(declare-sort Loc 0) (declare-const l0 Loc) (declare-const l1 Loc) (declare-const l2 Loc) (declare-const l3 Loc) (declare-const l4 Loc) (declare-const l5 Loc) (declare-const l6 Loc) (declare-const l7 Loc) (assert (distinct l0 l1 l2 l3 l4 l5 l6 l7)) (define-fun cfg_init ( (pc Loc) (src Loc) (rel Bool) ) Bool (and (= pc src) rel)) (define-fun cfg_trans2 ( (pc Loc) (src Loc) (pc1 Loc) (dst Loc) (rel Bool) ) Bool (and (= pc src) (= pc1 dst) rel)) (define-fun cfg_trans3 ( (pc Loc) (exit Loc) (pc1 Loc) (call Loc) (pc2 Loc) (return Loc) (rel Bool) ) Bool (and (= pc exit) (= pc1 call) (= pc2 return) rel)) (define-fun init_main ( (pc^0 Loc) (__const_6^0 Int) (__const_7^0 Int) (__const_8^0 Int) (executed_Drive^0 Int) (is_aborted^0 Int) (is_aborted_next^0 Int) (n0^0 Int) (n1^0 Int) (pc_Drive^0 Int) (pc_Drive_next^0 Int) (pc_Loop^0 Int) (pc_Plan^0 Int) (pc_Plan_next^0 Int) (x^0 Int) (x_next^0 Int) (y^0 Int) (y_next^0 Int) ) Bool (cfg_init pc^0 l7 true)) (define-fun next_main ( (pc^0 Loc) (__const_6^0 Int) (__const_7^0 Int) (__const_8^0 Int) (executed_Drive^0 Int) (is_aborted^0 Int) (is_aborted_next^0 Int) (n0^0 Int) (n1^0 Int) (pc_Drive^0 Int) (pc_Drive_next^0 Int) (pc_Loop^0 Int) (pc_Plan^0 Int) (pc_Plan_next^0 Int) (x^0 Int) (x_next^0 Int) (y^0 Int) (y_next^0 Int) (pc^post Loc) (__const_6^post Int) (__const_7^post Int) (__const_8^post Int) (executed_Drive^post Int) (is_aborted^post Int) (is_aborted_next^post Int) (n0^post Int) (n1^post Int) (pc_Drive^post Int) (pc_Drive_next^post Int) (pc_Loop^post Int) (pc_Plan^post Int) (pc_Plan_next^post Int) (x^post Int) (x_next^post Int) (y^post Int) (y_next^post Int) ) Bool (or (cfg_trans2 pc^0 l0 pc^post l1 (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (= __const_6^0 __const_6^post) (= __const_7^0 __const_7^post)) (= __const_8^0 __const_8^post)) (= executed_Drive^0 executed_Drive^post)) (= is_aborted^0 is_aborted^post)) (= is_aborted_next^0 is_aborted_next^post)) (= n0^0 n0^post)) (= n1^0 n1^post)) (= pc_Drive^0 pc_Drive^post)) (= pc_Drive_next^0 pc_Drive_next^post)) (= pc_Loop^0 pc_Loop^post)) (= pc_Plan^0 pc_Plan^post)) (= pc_Plan_next^0 pc_Plan_next^post)) (= x^0 x^post)) (= x_next^0 x_next^post)) (= y^0 y^post)) (= y_next^0 y_next^post))) (cfg_trans2 pc^0 l2 pc^post l1 (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (= is_aborted_next^post is_aborted_next^post) (= x_next^post x_next^post)) (= y_next^post y_next^post)) (= pc_Plan_next^post pc_Plan_next^post)) (= pc_Drive_next^post pc_Drive_next^post)) (<= (+ 0 is_aborted_next^post) 1)) (<= 1 (+ 0 is_aborted_next^post))) (<= 0 (+ 0 is_aborted_next^post))) (<= (+ 0 is_aborted_next^post) 1)) (<= 1 (+ 0 pc_Plan_next^post))) (<= (+ 1 pc_Plan_next^post) (+ 0 __const_8^0))) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) (+ 0 __const_8^0))) (<= 3 (+ 0 pc_Plan_next^post))) (<= (+ 0 pc_Drive_next^post) 4)) (<= 4 (+ 0 pc_Drive_next^post))) (= executed_Drive^post 1)) (<= (+ 0 x_next^post) (+ 1 x^0))) (<= (+ 1 x^0) (+ 0 x_next^post))) (<= (+ 0 y_next^post) (+ 1 y^0))) (<= (+ 1 y^0) (+ 0 y_next^post))) (= is_aborted^post (+ 0 is_aborted_next^post))) (= x^post (+ 0 x_next^post))) (= y^post (+ 0 y_next^post))) (= pc_Plan^post (+ 0 pc_Plan_next^post))) (= pc_Drive^post (+ 0 pc_Drive_next^post))) (<= (+ 0 pc_Plan^post) 2)) (<= 2 (+ 0 pc_Plan^post))) (= pc_Loop^post 1)) (= __const_6^0 __const_6^post)) (= __const_7^0 __const_7^post)) (= __const_8^0 __const_8^post)) (= n0^0 n0^post)) (= n1^0 n1^post))) (cfg_trans2 pc^0 l2 pc^post l1 (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (= is_aborted_next^post is_aborted_next^post) (= x_next^post x_next^post)) (= y_next^post y_next^post)) (= pc_Plan_next^post pc_Plan_next^post)) (= pc_Drive_next^post pc_Drive_next^post)) (<= (+ 0 is_aborted_next^post) 1)) (<= 1 (+ 0 is_aborted_next^post))) (<= 0 (+ 0 is_aborted_next^post))) (<= (+ 0 is_aborted_next^post) 1)) (<= 1 (+ 0 pc_Plan_next^post))) (<= (+ 1 pc_Plan_next^post) (+ 0 __const_8^0))) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) (+ 0 __const_8^0))) (<= 3 (+ 0 pc_Plan_next^post))) (<= 5 (+ 0 pc_Drive_next^post))) (<= (+ 0 x_next^post) (+ 0 x^0))) (<= (+ 0 x^0) (+ 0 x_next^post))) (<= (+ 0 y_next^post) (+ 0 y^0))) (<= (+ 0 y^0) (+ 0 y_next^post))) (= is_aborted^post (+ 0 is_aborted_next^post))) (= x^post (+ 0 x_next^post))) (= y^post (+ 0 y_next^post))) (= pc_Plan^post (+ 0 pc_Plan_next^post))) (= pc_Drive^post (+ 0 pc_Drive_next^post))) (<= (+ 0 pc_Plan^post) 2)) (<= 2 (+ 0 pc_Plan^post))) (= pc_Loop^post 1)) (= __const_6^0 __const_6^post)) (= __const_7^0 __const_7^post)) (= __const_8^0 __const_8^post)) (= executed_Drive^0 executed_Drive^post)) (= n0^0 n0^post)) (= n1^0 n1^post))) (cfg_trans2 pc^0 l2 pc^post l1 (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (= is_aborted_next^post is_aborted_next^post) (= x_next^post x_next^post)) (= y_next^post y_next^post)) (= pc_Plan_next^post pc_Plan_next^post)) (= pc_Drive_next^post pc_Drive_next^post)) (<= (+ 0 is_aborted_next^post) 1)) (<= 1 (+ 0 is_aborted_next^post))) (<= 0 (+ 0 is_aborted_next^post))) (<= (+ 0 is_aborted_next^post) 1)) (<= 1 (+ 0 pc_Plan_next^post))) (<= (+ 1 pc_Plan_next^post) (+ 0 __const_8^0))) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) (+ 0 __const_8^0))) (<= 3 (+ 0 pc_Plan_next^post))) (<= (+ 1 pc_Drive_next^post) 4)) (<= (+ 0 x_next^post) (+ 0 x^0))) (<= (+ 0 x^0) (+ 0 x_next^post))) (<= (+ 0 y_next^post) (+ 0 y^0))) (<= (+ 0 y^0) (+ 0 y_next^post))) (= is_aborted^post (+ 0 is_aborted_next^post))) (= x^post (+ 0 x_next^post))) (= y^post (+ 0 y_next^post))) (= pc_Plan^post (+ 0 pc_Plan_next^post))) (= pc_Drive^post (+ 0 pc_Drive_next^post))) (<= (+ 0 pc_Plan^post) 2)) (<= 2 (+ 0 pc_Plan^post))) (= pc_Loop^post 1)) (= __const_6^0 __const_6^post)) (= __const_7^0 __const_7^post)) (= __const_8^0 __const_8^post)) (= executed_Drive^0 executed_Drive^post)) (= n0^0 n0^post)) (= n1^0 n1^post))) (cfg_trans2 pc^0 l2 pc^post l1 (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (= is_aborted_next^post is_aborted_next^post) (= x_next^post x_next^post)) (= y_next^post y_next^post)) (= pc_Plan_next^post pc_Plan_next^post)) (= pc_Drive_next^post pc_Drive_next^post)) (<= 0 (+ 0 is_aborted_next^post))) (<= (+ 0 is_aborted_next^post) 1)) (<= 1 (+ 0 pc_Plan_next^post))) (<= (+ 1 pc_Plan_next^post) (+ 0 __const_8^0))) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) (+ 0 __const_8^0))) (<= (+ 1 pc_Plan_next^post) 2)) (<= (+ 0 pc_Drive_next^post) 4)) (<= 4 (+ 0 pc_Drive_next^post))) (= executed_Drive^post 1)) (<= (+ 0 x_next^post) (+ 1 x^0))) (<= (+ 1 x^0) (+ 0 x_next^post))) (<= (+ 0 y_next^post) (+ 1 y^0))) (<= (+ 1 y^0) (+ 0 y_next^post))) (= is_aborted^post (+ 0 is_aborted_next^post))) (= x^post (+ 0 x_next^post))) (= y^post (+ 0 y_next^post))) (= pc_Plan^post (+ 0 pc_Plan_next^post))) (= pc_Drive^post (+ 0 pc_Drive_next^post))) (<= (+ 0 pc_Plan^post) 2)) (<= 2 (+ 0 pc_Plan^post))) (= pc_Loop^post 1)) (= __const_6^0 __const_6^post)) (= __const_7^0 __const_7^post)) (= __const_8^0 __const_8^post)) (= n0^0 n0^post)) (= n1^0 n1^post))) (cfg_trans2 pc^0 l2 pc^post l1 (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (= is_aborted_next^post is_aborted_next^post) (= x_next^post x_next^post)) (= y_next^post y_next^post)) (= pc_Plan_next^post pc_Plan_next^post)) (= pc_Drive_next^post pc_Drive_next^post)) (<= 0 (+ 0 is_aborted_next^post))) (<= (+ 0 is_aborted_next^post) 1)) (<= 1 (+ 0 pc_Plan_next^post))) (<= (+ 1 pc_Plan_next^post) (+ 0 __const_8^0))) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) (+ 0 __const_8^0))) (<= (+ 1 pc_Plan_next^post) 2)) (<= 5 (+ 0 pc_Drive_next^post))) (<= (+ 0 x_next^post) (+ 0 x^0))) (<= (+ 0 x^0) (+ 0 x_next^post))) (<= (+ 0 y_next^post) (+ 0 y^0))) (<= (+ 0 y^0) (+ 0 y_next^post))) (= is_aborted^post (+ 0 is_aborted_next^post))) (= x^post (+ 0 x_next^post))) (= y^post (+ 0 y_next^post))) (= pc_Plan^post (+ 0 pc_Plan_next^post))) (= pc_Drive^post (+ 0 pc_Drive_next^post))) (<= (+ 0 pc_Plan^post) 2)) (<= 2 (+ 0 pc_Plan^post))) (= pc_Loop^post 1)) (= __const_6^0 __const_6^post)) (= __const_7^0 __const_7^post)) (= __const_8^0 __const_8^post)) (= executed_Drive^0 executed_Drive^post)) (= n0^0 n0^post)) (= n1^0 n1^post))) (cfg_trans2 pc^0 l2 pc^post l1 (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (= is_aborted_next^post is_aborted_next^post) (= x_next^post x_next^post)) (= y_next^post y_next^post)) (= pc_Plan_next^post pc_Plan_next^post)) (= pc_Drive_next^post pc_Drive_next^post)) (<= 0 (+ 0 is_aborted_next^post))) (<= (+ 0 is_aborted_next^post) 1)) (<= 1 (+ 0 pc_Plan_next^post))) (<= (+ 1 pc_Plan_next^post) (+ 0 __const_8^0))) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) (+ 0 __const_8^0))) (<= (+ 1 pc_Plan_next^post) 2)) (<= (+ 1 pc_Drive_next^post) 4)) (<= (+ 0 x_next^post) (+ 0 x^0))) (<= (+ 0 x^0) (+ 0 x_next^post))) (<= (+ 0 y_next^post) (+ 0 y^0))) (<= (+ 0 y^0) (+ 0 y_next^post))) (= is_aborted^post (+ 0 is_aborted_next^post))) (= x^post (+ 0 x_next^post))) (= y^post (+ 0 y_next^post))) (= pc_Plan^post (+ 0 pc_Plan_next^post))) (= pc_Drive^post (+ 0 pc_Drive_next^post))) (<= (+ 0 pc_Plan^post) 2)) (<= 2 (+ 0 pc_Plan^post))) (= pc_Loop^post 1)) (= __const_6^0 __const_6^post)) (= __const_7^0 __const_7^post)) (= __const_8^0 __const_8^post)) (= executed_Drive^0 executed_Drive^post)) (= n0^0 n0^post)) (= n1^0 n1^post))) (cfg_trans2 pc^0 l3 pc^post l4 (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (= is_aborted_next^post is_aborted_next^post) (= x_next^post x_next^post)) (= y_next^post y_next^post)) (= pc_Plan_next^post pc_Plan_next^post)) (= pc_Drive_next^post pc_Drive_next^post)) (<= 0 (+ 0 is_aborted_next^post))) (<= (+ 0 is_aborted_next^post) 1)) (<= 1 (+ 0 pc_Plan_next^post))) (<= (+ 1 pc_Plan_next^post) (+ 0 __const_8^0))) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) (+ 0 __const_8^0))) (<= (+ 0 pc_Drive_next^post) 4)) (<= 4 (+ 0 pc_Drive_next^post))) (= executed_Drive^post 1)) (<= (+ 0 x_next^post) (+ 1 x^0))) (<= (+ 1 x^0) (+ 0 x_next^post))) (<= (+ 0 y_next^post) (+ 1 y^0))) (<= (+ 1 y^0) (+ 0 y_next^post))) (= is_aborted^post (+ 0 is_aborted_next^post))) (= x^post (+ 0 x_next^post))) (= y^post (+ 0 y_next^post))) (= pc_Plan^post (+ 0 pc_Plan_next^post))) (= pc_Drive^post (+ 0 pc_Drive_next^post))) (<= (+ 0 pc_Drive^post) (+ 0 __const_7^0))) (<= (+ 0 __const_7^0) (+ 0 pc_Drive^post))) (<= (+ 0 executed_Drive^post) 1)) (<= 1 (+ 0 executed_Drive^post))) (= pc_Loop^post 4)) (= __const_6^0 __const_6^post)) (= __const_7^0 __const_7^post)) (= __const_8^0 __const_8^post)) (= n0^0 n0^post)) (= n1^0 n1^post))) (cfg_trans2 pc^0 l3 pc^post l4 (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (= is_aborted_next^post is_aborted_next^post) (= x_next^post x_next^post)) (= y_next^post y_next^post)) (= pc_Plan_next^post pc_Plan_next^post)) (= pc_Drive_next^post pc_Drive_next^post)) (<= 0 (+ 0 is_aborted_next^post))) (<= (+ 0 is_aborted_next^post) 1)) (<= 1 (+ 0 pc_Plan_next^post))) (<= (+ 1 pc_Plan_next^post) (+ 0 __const_8^0))) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) (+ 0 __const_8^0))) (<= 5 (+ 0 pc_Drive_next^post))) (<= (+ 0 x_next^post) (+ 0 x^0))) (<= (+ 0 x^0) (+ 0 x_next^post))) (<= (+ 0 y_next^post) (+ 0 y^0))) (<= (+ 0 y^0) (+ 0 y_next^post))) (= is_aborted^post (+ 0 is_aborted_next^post))) (= x^post (+ 0 x_next^post))) (= y^post (+ 0 y_next^post))) (= pc_Plan^post (+ 0 pc_Plan_next^post))) (= pc_Drive^post (+ 0 pc_Drive_next^post))) (<= (+ 0 pc_Drive^post) (+ 0 __const_7^0))) (<= (+ 0 __const_7^0) (+ 0 pc_Drive^post))) (<= (+ 0 executed_Drive^0) 1)) (<= 1 (+ 0 executed_Drive^0))) (= pc_Loop^post 4)) (= __const_6^0 __const_6^post)) (= __const_7^0 __const_7^post)) (= __const_8^0 __const_8^post)) (= executed_Drive^0 executed_Drive^post)) (= n0^0 n0^post)) (= n1^0 n1^post))) (cfg_trans2 pc^0 l3 pc^post l4 (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (= is_aborted_next^post is_aborted_next^post) (= x_next^post x_next^post)) (= y_next^post y_next^post)) (= pc_Plan_next^post pc_Plan_next^post)) (= pc_Drive_next^post pc_Drive_next^post)) (<= 0 (+ 0 is_aborted_next^post))) (<= (+ 0 is_aborted_next^post) 1)) (<= 1 (+ 0 pc_Plan_next^post))) (<= (+ 1 pc_Plan_next^post) (+ 0 __const_8^0))) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) (+ 0 __const_8^0))) (<= (+ 1 pc_Drive_next^post) 4)) (<= (+ 0 x_next^post) (+ 0 x^0))) (<= (+ 0 x^0) (+ 0 x_next^post))) (<= (+ 0 y_next^post) (+ 0 y^0))) (<= (+ 0 y^0) (+ 0 y_next^post))) (= is_aborted^post (+ 0 is_aborted_next^post))) (= x^post (+ 0 x_next^post))) (= y^post (+ 0 y_next^post))) (= pc_Plan^post (+ 0 pc_Plan_next^post))) (= pc_Drive^post (+ 0 pc_Drive_next^post))) (<= (+ 0 pc_Drive^post) (+ 0 __const_7^0))) (<= (+ 0 __const_7^0) (+ 0 pc_Drive^post))) (<= (+ 0 executed_Drive^0) 1)) (<= 1 (+ 0 executed_Drive^0))) (= pc_Loop^post 4)) (= __const_6^0 __const_6^post)) (= __const_7^0 __const_7^post)) (= __const_8^0 __const_8^post)) (= executed_Drive^0 executed_Drive^post)) (= n0^0 n0^post)) (= n1^0 n1^post))) (cfg_trans2 pc^0 l3 pc^post l4 (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (= is_aborted_next^post is_aborted_next^post) (= x_next^post x_next^post)) (= y_next^post y_next^post)) (= pc_Plan_next^post pc_Plan_next^post)) (= pc_Drive_next^post pc_Drive_next^post)) (<= 0 (+ 0 is_aborted_next^post))) (<= (+ 0 is_aborted_next^post) 1)) (<= 1 (+ 0 pc_Plan_next^post))) (<= (+ 1 pc_Plan_next^post) (+ 0 __const_8^0))) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) (+ 0 __const_8^0))) (<= (+ 0 pc_Drive_next^post) 4)) (<= 4 (+ 0 pc_Drive_next^post))) (= executed_Drive^post 1)) (<= (+ 0 x_next^post) (+ 1 x^0))) (<= (+ 1 x^0) (+ 0 x_next^post))) (<= (+ 0 y_next^post) (+ 1 y^0))) (<= (+ 1 y^0) (+ 0 y_next^post))) (= is_aborted^post (+ 0 is_aborted_next^post))) (= x^post (+ 0 x_next^post))) (= y^post (+ 0 y_next^post))) (= pc_Plan^post (+ 0 pc_Plan_next^post))) (= pc_Drive^post (+ 0 pc_Drive_next^post))) (<= (+ 0 pc_Drive^post) 2)) (<= 2 (+ 0 pc_Drive^post))) (= pc_Loop^post 4)) (= __const_6^0 __const_6^post)) (= __const_7^0 __const_7^post)) (= __const_8^0 __const_8^post)) (= n0^0 n0^post)) (= n1^0 n1^post))) (cfg_trans2 pc^0 l3 pc^post l4 (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (= is_aborted_next^post is_aborted_next^post) (= x_next^post x_next^post)) (= y_next^post y_next^post)) (= pc_Plan_next^post pc_Plan_next^post)) (= pc_Drive_next^post pc_Drive_next^post)) (<= 0 (+ 0 is_aborted_next^post))) (<= (+ 0 is_aborted_next^post) 1)) (<= 1 (+ 0 pc_Plan_next^post))) (<= (+ 1 pc_Plan_next^post) (+ 0 __const_8^0))) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) (+ 0 __const_8^0))) (<= 5 (+ 0 pc_Drive_next^post))) (<= (+ 0 x_next^post) (+ 0 x^0))) (<= (+ 0 x^0) (+ 0 x_next^post))) (<= (+ 0 y_next^post) (+ 0 y^0))) (<= (+ 0 y^0) (+ 0 y_next^post))) (= is_aborted^post (+ 0 is_aborted_next^post))) (= x^post (+ 0 x_next^post))) (= y^post (+ 0 y_next^post))) (= pc_Plan^post (+ 0 pc_Plan_next^post))) (= pc_Drive^post (+ 0 pc_Drive_next^post))) (<= (+ 0 pc_Drive^post) 2)) (<= 2 (+ 0 pc_Drive^post))) (= executed_Drive^post 0)) (= pc_Loop^post 4)) (= __const_6^0 __const_6^post)) (= __const_7^0 __const_7^post)) (= __const_8^0 __const_8^post)) (= n0^0 n0^post)) (= n1^0 n1^post))) (cfg_trans2 pc^0 l3 pc^post l4 (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (= is_aborted_next^post is_aborted_next^post) (= x_next^post x_next^post)) (= y_next^post y_next^post)) (= pc_Plan_next^post pc_Plan_next^post)) (= pc_Drive_next^post pc_Drive_next^post)) (<= 0 (+ 0 is_aborted_next^post))) (<= (+ 0 is_aborted_next^post) 1)) (<= 1 (+ 0 pc_Plan_next^post))) (<= (+ 1 pc_Plan_next^post) (+ 0 __const_8^0))) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) (+ 0 __const_8^0))) (<= (+ 1 pc_Drive_next^post) 4)) (<= (+ 0 x_next^post) (+ 0 x^0))) (<= (+ 0 x^0) (+ 0 x_next^post))) (<= (+ 0 y_next^post) (+ 0 y^0))) (<= (+ 0 y^0) (+ 0 y_next^post))) (= is_aborted^post (+ 0 is_aborted_next^post))) (= x^post (+ 0 x_next^post))) (= y^post (+ 0 y_next^post))) (= pc_Plan^post (+ 0 pc_Plan_next^post))) (= pc_Drive^post (+ 0 pc_Drive_next^post))) (<= (+ 0 pc_Drive^post) 2)) (<= 2 (+ 0 pc_Drive^post))) (= executed_Drive^post 0)) (= pc_Loop^post 4)) (= __const_6^0 __const_6^post)) (= __const_7^0 __const_7^post)) (= __const_8^0 __const_8^post)) (= n0^0 n0^post)) (= n1^0 n1^post))) (cfg_trans2 pc^0 l4 pc^post l2 (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (= is_aborted_next^post is_aborted_next^post) (= x_next^post x_next^post)) (= y_next^post y_next^post)) (= pc_Plan_next^post pc_Plan_next^post)) (= pc_Drive_next^post pc_Drive_next^post)) (<= 0 (+ 0 is_aborted_next^post))) (<= (+ 0 is_aborted_next^post) 1)) (<= 1 (+ 0 pc_Plan_next^post))) (<= (+ 1 pc_Plan_next^post) (+ 0 __const_8^0))) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) (+ 0 __const_8^0))) (<= (+ 0 pc_Drive_next^post) 4)) (<= 4 (+ 0 pc_Drive_next^post))) (= executed_Drive^post 1)) (<= (+ 0 x_next^post) (+ 1 x^0))) (<= (+ 1 x^0) (+ 0 x_next^post))) (<= (+ 0 y_next^post) (+ 1 y^0))) (<= (+ 1 y^0) (+ 0 y_next^post))) (= is_aborted^post (+ 0 is_aborted_next^post))) (= x^post (+ 0 x_next^post))) (= y^post (+ 0 y_next^post))) (= pc_Plan^post (+ 0 pc_Plan_next^post))) (= pc_Drive^post (+ 0 pc_Drive_next^post))) (<= 1 (+ 0 is_aborted^post))) (= pc_Loop^post (+ 0 __const_7^0))) (= __const_6^0 __const_6^post)) (= __const_7^0 __const_7^post)) (= __const_8^0 __const_8^post)) (= n0^0 n0^post)) (= n1^0 n1^post))) (cfg_trans2 pc^0 l4 pc^post l2 (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and 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__const_6^0 __const_6^post)) (= __const_7^0 __const_7^post)) (= __const_8^0 __const_8^post)) (= n0^0 n0^post)) (= n1^0 n1^post))) (cfg_trans2 pc^0 l5 pc^post l6 (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (= is_aborted_next^post is_aborted_next^post) (= x_next^post x_next^post)) (= y_next^post y_next^post)) (= pc_Plan_next^post pc_Plan_next^post)) (= pc_Drive_next^post pc_Drive_next^post)) (<= 0 (+ 0 is_aborted_next^post))) (<= (+ 0 is_aborted_next^post) 1)) (<= 1 (+ 0 pc_Plan_next^post))) (<= (+ 1 pc_Plan_next^post) (+ 0 __const_8^0))) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) (+ 0 __const_8^0))) (<= 5 (+ 0 pc_Drive_next^post))) (<= (+ 0 x_next^post) (+ 0 x^0))) (<= (+ 0 x^0) (+ 0 x_next^post))) (<= (+ 0 y_next^post) (+ 0 y^0))) (<= (+ 0 y^0) (+ 0 y_next^post))) (= is_aborted^post (+ 0 is_aborted_next^post))) (= x^post (+ 0 x_next^post))) (= y^post (+ 0 y_next^post))) (= 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(<= (+ 0 y_next^post) (+ 0 y^0))) (<= (+ 0 y^0) (+ 0 y_next^post))) (= is_aborted^post (+ 0 is_aborted_next^post))) (= x^post (+ 0 x_next^post))) (= y^post (+ 0 y_next^post))) (= pc_Plan^post (+ 0 pc_Plan_next^post))) (= pc_Drive^post (+ 0 pc_Drive_next^post))) (<= (+ 0 is_aborted^post) 0)) (= pc_Loop^post 3)) (= __const_6^0 __const_6^post)) (= __const_7^0 __const_7^post)) (= __const_8^0 __const_8^post)) (= executed_Drive^0 executed_Drive^post)) (= n0^0 n0^post)) (= n1^0 n1^post))) (cfg_trans2 pc^0 l5 pc^post l2 (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (= is_aborted_next^post is_aborted_next^post) (= x_next^post x_next^post)) (= y_next^post y_next^post)) (= pc_Plan_next^post pc_Plan_next^post)) (= pc_Drive_next^post pc_Drive_next^post)) (<= 0 (+ 0 is_aborted_next^post))) (<= (+ 0 is_aborted_next^post) 1)) (<= 1 (+ 0 pc_Plan_next^post))) (<= (+ 1 pc_Plan_next^post) (+ 0 __const_8^0))) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) (+ 0 __const_8^0))) (<= (+ 0 pc_Drive_next^post) 4)) (<= 4 (+ 0 pc_Drive_next^post))) (= executed_Drive^post 1)) (<= (+ 0 x_next^post) (+ 1 x^0))) (<= (+ 1 x^0) (+ 0 x_next^post))) (<= (+ 0 y_next^post) (+ 1 y^0))) (<= (+ 1 y^0) (+ 0 y_next^post))) (= is_aborted^post (+ 0 is_aborted_next^post))) (= x^post (+ 0 x_next^post))) (= y^post (+ 0 y_next^post))) (= pc_Plan^post (+ 0 pc_Plan_next^post))) (= pc_Drive^post (+ 0 pc_Drive_next^post))) (<= 1 (+ 0 is_aborted^post))) (= pc_Loop^post (+ 0 __const_7^0))) (= __const_6^0 __const_6^post)) (= __const_7^0 __const_7^post)) (= __const_8^0 __const_8^post)) (= n0^0 n0^post)) (= n1^0 n1^post))) (cfg_trans2 pc^0 l5 pc^post l2 (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (= is_aborted_next^post is_aborted_next^post) (= x_next^post x_next^post)) (= y_next^post y_next^post)) (= pc_Plan_next^post pc_Plan_next^post)) (= pc_Drive_next^post pc_Drive_next^post)) (<= 0 (+ 0 is_aborted_next^post))) (<= (+ 0 is_aborted_next^post) 1)) (<= 1 (+ 0 pc_Plan_next^post))) (<= (+ 1 pc_Plan_next^post) (+ 0 __const_8^0))) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) (+ 0 __const_8^0))) (<= 5 (+ 0 pc_Drive_next^post))) (<= (+ 0 x_next^post) (+ 0 x^0))) (<= (+ 0 x^0) (+ 0 x_next^post))) (<= (+ 0 y_next^post) (+ 0 y^0))) (<= (+ 0 y^0) (+ 0 y_next^post))) (= is_aborted^post (+ 0 is_aborted_next^post))) (= x^post (+ 0 x_next^post))) (= y^post (+ 0 y_next^post))) (= pc_Plan^post (+ 0 pc_Plan_next^post))) (= pc_Drive^post (+ 0 pc_Drive_next^post))) (<= 1 (+ 0 is_aborted^post))) (= pc_Loop^post (+ 0 __const_7^0))) (= __const_6^0 __const_6^post)) (= __const_7^0 __const_7^post)) (= __const_8^0 __const_8^post)) (= executed_Drive^0 executed_Drive^post)) (= n0^0 n0^post)) (= n1^0 n1^post))) (cfg_trans2 pc^0 l5 pc^post l2 (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (= is_aborted_next^post is_aborted_next^post) (= x_next^post x_next^post)) (= y_next^post y_next^post)) (= pc_Plan_next^post pc_Plan_next^post)) (= pc_Drive_next^post pc_Drive_next^post)) (<= 0 (+ 0 is_aborted_next^post))) (<= (+ 0 is_aborted_next^post) 1)) (<= 1 (+ 0 pc_Plan_next^post))) (<= (+ 1 pc_Plan_next^post) (+ 0 __const_8^0))) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) (+ 0 __const_8^0))) (<= (+ 1 pc_Drive_next^post) 4)) (<= (+ 0 x_next^post) (+ 0 x^0))) (<= (+ 0 x^0) (+ 0 x_next^post))) (<= (+ 0 y_next^post) (+ 0 y^0))) (<= (+ 0 y^0) (+ 0 y_next^post))) (= is_aborted^post (+ 0 is_aborted_next^post))) (= x^post (+ 0 x_next^post))) (= y^post (+ 0 y_next^post))) (= pc_Plan^post (+ 0 pc_Plan_next^post))) (= pc_Drive^post (+ 0 pc_Drive_next^post))) (<= 1 (+ 0 is_aborted^post))) (= pc_Loop^post (+ 0 __const_7^0))) (= __const_6^0 __const_6^post)) (= __const_7^0 __const_7^post)) (= __const_8^0 __const_8^post)) (= executed_Drive^0 executed_Drive^post)) (= n0^0 n0^post)) (= n1^0 n1^post))) (cfg_trans2 pc^0 l1 pc^post l5 (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (= is_aborted_next^post is_aborted_next^post) (= x_next^post x_next^post)) (= y_next^post y_next^post)) (= pc_Plan_next^post pc_Plan_next^post)) (= pc_Drive_next^post pc_Drive_next^post)) (<= 0 (+ 0 is_aborted_next^post))) (<= (+ 0 is_aborted_next^post) 1)) (<= 1 (+ 0 pc_Plan_next^post))) (<= (+ 1 pc_Plan_next^post) (+ 0 __const_8^0))) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) (+ 0 __const_8^0))) (<= (+ 0 pc_Drive_next^post) 4)) (<= 4 (+ 0 pc_Drive_next^post))) (= executed_Drive^post 1)) (<= (+ 0 x_next^post) (+ 1 x^0))) (<= (+ 1 x^0) (+ 0 x_next^post))) (<= (+ 0 y_next^post) (+ 1 y^0))) (<= (+ 1 y^0) (+ 0 y_next^post))) (= is_aborted^post (+ 0 is_aborted_next^post))) (= x^post (+ 0 x_next^post))) (= y^post (+ 0 y_next^post))) (= pc_Plan^post (+ 0 pc_Plan_next^post))) (= pc_Drive^post (+ 0 pc_Drive_next^post))) (<= (+ 0 is_aborted^post) 0)) (<= (+ 0 pc_Plan^post) 3)) (<= 3 (+ 0 pc_Plan^post))) (= pc_Loop^post 2)) (= __const_6^0 __const_6^post)) (= __const_7^0 __const_7^post)) (= __const_8^0 __const_8^post)) (= n0^0 n0^post)) (= n1^0 n1^post))) (cfg_trans2 pc^0 l1 pc^post l5 (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (= is_aborted_next^post is_aborted_next^post) (= x_next^post x_next^post)) (= y_next^post y_next^post)) (= pc_Plan_next^post pc_Plan_next^post)) (= pc_Drive_next^post pc_Drive_next^post)) (<= 0 (+ 0 is_aborted_next^post))) (<= (+ 0 is_aborted_next^post) 1)) (<= 1 (+ 0 pc_Plan_next^post))) (<= (+ 1 pc_Plan_next^post) (+ 0 __const_8^0))) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) (+ 0 __const_8^0))) (<= 5 (+ 0 pc_Drive_next^post))) (= executed_Drive^post 0)) (<= (+ 0 x_next^post) (+ 0 x^0))) (<= (+ 0 x^0) (+ 0 x_next^post))) (<= (+ 0 y_next^post) (+ 0 y^0))) (<= (+ 0 y^0) (+ 0 y_next^post))) (= is_aborted^post (+ 0 is_aborted_next^post))) (= x^post (+ 0 x_next^post))) (= y^post (+ 0 y_next^post))) (= pc_Plan^post (+ 0 pc_Plan_next^post))) (= pc_Drive^post (+ 0 pc_Drive_next^post))) (<= (+ 0 is_aborted^post) 0)) (<= (+ 0 pc_Plan^post) 3)) (<= 3 (+ 0 pc_Plan^post))) (= pc_Loop^post 2)) (= __const_6^0 __const_6^post)) (= __const_7^0 __const_7^post)) (= __const_8^0 __const_8^post)) (= n0^0 n0^post)) (= n1^0 n1^post))) (cfg_trans2 pc^0 l1 pc^post l5 (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (= is_aborted_next^post is_aborted_next^post) (= x_next^post x_next^post)) (= y_next^post y_next^post)) (= pc_Plan_next^post pc_Plan_next^post)) (= pc_Drive_next^post pc_Drive_next^post)) (<= 0 (+ 0 is_aborted_next^post))) (<= (+ 0 is_aborted_next^post) 1)) (<= 1 (+ 0 pc_Plan_next^post))) (<= (+ 1 pc_Plan_next^post) (+ 0 __const_8^0))) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) (+ 0 __const_8^0))) (<= (+ 1 pc_Drive_next^post) 4)) (= executed_Drive^post 0)) (<= (+ 0 x_next^post) (+ 0 x^0))) (<= (+ 0 x^0) (+ 0 x_next^post))) (<= (+ 0 y_next^post) (+ 0 y^0))) (<= (+ 0 y^0) (+ 0 y_next^post))) (= is_aborted^post (+ 0 is_aborted_next^post))) (= x^post (+ 0 x_next^post))) (= y^post (+ 0 y_next^post))) (= pc_Plan^post (+ 0 pc_Plan_next^post))) (= pc_Drive^post (+ 0 pc_Drive_next^post))) (<= (+ 0 is_aborted^post) 0)) (<= (+ 0 pc_Plan^post) 3)) (<= 3 (+ 0 pc_Plan^post))) (= pc_Loop^post 2)) (= __const_6^0 __const_6^post)) (= __const_7^0 __const_7^post)) (= __const_8^0 __const_8^post)) (= n0^0 n0^post)) (= n1^0 n1^post))) (cfg_trans2 pc^0 l1 pc^post l2 (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (= is_aborted_next^post is_aborted_next^post) (= x_next^post x_next^post)) (= y_next^post y_next^post)) (= pc_Plan_next^post pc_Plan_next^post)) (= pc_Drive_next^post pc_Drive_next^post)) (<= 0 (+ 0 is_aborted_next^post))) (<= (+ 0 is_aborted_next^post) 1)) (<= 1 (+ 0 pc_Plan_next^post))) (<= (+ 1 pc_Plan_next^post) (+ 0 __const_8^0))) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) (+ 0 __const_8^0))) (<= (+ 0 pc_Drive_next^post) 4)) (<= 4 (+ 0 pc_Drive_next^post))) (= executed_Drive^post 1)) (<= (+ 0 x_next^post) (+ 1 x^0))) (<= (+ 1 x^0) (+ 0 x_next^post))) (<= (+ 0 y_next^post) (+ 1 y^0))) (<= (+ 1 y^0) (+ 0 y_next^post))) (= is_aborted^post (+ 0 is_aborted_next^post))) (= x^post (+ 0 x_next^post))) (= y^post (+ 0 y_next^post))) (= pc_Plan^post (+ 0 pc_Plan_next^post))) (= pc_Drive^post (+ 0 pc_Drive_next^post))) (<= 1 (+ 0 is_aborted^post))) (= pc_Loop^post (+ 0 __const_7^0))) (= __const_6^0 __const_6^post)) (= __const_7^0 __const_7^post)) (= __const_8^0 __const_8^post)) (= n0^0 n0^post)) (= n1^0 n1^post))) (cfg_trans2 pc^0 l1 pc^post l2 (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (= is_aborted_next^post is_aborted_next^post) (= x_next^post x_next^post)) (= y_next^post y_next^post)) (= pc_Plan_next^post pc_Plan_next^post)) (= pc_Drive_next^post pc_Drive_next^post)) (<= 0 (+ 0 is_aborted_next^post))) (<= (+ 0 is_aborted_next^post) 1)) (<= 1 (+ 0 pc_Plan_next^post))) (<= (+ 1 pc_Plan_next^post) (+ 0 __const_8^0))) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) (+ 0 __const_8^0))) (<= 5 (+ 0 pc_Drive_next^post))) (= executed_Drive^post 0)) (<= (+ 0 x_next^post) (+ 0 x^0))) (<= (+ 0 x^0) (+ 0 x_next^post))) (<= (+ 0 y_next^post) (+ 0 y^0))) (<= (+ 0 y^0) (+ 0 y_next^post))) (= is_aborted^post (+ 0 is_aborted_next^post))) (= x^post (+ 0 x_next^post))) (= y^post (+ 0 y_next^post))) (= pc_Plan^post (+ 0 pc_Plan_next^post))) (= pc_Drive^post (+ 0 pc_Drive_next^post))) (<= 1 (+ 0 is_aborted^post))) (= pc_Loop^post (+ 0 __const_7^0))) (= __const_6^0 __const_6^post)) (= __const_7^0 __const_7^post)) (= __const_8^0 __const_8^post)) (= n0^0 n0^post)) (= n1^0 n1^post))) (cfg_trans2 pc^0 l1 pc^post l2 (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (= is_aborted_next^post is_aborted_next^post) (= x_next^post x_next^post)) (= y_next^post y_next^post)) (= pc_Plan_next^post pc_Plan_next^post)) (= pc_Drive_next^post pc_Drive_next^post)) (<= 0 (+ 0 is_aborted_next^post))) (<= (+ 0 is_aborted_next^post) 1)) (<= 1 (+ 0 pc_Plan_next^post))) (<= (+ 1 pc_Plan_next^post) (+ 0 __const_8^0))) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) (+ 0 __const_8^0))) (<= (+ 1 pc_Drive_next^post) 4)) (= executed_Drive^post 0)) (<= (+ 0 x_next^post) (+ 0 x^0))) (<= (+ 0 x^0) (+ 0 x_next^post))) (<= (+ 0 y_next^post) (+ 0 y^0))) (<= (+ 0 y^0) (+ 0 y_next^post))) (= is_aborted^post (+ 0 is_aborted_next^post))) (= x^post (+ 0 x_next^post))) (= y^post (+ 0 y_next^post))) (= pc_Plan^post (+ 0 pc_Plan_next^post))) (= pc_Drive^post (+ 0 pc_Drive_next^post))) (<= 1 (+ 0 is_aborted^post))) (= pc_Loop^post (+ 0 __const_7^0))) (= __const_6^0 __const_6^post)) (= __const_7^0 __const_7^post)) (= __const_8^0 __const_8^post)) (= n0^0 n0^post)) (= n1^0 n1^post))) (cfg_trans2 pc^0 l7 pc^post l0 (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (and (= __const_6^0 __const_6^post) (= __const_7^0 __const_7^post)) (= __const_8^0 __const_8^post)) (= executed_Drive^0 executed_Drive^post)) (= is_aborted^0 is_aborted^post)) (= is_aborted_next^0 is_aborted_next^post)) (= n0^0 n0^post)) (= n1^0 n1^post)) (= pc_Drive^0 pc_Drive^post)) (= pc_Drive_next^0 pc_Drive_next^post)) (= pc_Loop^0 pc_Loop^post)) (= pc_Plan^0 pc_Plan^post)) (= pc_Plan_next^0 pc_Plan_next^post)) (= x^0 x^post)) (= x_next^0 x_next^post)) (= y^0 y^post)) (= y_next^0 y_next^post))) ) )