YES


Termination: (Ranking Functions Found)
------------
l5: < < n0_0 - x_next_0 >, < 0 >, < 3 * executed_Drive_0 + 3 * n1_0 - pc_Loop_0 -3 * y_next_0 >, < executed_Drive_0 + n1_0 - y_next_0 > >
l3: < < n0_0 - x_0 >, < -1 + executed_Drive_0 >, < 3 * n1_0 -3 * y_next_0 >, < 1 + n1_0 - y_next_0 > >
l2: < < n0_0 - x_next_0 >, < 0 >, < 3 * executed_Drive_0 -3 * is_aborted_next_0 + 3 * n1_0 -3 * y_next_0 >, < executed_Drive_0 + n1_0 - y_next_0 > >
l4: < < n0_0 - x_next_0 >, < 0 >, < -3 + 3 * executed_Drive_0 + 3 * n1_0 -3 * y_next_0 >, < executed_Drive_0 + n1_0 - y_next_0 > >