(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) (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) (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) (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 (= 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 (= 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) 8)) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) 8)) (<= 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)) (= 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 (= 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) 8)) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) 8)) (<= 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)) (= 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 (= 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) 8)) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) 8)) (<= 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)) (= 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 (= 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) 8)) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) 8)) (<= (+ 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)) (= 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 (= 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) 8)) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) 8)) (<= (+ 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)) (= 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 (= 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) 8)) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) 8)) (<= (+ 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)) (= 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 (= 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) 8)) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) 8)) (<= (+ 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) 7)) (<= 7 (+ 0 pc_Drive^post))) (<= (+ 0 executed_Drive^post) 1)) (<= 1 (+ 0 executed_Drive^post))) (= pc_Loop^post 4)) (= 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 (= 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) 8)) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) 8)) (<= 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) 7)) (<= 7 (+ 0 pc_Drive^post))) (<= (+ 0 executed_Drive^0) 1)) (<= 1 (+ 0 executed_Drive^0))) (= pc_Loop^post 4)) (= 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 (= 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) 8)) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) 8)) (<= (+ 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) 7)) (<= 7 (+ 0 pc_Drive^post))) (<= (+ 0 executed_Drive^0) 1)) (<= 1 (+ 0 executed_Drive^0))) (= pc_Loop^post 4)) (= 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 (= 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) 8)) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) 8)) (<= (+ 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)) (= 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 (= 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) 8)) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) 8)) (<= 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)) (= 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 (= 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) 8)) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) 8)) (<= (+ 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)) (= 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 (= 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) 8)) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) 8)) (<= (+ 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 7)) (= 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 (= 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 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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) 8)) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) 8)) (<= (+ 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 7)) (= executed_Drive^0 executed_Drive^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 (= is_aborted_next^post is_aborted_next^post) (= x_next^post x_next^post)) (= y_next^post 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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)) (= 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 (= 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) 8)) (<= 1 (+ 0 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1)) (<= 1 (+ 0 pc_Plan_next^post))) (<= (+ 1 pc_Plan_next^post) 8)) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) 8)) (<= (+ 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 7)) (= 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 (= 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 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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) 8)) (<= 1 (+ 0 pc_Drive_next^post))) (<= (+ 1 pc_Drive_next^post) 8)) (<= (+ 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 7)) (= 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 (= 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))) ) )