}, {}, {}] Step with 52 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 64[(1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 52[(1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0)] Blocked [{}, {72[T]}, {}, {63[T], 66[T], 67[T], 95[T]}, {}, {}, {56[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 64[(1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {63[T], 66[T], 67[T], 95[T]}, {}, {}, {52[T], 56[T]}] Step with 53 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 64[(1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 53[(-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0)] Blocked [{}, {72[T]}, {}, {63[T], 66[T], 67[T], 95[T]}, {}, {}, {52[T], 56[T]}, {}] Backtrack Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 64[(1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)] Blocked [{}, {72[T]}, {}, {63[T], 66[T], 67[T], 95[T]}, {}, {}, {52[T], 53[T], 56[T]}] Step with 59 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 64[(1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0)], 62[(-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0)], 46[(1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0)], 59[(1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0)] Blocked [{}, {72[T]}, {}, {63[T], 66[T], 67[T], 95[T]}, {}, {}, {52[T], 53[T], 56[T]}, {}] Nonterm Start location: l7 Program variables: executed_drive^0 is_aborted^0 is_aborted_next^0 n0^0 n1^0 pc_drive^0 pc_drive_next^0 pc_loop^0 pc_plan^0 pc_plan_next^0 x^0 x_next^0 y^0 y_next^0 39: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 40: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post2, pc_drive_next^0'=pc_drive_next^post2, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 41: l0 -> l1 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post3, pc_drive_next^0'=pc_drive_next^post3, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 42: l0 -> l1 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post4, is_aborted_next^0'=is_aborted_next^post4, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 43: l0 -> l1 : is_aborted^0'=is_aborted_next^post5, is_aborted_next^0'=is_aborted_next^post5, pc_drive^0'=pc_drive_next^post5, pc_drive_next^0'=pc_drive_next^post5, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 44: l0 -> l1 : is_aborted^0'=is_aborted_next^post6, is_aborted_next^0'=is_aborted_next^post6, pc_drive^0'=pc_drive_next^post6, pc_drive_next^0'=pc_drive_next^post6, pc_loop^0'=1, pc_plan^0'=2, pc_plan_next^0'=2, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 69: l1 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, T, cost: 1 70: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post32, pc_drive_next^0'=pc_drive_next^post32, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0), cost: 1 71: l1 -> l4 : executed_drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post33, pc_drive_next^0'=pc_drive_next^post33, pc_loop^0'=2, pc_plan^0'=3, pc_plan_next^0'=3, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post33 <= 0 /\ -3+pc_drive_next^post33 <= 0 /\ 1-pc_drive_next^post33 <= 0), cost: 1 72: l1 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post34, pc_plan_next^0'=pc_plan_next^post34, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post34 <= 0 /\ -7+pc_plan_next^post34 <= 0), cost: 1 73: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post35, pc_drive_next^0'=pc_drive_next^post35, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post35, pc_plan_next^0'=pc_plan_next^post35, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post35 <= 0 /\ 1-pc_drive_next^post35 <= 0 /\ -7+pc_plan_next^post35 <= 0 /\ -7+pc_drive_next^post35 <= 0 /\ 5-pc_drive_next^post35 <= 0), cost: 1 74: l1 -> l0 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post36, pc_drive_next^0'=pc_drive_next^post36, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post36, pc_plan_next^0'=pc_plan_next^post36, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post36 <= 0 /\ 1-pc_drive_next^post36 <= 0 /\ -7+pc_plan_next^post36 <= 0 /\ -7+pc_drive_next^post36 <= 0 /\ -3+pc_drive_next^post36 <= 0), cost: 1 45: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post7, is_aborted_next^0'=is_aborted_next^post7, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post7, pc_plan_next^0'=pc_plan_next^post7, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 46: l2 -> l3 : is_aborted^0'=is_aborted_next^post8, is_aborted_next^0'=is_aborted_next^post8, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post8, pc_plan_next^0'=pc_plan_next^post8, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post8 <= 0 /\ -7+pc_plan_next^post8 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -1+is_aborted_next^post8 <= 0), cost: 1 47: l2 -> l3 : is_aborted^0'=is_aborted_next^post9, is_aborted_next^0'=is_aborted_next^post9, pc_drive^0'=7, pc_drive_next^0'=7, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post9, pc_plan_next^0'=pc_plan_next^post9, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 48: l2 -> l3 : executed_drive^0'=1, is_aborted^0'=is_aborted_next^post10, is_aborted_next^0'=is_aborted_next^post10, pc_drive^0'=2, pc_drive_next^0'=4, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post10, pc_plan_next^0'=pc_plan_next^post10, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, _|_, cost: 1 49: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=is_aborted_next^post11, is_aborted_next^0'=is_aborted_next^post11, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post11, pc_plan_next^0'=pc_plan_next^post11, x_next^0'=x^0, y_next^0'=y^0, _|_, cost: 1 50: l2 -> l3 : executed_drive^0'=0, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=2, pc_drive_next^0'=2, pc_loop^0'=4, pc_plan^0'=pc_plan_next^post12, pc_plan_next^0'=pc_plan_next^post12, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_plan_next^post12 <= 0 /\ 1-pc_plan_next^post12 <= 0), cost: 1 51: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post13, pc_plan_next^0'=pc_plan_next^post13, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post13 <= 0 /\ 1-pc_plan_next^post13 <= 0), cost: 1 52: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post14, pc_drive_next^0'=pc_drive_next^post14, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post14, pc_plan_next^0'=pc_plan_next^post14, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post14 <= 0 /\ 1-pc_drive_next^post14 <= 0 /\ -7+pc_plan_next^post14 <= 0 /\ -7+pc_drive_next^post14 <= 0 /\ 5-pc_drive_next^post14 <= 0), cost: 1 53: l3 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post15, pc_drive_next^0'=pc_drive_next^post15, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post15, pc_plan_next^0'=pc_plan_next^post15, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post15 <= 0 /\ -7+pc_plan_next^post15 <= 0 /\ -7+pc_drive_next^post15 <= 0 /\ 1-pc_plan_next^post15 <= 0 /\ 1-pc_drive_next^post15 <= 0), cost: 1 54: l3 -> l0 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post16, pc_plan_next^0'=pc_plan_next^post16, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post16 <= 0 /\ 1-pc_plan_next^post16 <= 0 /\ -1+n0^0-x^0 <= 0 /\ -1+n1^0-y^0 <= 0), cost: 1 55: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post17, pc_drive_next^0'=pc_drive_next^post17, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post17, pc_plan_next^0'=pc_plan_next^post17, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post17 <= 0 /\ 1-pc_drive_next^post17 <= 0 /\ 5-pc_drive_next^post17 <= 0 /\ -7+pc_plan_next^post17 <= 0 /\ -7+pc_drive_next^post17 <= 0), cost: 1 56: l3 -> l0 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post18, pc_drive_next^0'=pc_drive_next^post18, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post18, pc_plan_next^0'=pc_plan_next^post18, x_next^0'=x^0, y_next^0'=y^0, (n0^0-x^0 <= 0 /\ n1^0-y^0 <= 0 /\ 1-pc_plan_next^post18 <= 0 /\ 1-pc_drive_next^post18 <= 0 /\ -3+pc_drive_next^post18 <= 0 /\ -7+pc_plan_next^post18 <= 0 /\ -7+pc_drive_next^post18 <= 0), cost: 1 57: l3 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (2-n1^0+y^0 <= 0 /\ -7+pc_plan_next^post19 <= 0 /\ 2-n0^0+x^0 <= 0 /\ 1-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post19 <= 0), cost: 1 58: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x_next^0'=x^0, y_next^0'=y^0, (-7+pc_drive_next^post20 <= 0 /\ 5-pc_drive_next^post20 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_plan_next^post20 <= 0 /\ 1-pc_drive_next^post20 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ -7+pc_plan_next^post20 <= 0), cost: 1 59: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 63: l4 -> l5 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post25, pc_plan_next^0'=pc_plan_next^post25, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (-7+pc_plan_next^post25 <= 0 /\ 1-pc_plan_next^post25 <= 0), cost: 1 64: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post26, pc_drive_next^0'=pc_drive_next^post26, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post26, pc_plan_next^0'=pc_plan_next^post26, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post26 <= 0 /\ -7+pc_plan_next^post26 <= 0 /\ -7+pc_drive_next^post26 <= 0 /\ 5-pc_drive_next^post26 <= 0 /\ 1-pc_plan_next^post26 <= 0), cost: 1 65: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post27, pc_drive_next^0'=pc_drive_next^post27, pc_loop^0'=3, pc_plan^0'=pc_plan_next^post27, pc_plan_next^0'=pc_plan_next^post27, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post27 <= 0 /\ -7+pc_plan_next^post27 <= 0 /\ -7+pc_drive_next^post27 <= 0 /\ 1-pc_plan_next^post27 <= 0 /\ 1-pc_drive_next^post27 <= 0), cost: 1 66: l4 -> l0 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post28, pc_plan_next^0'=pc_plan_next^post28, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post28 <= 0 /\ -7+pc_plan_next^post28 <= 0), cost: 1 67: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post29, pc_drive_next^0'=pc_drive_next^post29, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post29, pc_plan_next^0'=pc_plan_next^post29, x_next^0'=x^0, y_next^0'=y^0, (1-pc_drive_next^post29 <= 0 /\ 1-pc_plan_next^post29 <= 0 /\ -7+pc_plan_next^post29 <= 0 /\ -7+pc_drive_next^post29 <= 0 /\ 5-pc_drive_next^post29 <= 0), cost: 1 68: l4 -> l0 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post30, pc_drive_next^0'=pc_drive_next^post30, pc_loop^0'=7, pc_plan^0'=pc_plan_next^post30, pc_plan_next^0'=pc_plan_next^post30, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post30 <= 0 /\ -7+pc_plan_next^post30 <= 0 /\ -7+pc_drive_next^post30 <= 0 /\ 1-pc_plan_next^post30 <= 0 /\ 1-pc_drive_next^post30 <= 0), cost: 1 76: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^0+3*n, x_next^0'=x^0+3*n, y^0'=y^0+3*n, y_next^0'=y^0+3*n, (7-pc_plan_next^post19 >= 0 /\ -1+n1^0-y^0-3*n >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-3*n >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n >= 0), cost: 1 77: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2+x^0, x_next^0'=2*n2+x^0, y^0'=2*n2+y^0, y_next^0'=2*n2+y^0, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n2 >= 0 /\ -1+n0^0-2*n2-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1-2*n2+n1^0-y^0 >= 0), cost: 1 78: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=2*n2*n3+x^0+3*n1*n3, x_next^0'=3*n1+2*n2+2*n2*(-1+n3)+x^0+3*n1*(-1+n3), y^0'=2*n2*n3+3*n1*n3+y^0, y_next^0'=3*n1+2*n2+2*n2*(-1+n3)+y^0+3*n1*(-1+n3), (7-pc_drive_next^post20 >= 0 /\ -1+n1 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n3 >= 0 /\ -1+n0^0 >= 0 /\ -1-3*n1-2*n2-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+n2 >= 0 /\ -1-3*n1+n0^0-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ -1+n1^0 >= 0 /\ -1-3*n1-2*n2*(-1+n3)+n1^0-y^0-3*n1*(-1+n3) >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1-3*n1+n0^0-2*n2-2*n2*(-1+n3)-x^0-3*n1*(-1+n3) >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 79: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+2*n4, x_next^0'=x^0+2*n4, y^0'=2*n4+y^0, y_next^0'=2*n4+y^0, (-1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1-2*n4+n1^0-y^0 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n0^0-x^0-2*n4 >= 0), cost: 1 80: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=3*n11*n5*n31+x^0+2*n4*n5+2*n22*n5*n31, x_next^0'=2*(-1+n5)*n22*n31+x^0+2*n4+3*n11*n31+2*(-1+n5)*n4+3*n11*(-1+n5)*n31+2*n22*n31, y^0'=3*n11*n5*n31+2*n4*n5+y^0+2*n22*n5*n31, y_next^0'=2*(-1+n5)*n22*n31+2*n4+3*n11*n31+2*(-1+n5)*n4+y^0+3*n11*(-1+n5)*n31+2*n22*n31, (-1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31 >= 0 /\ -1+n4 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n5 >= 0 /\ -1+n11 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n31 >= 0 /\ -1-2*(-1+n5)*n22*n31-2*n4-3*n11*n31-2*(-1+n5)*n4+n1^0-y^0-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+n0^0-2*(-1+n5)*n22*n31-x^0-2*n4-3*n11*n31-2*(-1+n5)*n4-3*n11*(-1+n5)*n31-2*n22*n31 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n22 >= 0 /\ -1+n0^0-3*n11-3*n11*(-1+n31)-2*(-1+n5)*n22*n31-2*n22*(-1+n31)-2*n22-x^0-2*(-1+n5)*n4-3*n11*(-1+n5)*n31 >= 0), cost: 1 81: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=3*n6+x^0, x_next^0'=3*n6+x^0, y^0'=3*n6+y^0, y_next^0'=3*n6+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-3*n6-x^0 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-3*n6+n1^0-y^0 >= 0), cost: 1 82: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n311*n7*n51*n221+2*n42*n7*n51+x^0+3*n311*n7*n111*n51+3*n6*n7, x_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+x^0+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+3*n311*n111*n51, y^0'=2*n311*n7*n51*n221+2*n42*n7*n51+3*n311*n7*n111*n51+y^0+3*n6*n7, y_next^0'=2*n42*n51*(-1+n7)+3*n6*(-1+n7)+3*n6+2*n311*n51*n221+2*n311*n51*(-1+n7)*n221+3*n311*n111*n51*(-1+n7)+2*n42*n51+y^0+3*n311*n111*n51, (7-pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*n6-2*n311*n51*n221-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-2*n42*n51-y^0-3*n311*n111*n51 >= 0 /\ -1+n311 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)+n1^0-y^0-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n51 >= 0 /\ -1+n0^0 >= 0 /\ -1+n221 >= 0 /\ -1+n6 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1+n42 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-2*n42-3*n311*(-1+n51)*n111-3*n311*n111-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n311*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*n6-2*n311*n51*n221-x^0-2*n311*n51*(-1+n7)*n221-3*n311*n111*n51*(-1+n7)-2*n42*n51-3*n311*n111*n51 >= 0 /\ -1+n7 >= 0 /\ -1+n111 >= 0 /\ -1-2*n42*n51*(-1+n7)-3*n6*(-1+n7)+n0^0-3*(-1+n311)*n111-3*n311*(-1+n51)*n111-3*n111-x^0-2*n311*n51*(-1+n7)*n221-2*n221-3*n311*n111*n51*(-1+n7)-2*(-1+n311)*n221-2*(-1+n51)*n42-2*n311*(-1+n51)*n221 >= 0), cost: 1 83: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n8+x^0, x_next^0'=2*n8+x^0, y^0'=2*n8+y^0, y_next^0'=2*n8+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n8-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n8+n1^0-y^0 >= 0 /\ -1+n8 >= 0), cost: 1 84: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+x^0+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71, x_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+x^0+3*n62*(-1+n9)*n71+2*n511*n2211*n3111*n71, y^0'=2*n9*n8+3*n9*n62*n71+2*n511*n9*n2211*n3111*n71+2*n511*n9*n71*n421+3*n1111*n511*n9*n3111*n71+y^0, y_next^0'=2*n511*n2211*(-1+n9)*n3111*n71+3*n62*n71+2*n511*(-1+n9)*n71*n421+3*n1111*n511*(-1+n9)*n3111*n71+2*n8*(-1+n9)+2*n511*n71*n421+2*n8+3*n1111*n511*n3111*n71+3*n62*(-1+n9)*n71+y^0+2*n511*n2211*n3111*n71, (7-pc_plan_next^post19 >= 0 /\ -1+n1111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71+n1^0-3*n62*(-1+n9)*n71-y^0-2*n511*n2211*n3111*n71 >= 0 /\ -1+n62 >= 0 /\ -1+n0^0 >= 0 /\ -1+n3111 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-x^0-3*n62-2*n511*(-1+n71)*n421-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1+n511 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n9 >= 0 /\ -1+n2211 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-x^0-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n62*n71+n0^0-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*n511*n71*n421-2*n8-3*n1111*n511*n3111*n71-x^0-3*n62*(-1+n9)*n71-2*n511*n2211*n3111*n71 >= 0 /\ -1+n8 >= 0 /\ -1+n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111-3*n1111*n511*n3111*(-1+n71)+n0^0-2*(-1+n511)*n421-3*n1111*(-1+n3111)-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-2*(-1+n3111)*n2211-2*n2211-3*n62*(-1+n71)-x^0-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-3*n1111*n511*n3111*(-1+n71)-2*(-1+n511)*n421-3*n1111*(-1+n511)*n3111-2*n511*(-1+n9)*n71*n421-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n2211*n3111-2*n511*(-1+n71)*n421-2*n2211*(-1+n511)*n3111+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0-3*n1111*n3111-2*n421 >= 0 /\ -1-2*n511*n2211*(-1+n9)*n3111*n71-2*n511*n2211*n3111-3*n1111*n511*n3111*(-1+n71)-2*n511*(-1+n9)*n71*n421-3*n1111*n511*n3111-3*n1111*n511*(-1+n9)*n3111*n71-2*n8*(-1+n9)-3*n62*(-1+n71)-2*n511*n421-3*n62-2*n511*(-1+n71)*n421+n1^0-2*n511*n2211*n3111*(-1+n71)-3*n62*(-1+n9)*n71-y^0 >= 0 /\ -1+n421 >= 0), cost: 1 85: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=x^0+n10, x_next^0'=x^0+n10, y^0'=y^0+n10, y_next^0'=y^0+n10, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n1^0-y^0-n10 >= 0 /\ 7-pc_plan_next^post20 >= 0 /\ -1+n0^0-x^0-n10 >= 0 /\ -1+n10 >= 0), cost: 1 86: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n12+x^0, x_next^0'=2*n12+x^0, y^0'=2*n12+y^0, y_next^0'=2*n12+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-2*n12-x^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n12 >= 0 /\ -1-2*n12+n1^0-y^0 >= 0), cost: 1 87: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=x^0+n13, x_next^0'=x^0+n13, y^0'=n13+y^0, y_next^0'=n13+y^0, (-1+n0^0-x^0-n13 >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1-n13+n1^0-y^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0), cost: 1 88: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=n14*n13+2*n121*n14+x^0, x_next^0'=2*n121+x^0+n13+(-1+n14)*n13+2*n121*(-1+n14), y^0'=n14*n13+2*n121*n14+y^0, y_next^0'=2*n121+n13+(-1+n14)*n13+2*n121*(-1+n14)+y^0, (-1+n0^0-2*n121-x^0-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1+n13 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n14 >= 0 /\ -1+n121 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-2*n121-x^0-n13-(-1+n14)*n13-2*n121*(-1+n14) >= 0 /\ -1-2*n121-n13-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ -1-2*n121-(-1+n14)*n13-2*n121*(-1+n14)+n1^0-y^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0), cost: 1 89: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post20, pc_drive_next^0'=pc_drive_next^post20, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post20, pc_plan_next^0'=pc_plan_next^post20, x^0'=n15+x^0, x_next^0'=n15+x^0, y^0'=n15+y^0, y_next^0'=n15+y^0, (7-pc_drive_next^post20 >= 0 /\ -5+pc_drive_next^post20 >= 0 /\ -1+n0^0-n15-x^0 >= 0 /\ -1+n0^0 >= 0 /\ -1-n15+n1^0-y^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post20 >= 0 /\ -1+pc_drive_next^post20 >= 0 /\ -1+n15 >= 0 /\ 7-pc_plan_next^post20 >= 0), cost: 1 90: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n17+x^0, x_next^0'=2*n17+x^0, y^0'=2*n17+y^0, y_next^0'=2*n17+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n17 >= 0 /\ -1+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n17+n0^0-x^0 >= 0 /\ -1-2*n17+n1^0-y^0 >= 0), cost: 1 91: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n17*n18+n151*n18+x^0, x_next^0'=2*n17+n151+2*n17*(-1+n18)+n151*(-1+n18)+x^0, y^0'=2*n17*n18+n151*n18+y^0, y_next^0'=2*n17+n151+2*n17*(-1+n18)+n151*(-1+n18)+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1-n151+n0^0-2*n17*(-1+n18)-n151*(-1+n18)-x^0 >= 0 /\ -1-2*n17-n151-2*n17*(-1+n18)-n151*(-1+n18)+n1^0-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-n151*(-1+n18)-x^0 >= 0 /\ -1-n151-2*n17*(-1+n18)-n151*(-1+n18)+n1^0-y^0 >= 0 /\ -1+n18 >= 0), cost: 1 92: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=2*n17*n19*n18+n151*n19*n18+x^0+n19*n132*n141+2*n19*n141*n1211, x_next^0'=2*n17+n151+2*(-1+n19)*n141*n1211+2*n17*(-1+n18)+2*n141*n1211+n132*n141+n151*(-1+n18)+x^0+n132*(-1+n19)*n141+n151*(-1+n19)*n18+2*n17*(-1+n19)*n18, y^0'=2*n17*n19*n18+n151*n19*n18+y^0+n19*n132*n141+2*n19*n141*n1211, y_next^0'=2*n17+n151+2*(-1+n19)*n141*n1211+2*n17*(-1+n18)+2*n141*n1211+n132*n141+n151*(-1+n18)+n132*(-1+n19)*n141+n151*(-1+n19)*n18+y^0+2*n17*(-1+n19)*n18, (7-pc_plan_next^post19 >= 0 /\ -1+n141 >= 0 /\ -1+n17 >= 0 /\ -1+n151 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n0^0 >= 0 /\ -1+n19 >= 0 /\ -1-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+n132 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n17-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1+n0^0-2*(-1+n19)*n141*n1211-2*(-1+n141)*n1211-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-(-1+n141)*n132-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1-n151-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-y^0-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*n17-n151+n0^0-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0 >= 0 /\ -1+n1211 >= 0 /\ -1-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1-2*(-1+n19)*n141*n1211-n132-2*(-1+n141)*n1211-n132*(-1+n19)*n141+n1^0-n151*(-1+n19)*n18-(-1+n141)*n132-y^0-2*n17*(-1+n19)*n18-2*n1211 >= 0 /\ -1-2*n17-n151+n0^0-2*(-1+n19)*n141*n1211-2*n17*(-1+n18)-2*n141*n1211-n132*n141-n151*(-1+n18)-x^0-n132*(-1+n19)*n141-n151*(-1+n19)*n18-2*n17*(-1+n19)*n18 >= 0 /\ -1+n18 >= 0), cost: 1 93: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=n20+x^0, x_next^0'=n20+x^0, y^0'=n20+y^0, y_next^0'=n20+y^0, (-1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1-n20+n1^0-y^0 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0-n20-x^0 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n20 >= 0), cost: 1 94: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x^0'=2*n23*n1411*n191*n12111+2*n173*n23*n182*n191+x^0+n1321*n23*n1411*n191+n23*n182*n191*n1512+n23*n20, x_next^0'=n1321*n1411*n191+2*n173*n182*(-1+n23)*n191+n182*n191*n1512+2*n173*n182*n191+n182*(-1+n23)*n191*n1512+n20+x^0+n20*(-1+n23)+2*n1411*(-1+n23)*n191*n12111+2*n1411*n191*n12111+n1321*n1411*(-1+n23)*n191, y^0'=2*n23*n1411*n191*n12111+2*n173*n23*n182*n191+n1321*n23*n1411*n191+y^0+n23*n182*n191*n1512+n23*n20, y_next^0'=n1321*n1411*n191+2*n173*n182*(-1+n23)*n191+n182*n191*n1512+2*n173*n182*n191+n182*(-1+n23)*n191*n1512+n20+n20*(-1+n23)+2*n1411*(-1+n23)*n191*n12111+2*n1411*n191*n12111+y^0+n1321*n1411*(-1+n23)*n191, (-1-n1512*(-1+n182)-2*n173-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n1411 >= 0 /\ -1+n0^0-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n0^0-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n1321-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-n1321*n1411*n191-2*n173*n182*(-1+n23)*n191-n182*n191*n1512-2*n173*n182*n191-n182*(-1+n23)*n191*n1512-n20-x^0-n20*(-1+n23)-2*n1411*(-1+n23)*n191*n12111-2*n1411*n191*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ -1+n173 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1-n1512*(-1+n182)+n0^0-2*n173-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n1^0 >= 0 /\ -1+n1321 >= 0 /\ -1-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n1321-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n191 >= 0 /\ -1-2*(-1+n1411)*n12111-2*n173*n182*(-1+n23)*n191-n182*(-1+n23)*n191*n1512-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-(-1+n1411)*n1321-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-2*n12111-n1321*n1411*(-1+n23)*n191 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ -1-n1512*(-1+n182)-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111+n1^0-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-y^0-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n1512 >= 0 /\ -1+n23 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1-n1321*n1411*n191-2*n173*n182*(-1+n23)*n191-n182*n191*n1512-2*n173*n182*n191-n182*(-1+n23)*n191*n1512-n20-n20*(-1+n23)+n1^0-2*n1411*(-1+n23)*n191*n12111-2*n1411*n191*n12111-y^0-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n20 >= 0 /\ -1-n1512*(-1+n182)+n0^0-2*n173-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-x^0-n20*(-1+n23)-2*n1411*(-1+n23)*n191*n12111-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0 /\ -1+n12111 >= 0 /\ -1+n182 >= 0 /\ -1-n1512*(-1+n182)+n0^0-2*n173*n182*(-1+n23)*n191-n1321*n1411-n182*(-1+n23)*n191*n1512-2*n1411*n12111-n182*(-1+n191)*n1512-x^0-n20*(-1+n23)-n1321*(-1+n191)*n1411-2*(-1+n191)*n1411*n12111-2*n1411*(-1+n23)*n191*n12111-2*n173*n182*(-1+n191)-n1512-2*n173*(-1+n182)-n1321*n1411*(-1+n23)*n191 >= 0), cost: 1 95: l4 -> l4 : executed_drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post19, pc_plan_next^0'=pc_plan_next^post19, x^0'=x^0+2*n24, x_next^0'=x^0+2*n24, y^0'=2*n24+y^0, y_next^0'=2*n24+y^0, (7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0), cost: 1 96: l4 -> LoAT_sink : (1 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 2 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 6 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ 1-executed_drive^0 >= 0 /\ -1+executed_drive^0 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n0^0-x^0 >= 0 /\ -1+n25 >= 0 /\ -1+n1^0-y^0 >= 0), cost: NONTERM 60: l5 -> l2 : executed_drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=4, pc_drive_next^0'=4, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post22, pc_plan_next^0'=pc_plan_next^post22, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, (1-pc_plan_next^post22 <= 0 /\ -7+pc_plan_next^post22 <= 0), cost: 1 61: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post23, pc_drive_next^0'=pc_drive_next^post23, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post23, pc_plan_next^0'=pc_plan_next^post23, x_next^0'=x^0, y_next^0'=y^0, (1-pc_plan_next^post23 <= 0 /\ 1-pc_drive_next^post23 <= 0 /\ 5-pc_drive_next^post23 <= 0 /\ -7+pc_plan_next^post23 <= 0 /\ -7+pc_drive_next^post23 <= 0), cost: 1 62: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_drive^0'=pc_drive_next^post24, pc_drive_next^0'=pc_drive_next^post24, pc_loop^0'=6, pc_plan^0'=pc_plan_next^post24, pc_plan_next^0'=pc_plan_next^post24, x_next^0'=x^0, y_next^0'=y^0, (-3+pc_drive_next^post24 <= 0 /\ -7+pc_plan_next^post24 <= 0 /\ -7+pc_drive_next^post24 <= 0 /\ 1-pc_plan_next^post24 <= 0 /\ 1-pc_drive_next^post24 <= 0), cost: 1 75: l7 -> l1 : T, cost: 1 Certificate of Non-Termination Original rule: l4 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_drive^0'=pc_drive_next^post21, pc_drive_next^0'=pc_drive_next^post21, pc_loop^0'=2, pc_plan^0'=pc_plan_next^post21, pc_plan_next^0'=pc_plan_next^post21, x_next^0'=x^0, y_next^0'=y^0, (-2 <= 0 /\ 1-pc_drive_next^post21 <= 0 /\ 1-n0^0 <= 0 /\ 1-n0^0+x^0 <= 0 /\ -7+pc_plan_next^post21 <= 0 /\ -6 <= 0 /\ 1-n1^0+y^0 <= 0 /\ 1-n1^0 <= 0 /\ -7+pc_drive_next^post21 <= 0 /\ 1-executed_drive^0 <= 0 /\ 1-executed_drive^0 == 0 /\ -1+executed_drive^0 <= 0 /\ 1-pc_plan_next^post21 <= 0 /\ -1 <= 0 /\ -3+pc_drive_next^post21 <= 0), cost: 1 New rule: l4 -> LoAT_sink : (1 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 2 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 6 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ 1-executed_drive^0 >= 0 /\ -1+executed_drive^0 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n0^0-x^0 >= 0 /\ -1+n25 >= 0 /\ -1+n1^0-y^0 >= 0), cost: NONTERM 1 >= 0 [0]: monotonic increase yields 1 >= 0 -1+pc_drive_next^post21 >= 0 [0]: monotonic increase yields -1+pc_drive_next^post21 >= 0 -1+n0^0 >= 0 [0]: monotonic increase yields -1+n0^0 >= 0 7-pc_plan_next^post21 >= 0 [0]: monotonic increase yields 7-pc_plan_next^post21 >= 0 2 >= 0 [0]: monotonic increase yields 2 >= 0 3-pc_drive_next^post21 >= 0 [0]: monotonic increase yields 3-pc_drive_next^post21 >= 0 -1+n1^0 >= 0 [0]: monotonic increase yields -1+n1^0 >= 0 6 >= 0 [0]: monotonic increase yields 6 >= 0 7-pc_drive_next^post21 >= 0 [0]: monotonic increase yields 7-pc_drive_next^post21 >= 0, dependencies: 3-pc_drive_next^post21 >= 0 1-executed_drive^0 >= 0 [0]: monotonic increase yields 1-executed_drive^0 >= 0 -1+executed_drive^0 >= 0 [0]: monotonic increase yields -1+executed_drive^0 >= 0 -1+pc_plan_next^post21 >= 0 [0]: monotonic increase yields -1+pc_plan_next^post21 >= 0 -1+n0^0-x^0 >= 0 [0]: monotonic increase yields -1+n0^0-x^0 >= 0 -1+n1^0-y^0 >= 0 [0]: monotonic increase yields -1+n1^0-y^0 >= 0 Replacement map: {1 >= 0 -> 1 >= 0, -1+pc_drive_next^post21 >= 0 -> -1+pc_drive_next^post21 >= 0, -1+n0^0 >= 0 -> -1+n0^0 >= 0, 7-pc_plan_next^post21 >= 0 -> 7-pc_plan_next^post21 >= 0, 2 >= 0 -> 2 >= 0, 3-pc_drive_next^post21 >= 0 -> 3-pc_drive_next^post21 >= 0, -1+n1^0 >= 0 -> -1+n1^0 >= 0, 6 >= 0 -> 6 >= 0, 7-pc_drive_next^post21 >= 0 -> 7-pc_drive_next^post21 >= 0, 1-executed_drive^0 >= 0 -> 1-executed_drive^0 >= 0, -1+executed_drive^0 >= 0 -> -1+executed_drive^0 >= 0, -1+pc_plan_next^post21 >= 0 -> -1+pc_plan_next^post21 >= 0, -1+n0^0-x^0 >= 0 -> -1+n0^0-x^0 >= 0, -1+n1^0-y^0 >= 0 -> -1+n1^0-y^0 >= 0} Step with 96 Trace 75[T], 70[(1-pc_drive_next^post32 <= 0 /\ -7+pc_drive_next^post32 <= 0 /\ 5-pc_drive_next^post32 <= 0)], 95[(7-pc_plan_next^post19 >= 0 /\ -1+n1^0-2*n24-y^0 >= 0 /\ -1+n0^0 >= 0 /\ -1+n0^0-x^0-2*n24 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_plan_next^post19 >= 0 /\ -1+n24 >= 0)], 96[(1 >= 0 /\ -1+pc_drive_next^post21 >= 0 /\ -1+n0^0 >= 0 /\ 7-pc_plan_next^post21 >= 0 /\ 2 >= 0 /\ 3-pc_drive_next^post21 >= 0 /\ -1+n1^0 >= 0 /\ 6 >= 0 /\ 7-pc_drive_next^post21 >= 0 /\ 1-executed_drive^0 >= 0 /\ -1+executed_drive^0 >= 0 /\ -1+pc_plan_next^post21 >= 0 /\ -1+n0^0-x^0 >= 0 /\ -1+n25 >= 0 /\ -1+n1^0-y^0 >= 0)] Blocked [{}, {72[T]}, {}, {63[T], 66[T], 67[T], 95[T]}, {96[T]}] Refute Counterexample [ executed_drive^0=0 is_aborted^0=0 is_aborted_next^0=0 n0^0=3 n1^0=3 pc_drive^0=0 pc_drive_next^0=0 pc_loop^0=0 pc_plan^0=0 pc_plan_next^0=0 x^0=0 x_next^0=0 y^0=0 y_next^0=0 ] 75 [ executed_drive^0=0 is_aborted^0=0 is_aborted_next^0=0 n0^0=3 n1^0=3 pc_drive^0=5 pc_drive_next^0=5 pc_loop^0=2 pc_plan^0=3 pc_plan_next^0=3 x^0=0 x_next^0=0 y^0=0 y_next^0=0 ] 70 [ executed_drive^0=1 is_aborted^0=0 is_aborted_next^0=0 n0^0=3 n1^0=3 pc_drive^0=4 pc_drive_next^0=4 pc_loop^0=2 pc_plan^0=1 pc_plan_next^0=1 x^0=2 x_next^0=2 y^0=2 y_next^0=2 ] 95 [ executed_drive^0=0 is_aborted^0=0 is_aborted_next^0=0 n0^0=3 n1^0=3 pc_drive^0=0 pc_drive_next^0=0 pc_loop^0=0 pc_plan^0=0 pc_plan_next^0=0 x^0=0 x_next^0=0 y^0=0 y_next^0=0 ] 96 NO Build SHA: a05f16bf13df659c382799650051f91bf6828c7b