NO

### Pre-processing the ITS problem ###

Initial linear ITS problem
   Start location: l7
      0: l0 -> l1 : executed_Drive^0'=executed_Drive^post_1, fair^0'=fair^post_1, is_aborted^0'=is_aborted^post_1, is_aborted_next^0'=is_aborted_next^post_1, n0^0'=n0^post_1, n1^0'=n1^post_1, pc_Drive^0'=pc_Drive^post_1, pc_Drive_next^0'=pc_Drive_next^post_1, pc_Loop^0'=pc_Loop^post_1, pc_Plan^0'=pc_Plan^post_1, pc_Plan_next^0'=pc_Plan_next^post_1, x^0'=x^post_1, x_next^0'=x_next^post_1, y^0'=y^post_1, y_next^0'=y_next^post_1, [ is_aborted_next^post_1==is_aborted_next^post_1 && x_next^post_1==x_next^post_1 && y_next^post_1==y_next^post_1 && pc_Plan_next^post_1==pc_Plan_next^post_1 && pc_Drive_next^post_1==pc_Drive_next^post_1 && is_aborted_next^post_1<=1 && 1<=is_aborted_next^post_1 && 0<=is_aborted_next^post_1 && is_aborted_next^post_1<=1 && 1<=pc_Plan_next^post_1 && 1+pc_Plan_next^post_1<=8 && 1<=pc_Drive_next^post_1 && 1+pc_Drive_next^post_1<=8 && 3<=pc_Plan_next^post_1 && pc_Drive_next^post_1<=4 && 4<=pc_Drive_next^post_1 && executed_Drive^post_1==1 && x_next^post_1<=1+x^0 && 1+x^0<=x_next^post_1 && y_next^post_1<=1+y^0 && 1+y^0<=y_next^post_1 && is_aborted^post_1==is_aborted_next^post_1 && x^post_1==x_next^post_1 && y^post_1==y_next^post_1 && pc_Plan^post_1==pc_Plan_next^post_1 && pc_Drive^post_1==pc_Drive_next^post_1 && pc_Plan^post_1<=2 && 2<=pc_Plan^post_1 && pc_Loop^post_1==1 && fair^0==fair^post_1 && n0^0==n0^post_1 && n1^0==n1^post_1 ], cost: 1
      1: l0 -> l1 : executed_Drive^0'=executed_Drive^post_2, fair^0'=fair^post_2, is_aborted^0'=is_aborted^post_2, is_aborted_next^0'=is_aborted_next^post_2, n0^0'=n0^post_2, n1^0'=n1^post_2, pc_Drive^0'=pc_Drive^post_2, pc_Drive_next^0'=pc_Drive_next^post_2, pc_Loop^0'=pc_Loop^post_2, pc_Plan^0'=pc_Plan^post_2, pc_Plan_next^0'=pc_Plan_next^post_2, x^0'=x^post_2, x_next^0'=x_next^post_2, y^0'=y^post_2, y_next^0'=y_next^post_2, [ is_aborted_next^post_2==is_aborted_next^post_2 && x_next^post_2==x_next^post_2 && y_next^post_2==y_next^post_2 && pc_Plan_next^post_2==pc_Plan_next^post_2 && pc_Drive_next^post_2==pc_Drive_next^post_2 && is_aborted_next^post_2<=1 && 1<=is_aborted_next^post_2 && 0<=is_aborted_next^post_2 && is_aborted_next^post_2<=1 && 1<=pc_Plan_next^post_2 && 1+pc_Plan_next^post_2<=8 && 1<=pc_Drive_next^post_2 && 1+pc_Drive_next^post_2<=8 && 3<=pc_Plan_next^post_2 && 5<=pc_Drive_next^post_2 && x_next^post_2<=x^0 && x^0<=x_next^post_2 && y_next^post_2<=y^0 && y^0<=y_next^post_2 && is_aborted^post_2==is_aborted_next^post_2 && x^post_2==x_next^post_2 && y^post_2==y_next^post_2 && pc_Plan^post_2==pc_Plan_next^post_2 && pc_Drive^post_2==pc_Drive_next^post_2 && pc_Plan^post_2<=2 && 2<=pc_Plan^post_2 && pc_Loop^post_2==1 && executed_Drive^0==executed_Drive^post_2 && fair^0==fair^post_2 && n0^0==n0^post_2 && n1^0==n1^post_2 ], cost: 1
      2: l0 -> l1 : executed_Drive^0'=executed_Drive^post_3, fair^0'=fair^post_3, is_aborted^0'=is_aborted^post_3, is_aborted_next^0'=is_aborted_next^post_3, n0^0'=n0^post_3, n1^0'=n1^post_3, pc_Drive^0'=pc_Drive^post_3, pc_Drive_next^0'=pc_Drive_next^post_3, pc_Loop^0'=pc_Loop^post_3, pc_Plan^0'=pc_Plan^post_3, pc_Plan_next^0'=pc_Plan_next^post_3, x^0'=x^post_3, x_next^0'=x_next^post_3, y^0'=y^post_3, y_next^0'=y_next^post_3, [ is_aborted_next^post_3==is_aborted_next^post_3 && x_next^post_3==x_next^post_3 && y_next^post_3==y_next^post_3 && pc_Plan_next^post_3==pc_Plan_next^post_3 && pc_Drive_next^post_3==pc_Drive_next^post_3 && is_aborted_next^post_3<=1 && 1<=is_aborted_next^post_3 && 0<=is_aborted_next^post_3 && is_aborted_next^post_3<=1 && 1<=pc_Plan_next^post_3 && 1+pc_Plan_next^post_3<=8 && 1<=pc_Drive_next^post_3 && 1+pc_Drive_next^post_3<=8 && 3<=pc_Plan_next^post_3 && 1+pc_Drive_next^post_3<=4 && x_next^post_3<=x^0 && x^0<=x_next^post_3 && y_next^post_3<=y^0 && y^0<=y_next^post_3 && is_aborted^post_3==is_aborted_next^post_3 && x^post_3==x_next^post_3 && y^post_3==y_next^post_3 && pc_Plan^post_3==pc_Plan_next^post_3 && pc_Drive^post_3==pc_Drive_next^post_3 && pc_Plan^post_3<=2 && 2<=pc_Plan^post_3 && pc_Loop^post_3==1 && executed_Drive^0==executed_Drive^post_3 && fair^0==fair^post_3 && n0^0==n0^post_3 && n1^0==n1^post_3 ], cost: 1
      3: l0 -> l1 : executed_Drive^0'=executed_Drive^post_4, fair^0'=fair^post_4, is_aborted^0'=is_aborted^post_4, is_aborted_next^0'=is_aborted_next^post_4, n0^0'=n0^post_4, n1^0'=n1^post_4, pc_Drive^0'=pc_Drive^post_4, pc_Drive_next^0'=pc_Drive_next^post_4, pc_Loop^0'=pc_Loop^post_4, pc_Plan^0'=pc_Plan^post_4, pc_Plan_next^0'=pc_Plan_next^post_4, x^0'=x^post_4, x_next^0'=x_next^post_4, y^0'=y^post_4, y_next^0'=y_next^post_4, [ is_aborted_next^post_4==is_aborted_next^post_4 && x_next^post_4==x_next^post_4 && y_next^post_4==y_next^post_4 && pc_Plan_next^post_4==pc_Plan_next^post_4 && pc_Drive_next^post_4==pc_Drive_next^post_4 && 0<=is_aborted_next^post_4 && is_aborted_next^post_4<=1 && 1<=pc_Plan_next^post_4 && 1+pc_Plan_next^post_4<=8 && 1<=pc_Drive_next^post_4 && 1+pc_Drive_next^post_4<=8 && 1+pc_Plan_next^post_4<=2 && pc_Drive_next^post_4<=4 && 4<=pc_Drive_next^post_4 && executed_Drive^post_4==1 && x_next^post_4<=1+x^0 && 1+x^0<=x_next^post_4 && y_next^post_4<=1+y^0 && 1+y^0<=y_next^post_4 && is_aborted^post_4==is_aborted_next^post_4 && x^post_4==x_next^post_4 && y^post_4==y_next^post_4 && pc_Plan^post_4==pc_Plan_next^post_4 && pc_Drive^post_4==pc_Drive_next^post_4 && pc_Plan^post_4<=2 && 2<=pc_Plan^post_4 && pc_Loop^post_4==1 && fair^0==fair^post_4 && n0^0==n0^post_4 && n1^0==n1^post_4 ], cost: 1
      4: l0 -> l1 : executed_Drive^0'=executed_Drive^post_5, fair^0'=fair^post_5, is_aborted^0'=is_aborted^post_5, is_aborted_next^0'=is_aborted_next^post_5, n0^0'=n0^post_5, n1^0'=n1^post_5, pc_Drive^0'=pc_Drive^post_5, pc_Drive_next^0'=pc_Drive_next^post_5, pc_Loop^0'=pc_Loop^post_5, pc_Plan^0'=pc_Plan^post_5, pc_Plan_next^0'=pc_Plan_next^post_5, x^0'=x^post_5, x_next^0'=x_next^post_5, y^0'=y^post_5, y_next^0'=y_next^post_5, [ is_aborted_next^post_5==is_aborted_next^post_5 && x_next^post_5==x_next^post_5 && y_next^post_5==y_next^post_5 && pc_Plan_next^post_5==pc_Plan_next^post_5 && pc_Drive_next^post_5==pc_Drive_next^post_5 && 0<=is_aborted_next^post_5 && is_aborted_next^post_5<=1 && 1<=pc_Plan_next^post_5 && 1+pc_Plan_next^post_5<=8 && 1<=pc_Drive_next^post_5 && 1+pc_Drive_next^post_5<=8 && 1+pc_Plan_next^post_5<=2 && 5<=pc_Drive_next^post_5 && x_next^post_5<=x^0 && x^0<=x_next^post_5 && y_next^post_5<=y^0 && y^0<=y_next^post_5 && is_aborted^post_5==is_aborted_next^post_5 && x^post_5==x_next^post_5 && y^post_5==y_next^post_5 && pc_Plan^post_5==pc_Plan_next^post_5 && pc_Drive^post_5==pc_Drive_next^post_5 && pc_Plan^post_5<=2 && 2<=pc_Plan^post_5 && pc_Loop^post_5==1 && executed_Drive^0==executed_Drive^post_5 && fair^0==fair^post_5 && n0^0==n0^post_5 && n1^0==n1^post_5 ], cost: 1
      5: l0 -> l1 : executed_Drive^0'=executed_Drive^post_6, fair^0'=fair^post_6, is_aborted^0'=is_aborted^post_6, is_aborted_next^0'=is_aborted_next^post_6, n0^0'=n0^post_6, n1^0'=n1^post_6, pc_Drive^0'=pc_Drive^post_6, pc_Drive_next^0'=pc_Drive_next^post_6, pc_Loop^0'=pc_Loop^post_6, pc_Plan^0'=pc_Plan^post_6, pc_Plan_next^0'=pc_Plan_next^post_6, x^0'=x^post_6, x_next^0'=x_next^post_6, y^0'=y^post_6, y_next^0'=y_next^post_6, [ is_aborted_next^post_6==is_aborted_next^post_6 && x_next^post_6==x_next^post_6 && y_next^post_6==y_next^post_6 && pc_Plan_next^post_6==pc_Plan_next^post_6 && pc_Drive_next^post_6==pc_Drive_next^post_6 && 0<=is_aborted_next^post_6 && is_aborted_next^post_6<=1 && 1<=pc_Plan_next^post_6 && 1+pc_Plan_next^post_6<=8 && 1<=pc_Drive_next^post_6 && 1+pc_Drive_next^post_6<=8 && 1+pc_Plan_next^post_6<=2 && 1+pc_Drive_next^post_6<=4 && x_next^post_6<=x^0 && x^0<=x_next^post_6 && y_next^post_6<=y^0 && y^0<=y_next^post_6 && is_aborted^post_6==is_aborted_next^post_6 && x^post_6==x_next^post_6 && y^post_6==y_next^post_6 && pc_Plan^post_6==pc_Plan_next^post_6 && pc_Drive^post_6==pc_Drive_next^post_6 && pc_Plan^post_6<=2 && 2<=pc_Plan^post_6 && pc_Loop^post_6==1 && executed_Drive^0==executed_Drive^post_6 && fair^0==fair^post_6 && n0^0==n0^post_6 && n1^0==n1^post_6 ], cost: 1
     30: l1 -> l0 : executed_Drive^0'=executed_Drive^post_31, fair^0'=fair^post_31, is_aborted^0'=is_aborted^post_31, is_aborted_next^0'=is_aborted_next^post_31, n0^0'=n0^post_31, n1^0'=n1^post_31, pc_Drive^0'=pc_Drive^post_31, pc_Drive_next^0'=pc_Drive_next^post_31, pc_Loop^0'=pc_Loop^post_31, pc_Plan^0'=pc_Plan^post_31, pc_Plan_next^0'=pc_Plan_next^post_31, x^0'=x^post_31, x_next^0'=x_next^post_31, y^0'=y^post_31, y_next^0'=y_next^post_31, [ 1<=fair^0 && fair^post_31==-1+fair^0 && is_aborted_next^post_31==is_aborted_next^post_31 && x_next^post_31==x_next^post_31 && y_next^post_31==y_next^post_31 && pc_Plan_next^post_31==pc_Plan_next^post_31 && pc_Drive_next^post_31==pc_Drive_next^post_31 && 0<=is_aborted_next^post_31 && is_aborted_next^post_31<=1 && 1<=pc_Plan_next^post_31 && 1+pc_Plan_next^post_31<=8 && 1<=pc_Drive_next^post_31 && 1+pc_Drive_next^post_31<=8 && 1+pc_Drive_next^post_31<=4 && executed_Drive^post_31==0 && x_next^post_31<=x^0 && x^0<=x_next^post_31 && y_next^post_31<=y^0 && y^0<=y_next^post_31 && is_aborted^post_31==is_aborted_next^post_31 && x^post_31==x_next^post_31 && y^post_31==y_next^post_31 && pc_Plan^post_31==pc_Plan_next^post_31 && pc_Drive^post_31==pc_Drive_next^post_31 && 1<=is_aborted^post_31 && pc_Loop^post_31==7 && n0^0==n0^post_31 && n1^0==n1^post_31 ], cost: 1
     31: l1 -> l4 : executed_Drive^0'=executed_Drive^post_32, fair^0'=fair^post_32, is_aborted^0'=is_aborted^post_32, is_aborted_next^0'=is_aborted_next^post_32, n0^0'=n0^post_32, n1^0'=n1^post_32, pc_Drive^0'=pc_Drive^post_32, pc_Drive_next^0'=pc_Drive_next^post_32, pc_Loop^0'=pc_Loop^post_32, pc_Plan^0'=pc_Plan^post_32, pc_Plan_next^0'=pc_Plan_next^post_32, x^0'=x^post_32, x_next^0'=x_next^post_32, y^0'=y^post_32, y_next^0'=y_next^post_32, [ is_aborted_next^post_32==is_aborted_next^post_32 && x_next^post_32==x_next^post_32 && y_next^post_32==y_next^post_32 && pc_Plan_next^post_32==pc_Plan_next^post_32 && pc_Drive_next^post_32==pc_Drive_next^post_32 && 0<=is_aborted_next^post_32 && is_aborted_next^post_32<=1 && 1<=pc_Plan_next^post_32 && 1+pc_Plan_next^post_32<=8 && 1<=pc_Drive_next^post_32 && 1+pc_Drive_next^post_32<=8 && pc_Drive_next^post_32<=4 && 4<=pc_Drive_next^post_32 && executed_Drive^post_32==1 && x_next^post_32<=1+x^0 && 1+x^0<=x_next^post_32 && y_next^post_32<=1+y^0 && 1+y^0<=y_next^post_32 && is_aborted^post_32==is_aborted_next^post_32 && x^post_32==x_next^post_32 && y^post_32==y_next^post_32 && pc_Plan^post_32==pc_Plan_next^post_32 && pc_Drive^post_32==pc_Drive_next^post_32 && is_aborted^post_32<=0 && pc_Plan^post_32<=3 && 3<=pc_Plan^post_32 && pc_Loop^post_32==2 && fair^0==fair^post_32 && n0^0==n0^post_32 && n1^0==n1^post_32 ], cost: 1
     32: l1 -> l4 : executed_Drive^0'=executed_Drive^post_33, fair^0'=fair^post_33, is_aborted^0'=is_aborted^post_33, is_aborted_next^0'=is_aborted_next^post_33, n0^0'=n0^post_33, n1^0'=n1^post_33, pc_Drive^0'=pc_Drive^post_33, pc_Drive_next^0'=pc_Drive_next^post_33, pc_Loop^0'=pc_Loop^post_33, pc_Plan^0'=pc_Plan^post_33, pc_Plan_next^0'=pc_Plan_next^post_33, x^0'=x^post_33, x_next^0'=x_next^post_33, y^0'=y^post_33, y_next^0'=y_next^post_33, [ is_aborted_next^post_33==is_aborted_next^post_33 && x_next^post_33==x_next^post_33 && y_next^post_33==y_next^post_33 && pc_Plan_next^post_33==pc_Plan_next^post_33 && pc_Drive_next^post_33==pc_Drive_next^post_33 && 0<=is_aborted_next^post_33 && is_aborted_next^post_33<=1 && 1<=pc_Plan_next^post_33 && 1+pc_Plan_next^post_33<=8 && 1<=pc_Drive_next^post_33 && 1+pc_Drive_next^post_33<=8 && 5<=pc_Drive_next^post_33 && executed_Drive^post_33==0 && x_next^post_33<=x^0 && x^0<=x_next^post_33 && y_next^post_33<=y^0 && y^0<=y_next^post_33 && is_aborted^post_33==is_aborted_next^post_33 && x^post_33==x_next^post_33 && y^post_33==y_next^post_33 && pc_Plan^post_33==pc_Plan_next^post_33 && pc_Drive^post_33==pc_Drive_next^post_33 && is_aborted^post_33<=0 && pc_Plan^post_33<=3 && 3<=pc_Plan^post_33 && pc_Loop^post_33==2 && fair^0==fair^post_33 && n0^0==n0^post_33 && n1^0==n1^post_33 ], cost: 1
     33: l1 -> l4 : executed_Drive^0'=executed_Drive^post_34, fair^0'=fair^post_34, is_aborted^0'=is_aborted^post_34, is_aborted_next^0'=is_aborted_next^post_34, n0^0'=n0^post_34, n1^0'=n1^post_34, pc_Drive^0'=pc_Drive^post_34, pc_Drive_next^0'=pc_Drive_next^post_34, pc_Loop^0'=pc_Loop^post_34, pc_Plan^0'=pc_Plan^post_34, pc_Plan_next^0'=pc_Plan_next^post_34, x^0'=x^post_34, x_next^0'=x_next^post_34, y^0'=y^post_34, y_next^0'=y_next^post_34, [ is_aborted_next^post_34==is_aborted_next^post_34 && x_next^post_34==x_next^post_34 && y_next^post_34==y_next^post_34 && pc_Plan_next^post_34==pc_Plan_next^post_34 && pc_Drive_next^post_34==pc_Drive_next^post_34 && 0<=is_aborted_next^post_34 && is_aborted_next^post_34<=1 && 1<=pc_Plan_next^post_34 && 1+pc_Plan_next^post_34<=8 && 1<=pc_Drive_next^post_34 && 1+pc_Drive_next^post_34<=8 && 1+pc_Drive_next^post_34<=4 && executed_Drive^post_34==0 && x_next^post_34<=x^0 && x^0<=x_next^post_34 && y_next^post_34<=y^0 && y^0<=y_next^post_34 && is_aborted^post_34==is_aborted_next^post_34 && x^post_34==x_next^post_34 && y^post_34==y_next^post_34 && pc_Plan^post_34==pc_Plan_next^post_34 && pc_Drive^post_34==pc_Drive_next^post_34 && is_aborted^post_34<=0 && pc_Plan^post_34<=3 && 3<=pc_Plan^post_34 && pc_Loop^post_34==2 && fair^0==fair^post_34 && n0^0==n0^post_34 && n1^0==n1^post_34 ], cost: 1
     34: l1 -> l0 : executed_Drive^0'=executed_Drive^post_35, fair^0'=fair^post_35, is_aborted^0'=is_aborted^post_35, is_aborted_next^0'=is_aborted_next^post_35, n0^0'=n0^post_35, n1^0'=n1^post_35, pc_Drive^0'=pc_Drive^post_35, pc_Drive_next^0'=pc_Drive_next^post_35, pc_Loop^0'=pc_Loop^post_35, pc_Plan^0'=pc_Plan^post_35, pc_Plan_next^0'=pc_Plan_next^post_35, x^0'=x^post_35, x_next^0'=x_next^post_35, y^0'=y^post_35, y_next^0'=y_next^post_35, [ is_aborted_next^post_35==is_aborted_next^post_35 && x_next^post_35==x_next^post_35 && y_next^post_35==y_next^post_35 && pc_Plan_next^post_35==pc_Plan_next^post_35 && pc_Drive_next^post_35==pc_Drive_next^post_35 && 0<=is_aborted_next^post_35 && is_aborted_next^post_35<=1 && 1<=pc_Plan_next^post_35 && 1+pc_Plan_next^post_35<=8 && 1<=pc_Drive_next^post_35 && 1+pc_Drive_next^post_35<=8 && pc_Drive_next^post_35<=4 && 4<=pc_Drive_next^post_35 && executed_Drive^post_35==1 && x_next^post_35<=1+x^0 && 1+x^0<=x_next^post_35 && y_next^post_35<=1+y^0 && 1+y^0<=y_next^post_35 && is_aborted^post_35==is_aborted_next^post_35 && x^post_35==x_next^post_35 && y^post_35==y_next^post_35 && pc_Plan^post_35==pc_Plan_next^post_35 && pc_Drive^post_35==pc_Drive_next^post_35 && 1<=is_aborted^post_35 && pc_Loop^post_35==7 && fair^0==fair^post_35 && n0^0==n0^post_35 && n1^0==n1^post_35 ], cost: 1
     35: l1 -> l0 : executed_Drive^0'=executed_Drive^post_36, fair^0'=fair^post_36, is_aborted^0'=is_aborted^post_36, is_aborted_next^0'=is_aborted_next^post_36, n0^0'=n0^post_36, n1^0'=n1^post_36, pc_Drive^0'=pc_Drive^post_36, pc_Drive_next^0'=pc_Drive_next^post_36, pc_Loop^0'=pc_Loop^post_36, pc_Plan^0'=pc_Plan^post_36, pc_Plan_next^0'=pc_Plan_next^post_36, x^0'=x^post_36, x_next^0'=x_next^post_36, y^0'=y^post_36, y_next^0'=y_next^post_36, [ is_aborted_next^post_36==is_aborted_next^post_36 && x_next^post_36==x_next^post_36 && y_next^post_36==y_next^post_36 && pc_Plan_next^post_36==pc_Plan_next^post_36 && pc_Drive_next^post_36==pc_Drive_next^post_36 && 0<=is_aborted_next^post_36 && is_aborted_next^post_36<=1 && 1<=pc_Plan_next^post_36 && 1+pc_Plan_next^post_36<=8 && 1<=pc_Drive_next^post_36 && 1+pc_Drive_next^post_36<=8 && 5<=pc_Drive_next^post_36 && executed_Drive^post_36==0 && x_next^post_36<=x^0 && x^0<=x_next^post_36 && y_next^post_36<=y^0 && y^0<=y_next^post_36 && is_aborted^post_36==is_aborted_next^post_36 && x^post_36==x_next^post_36 && y^post_36==y_next^post_36 && pc_Plan^post_36==pc_Plan_next^post_36 && pc_Drive^post_36==pc_Drive_next^post_36 && 1<=is_aborted^post_36 && pc_Loop^post_36==7 && fair^0==fair^post_36 && n0^0==n0^post_36 && n1^0==n1^post_36 ], cost: 1
      6: l2 -> l3 : executed_Drive^0'=executed_Drive^post_7, fair^0'=fair^post_7, is_aborted^0'=is_aborted^post_7, is_aborted_next^0'=is_aborted_next^post_7, n0^0'=n0^post_7, n1^0'=n1^post_7, pc_Drive^0'=pc_Drive^post_7, pc_Drive_next^0'=pc_Drive_next^post_7, pc_Loop^0'=pc_Loop^post_7, pc_Plan^0'=pc_Plan^post_7, pc_Plan_next^0'=pc_Plan_next^post_7, x^0'=x^post_7, x_next^0'=x_next^post_7, y^0'=y^post_7, y_next^0'=y_next^post_7, [ is_aborted_next^post_7==is_aborted_next^post_7 && x_next^post_7==x_next^post_7 && y_next^post_7==y_next^post_7 && pc_Plan_next^post_7==pc_Plan_next^post_7 && pc_Drive_next^post_7==pc_Drive_next^post_7 && 0<=is_aborted_next^post_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=8 && 1<=pc_Drive_next^post_7 && 1+pc_Drive_next^post_7<=8 && pc_Drive_next^post_7<=4 && 4<=pc_Drive_next^post_7 && executed_Drive^post_7==1 && x_next^post_7<=1+x^0 && 1+x^0<=x_next^post_7 && y_next^post_7<=1+y^0 && 1+y^0<=y_next^post_7 && is_aborted^post_7==is_aborted_next^post_7 && x^post_7==x_next^post_7 && y^post_7==y_next^post_7 && pc_Plan^post_7==pc_Plan_next^post_7 && pc_Drive^post_7==pc_Drive_next^post_7 && pc_Drive^post_7<=7 && 7<=pc_Drive^post_7 && executed_Drive^post_7<=1 && 1<=executed_Drive^post_7 && pc_Loop^post_7==4 && fair^0==fair^post_7 && n0^0==n0^post_7 && n1^0==n1^post_7 ], cost: 1
      7: l2 -> l3 : executed_Drive^0'=executed_Drive^post_8, fair^0'=fair^post_8, is_aborted^0'=is_aborted^post_8, is_aborted_next^0'=is_aborted_next^post_8, n0^0'=n0^post_8, n1^0'=n1^post_8, pc_Drive^0'=pc_Drive^post_8, pc_Drive_next^0'=pc_Drive_next^post_8, pc_Loop^0'=pc_Loop^post_8, pc_Plan^0'=pc_Plan^post_8, pc_Plan_next^0'=pc_Plan_next^post_8, x^0'=x^post_8, x_next^0'=x_next^post_8, y^0'=y^post_8, y_next^0'=y_next^post_8, [ is_aborted_next^post_8==is_aborted_next^post_8 && x_next^post_8==x_next^post_8 && y_next^post_8==y_next^post_8 && pc_Plan_next^post_8==pc_Plan_next^post_8 && pc_Drive_next^post_8==pc_Drive_next^post_8 && 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && 1<=pc_Drive_next^post_8 && 1+pc_Drive_next^post_8<=8 && 5<=pc_Drive_next^post_8 && x_next^post_8<=x^0 && x^0<=x_next^post_8 && y_next^post_8<=y^0 && y^0<=y_next^post_8 && is_aborted^post_8==is_aborted_next^post_8 && x^post_8==x_next^post_8 && y^post_8==y_next^post_8 && pc_Plan^post_8==pc_Plan_next^post_8 && pc_Drive^post_8==pc_Drive_next^post_8 && pc_Drive^post_8<=7 && 7<=pc_Drive^post_8 && executed_Drive^0<=1 && 1<=executed_Drive^0 && pc_Loop^post_8==4 && executed_Drive^0==executed_Drive^post_8 && fair^0==fair^post_8 && n0^0==n0^post_8 && n1^0==n1^post_8 ], cost: 1
      8: l2 -> l3 : executed_Drive^0'=executed_Drive^post_9, fair^0'=fair^post_9, is_aborted^0'=is_aborted^post_9, is_aborted_next^0'=is_aborted_next^post_9, n0^0'=n0^post_9, n1^0'=n1^post_9, pc_Drive^0'=pc_Drive^post_9, pc_Drive_next^0'=pc_Drive_next^post_9, pc_Loop^0'=pc_Loop^post_9, pc_Plan^0'=pc_Plan^post_9, pc_Plan_next^0'=pc_Plan_next^post_9, x^0'=x^post_9, x_next^0'=x_next^post_9, y^0'=y^post_9, y_next^0'=y_next^post_9, [ is_aborted_next^post_9==is_aborted_next^post_9 && x_next^post_9==x_next^post_9 && y_next^post_9==y_next^post_9 && pc_Plan_next^post_9==pc_Plan_next^post_9 && pc_Drive_next^post_9==pc_Drive_next^post_9 && 0<=is_aborted_next^post_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan_next^post_9 && 1+pc_Plan_next^post_9<=8 && 1<=pc_Drive_next^post_9 && 1+pc_Drive_next^post_9<=8 && 1+pc_Drive_next^post_9<=4 && x_next^post_9<=x^0 && x^0<=x_next^post_9 && y_next^post_9<=y^0 && y^0<=y_next^post_9 && is_aborted^post_9==is_aborted_next^post_9 && x^post_9==x_next^post_9 && y^post_9==y_next^post_9 && pc_Plan^post_9==pc_Plan_next^post_9 && pc_Drive^post_9==pc_Drive_next^post_9 && pc_Drive^post_9<=7 && 7<=pc_Drive^post_9 && executed_Drive^0<=1 && 1<=executed_Drive^0 && pc_Loop^post_9==4 && executed_Drive^0==executed_Drive^post_9 && fair^0==fair^post_9 && n0^0==n0^post_9 && n1^0==n1^post_9 ], cost: 1
      9: l2 -> l3 : executed_Drive^0'=executed_Drive^post_10, fair^0'=fair^post_10, is_aborted^0'=is_aborted^post_10, is_aborted_next^0'=is_aborted_next^post_10, n0^0'=n0^post_10, n1^0'=n1^post_10, pc_Drive^0'=pc_Drive^post_10, pc_Drive_next^0'=pc_Drive_next^post_10, pc_Loop^0'=pc_Loop^post_10, pc_Plan^0'=pc_Plan^post_10, pc_Plan_next^0'=pc_Plan_next^post_10, x^0'=x^post_10, x_next^0'=x_next^post_10, y^0'=y^post_10, y_next^0'=y_next^post_10, [ is_aborted_next^post_10==is_aborted_next^post_10 && x_next^post_10==x_next^post_10 && y_next^post_10==y_next^post_10 && pc_Plan_next^post_10==pc_Plan_next^post_10 && pc_Drive_next^post_10==pc_Drive_next^post_10 && 0<=is_aborted_next^post_10 && is_aborted_next^post_10<=1 && 1<=pc_Plan_next^post_10 && 1+pc_Plan_next^post_10<=8 && 1<=pc_Drive_next^post_10 && 1+pc_Drive_next^post_10<=8 && pc_Drive_next^post_10<=4 && 4<=pc_Drive_next^post_10 && executed_Drive^post_10==1 && x_next^post_10<=1+x^0 && 1+x^0<=x_next^post_10 && y_next^post_10<=1+y^0 && 1+y^0<=y_next^post_10 && is_aborted^post_10==is_aborted_next^post_10 && x^post_10==x_next^post_10 && y^post_10==y_next^post_10 && pc_Plan^post_10==pc_Plan_next^post_10 && pc_Drive^post_10==pc_Drive_next^post_10 && pc_Drive^post_10<=2 && 2<=pc_Drive^post_10 && pc_Loop^post_10==4 && fair^0==fair^post_10 && n0^0==n0^post_10 && n1^0==n1^post_10 ], cost: 1
     10: l2 -> l3 : executed_Drive^0'=executed_Drive^post_11, fair^0'=fair^post_11, is_aborted^0'=is_aborted^post_11, is_aborted_next^0'=is_aborted_next^post_11, n0^0'=n0^post_11, n1^0'=n1^post_11, pc_Drive^0'=pc_Drive^post_11, pc_Drive_next^0'=pc_Drive_next^post_11, pc_Loop^0'=pc_Loop^post_11, pc_Plan^0'=pc_Plan^post_11, pc_Plan_next^0'=pc_Plan_next^post_11, x^0'=x^post_11, x_next^0'=x_next^post_11, y^0'=y^post_11, y_next^0'=y_next^post_11, [ is_aborted_next^post_11==is_aborted_next^post_11 && x_next^post_11==x_next^post_11 && y_next^post_11==y_next^post_11 && pc_Plan_next^post_11==pc_Plan_next^post_11 && pc_Drive_next^post_11==pc_Drive_next^post_11 && 0<=is_aborted_next^post_11 && is_aborted_next^post_11<=1 && 1<=pc_Plan_next^post_11 && 1+pc_Plan_next^post_11<=8 && 1<=pc_Drive_next^post_11 && 1+pc_Drive_next^post_11<=8 && 5<=pc_Drive_next^post_11 && x_next^post_11<=x^0 && x^0<=x_next^post_11 && y_next^post_11<=y^0 && y^0<=y_next^post_11 && is_aborted^post_11==is_aborted_next^post_11 && x^post_11==x_next^post_11 && y^post_11==y_next^post_11 && pc_Plan^post_11==pc_Plan_next^post_11 && pc_Drive^post_11==pc_Drive_next^post_11 && pc_Drive^post_11<=2 && 2<=pc_Drive^post_11 && executed_Drive^post_11==0 && pc_Loop^post_11==4 && fair^0==fair^post_11 && n0^0==n0^post_11 && n1^0==n1^post_11 ], cost: 1
     11: l2 -> l3 : executed_Drive^0'=executed_Drive^post_12, fair^0'=fair^post_12, is_aborted^0'=is_aborted^post_12, is_aborted_next^0'=is_aborted_next^post_12, n0^0'=n0^post_12, n1^0'=n1^post_12, pc_Drive^0'=pc_Drive^post_12, pc_Drive_next^0'=pc_Drive_next^post_12, pc_Loop^0'=pc_Loop^post_12, pc_Plan^0'=pc_Plan^post_12, pc_Plan_next^0'=pc_Plan_next^post_12, x^0'=x^post_12, x_next^0'=x_next^post_12, y^0'=y^post_12, y_next^0'=y_next^post_12, [ is_aborted_next^post_12==is_aborted_next^post_12 && x_next^post_12==x_next^post_12 && y_next^post_12==y_next^post_12 && pc_Plan_next^post_12==pc_Plan_next^post_12 && pc_Drive_next^post_12==pc_Drive_next^post_12 && is_aborted_next^post_12<=1 && 1<=is_aborted_next^post_12 && 0<=is_aborted_next^post_12 && is_aborted_next^post_12<=1 && 1<=pc_Plan_next^post_12 && 1+pc_Plan_next^post_12<=8 && 1<=pc_Drive_next^post_12 && 1+pc_Drive_next^post_12<=8 && 1+pc_Drive_next^post_12<=4 && x_next^post_12<=x^0 && x^0<=x_next^post_12 && y_next^post_12<=y^0 && y^0<=y_next^post_12 && is_aborted^post_12==is_aborted_next^post_12 && x^post_12==x_next^post_12 && y^post_12==y_next^post_12 && pc_Plan^post_12==pc_Plan_next^post_12 && pc_Drive^post_12==pc_Drive_next^post_12 && pc_Drive^post_12<=2 && 2<=pc_Drive^post_12 && executed_Drive^post_12==0 && pc_Loop^post_12==4 && fair^0==fair^post_12 && n0^0==n0^post_12 && n1^0==n1^post_12 ], cost: 1
     12: l3 -> l0 : executed_Drive^0'=executed_Drive^post_13, fair^0'=fair^post_13, is_aborted^0'=is_aborted^post_13, is_aborted_next^0'=is_aborted_next^post_13, n0^0'=n0^post_13, n1^0'=n1^post_13, pc_Drive^0'=pc_Drive^post_13, pc_Drive_next^0'=pc_Drive_next^post_13, pc_Loop^0'=pc_Loop^post_13, pc_Plan^0'=pc_Plan^post_13, pc_Plan_next^0'=pc_Plan_next^post_13, x^0'=x^post_13, x_next^0'=x_next^post_13, y^0'=y^post_13, y_next^0'=y_next^post_13, [ is_aborted_next^post_13==is_aborted_next^post_13 && x_next^post_13==x_next^post_13 && y_next^post_13==y_next^post_13 && pc_Plan_next^post_13==pc_Plan_next^post_13 && pc_Drive_next^post_13==pc_Drive_next^post_13 && 0<=is_aborted_next^post_13 && is_aborted_next^post_13<=1 && 1<=pc_Plan_next^post_13 && 1+pc_Plan_next^post_13<=8 && 1<=pc_Drive_next^post_13 && 1+pc_Drive_next^post_13<=8 && pc_Drive_next^post_13<=4 && 4<=pc_Drive_next^post_13 && executed_Drive^post_13==1 && x_next^post_13<=1+x^0 && 1+x^0<=x_next^post_13 && y_next^post_13<=1+y^0 && 1+y^0<=y_next^post_13 && is_aborted^post_13==is_aborted_next^post_13 && x^post_13==x_next^post_13 && y^post_13==y_next^post_13 && pc_Plan^post_13==pc_Plan_next^post_13 && pc_Drive^post_13==pc_Drive_next^post_13 && 1<=is_aborted^post_13 && pc_Loop^post_13==7 && fair^0==fair^post_13 && n0^0==n0^post_13 && n1^0==n1^post_13 ], cost: 1
     13: l3 -> l0 : executed_Drive^0'=executed_Drive^post_14, fair^0'=fair^post_14, is_aborted^0'=is_aborted^post_14, is_aborted_next^0'=is_aborted_next^post_14, n0^0'=n0^post_14, n1^0'=n1^post_14, pc_Drive^0'=pc_Drive^post_14, pc_Drive_next^0'=pc_Drive_next^post_14, pc_Loop^0'=pc_Loop^post_14, pc_Plan^0'=pc_Plan^post_14, pc_Plan_next^0'=pc_Plan_next^post_14, x^0'=x^post_14, x_next^0'=x_next^post_14, y^0'=y^post_14, y_next^0'=y_next^post_14, [ is_aborted_next^post_14==is_aborted_next^post_14 && x_next^post_14==x_next^post_14 && y_next^post_14==y_next^post_14 && pc_Plan_next^post_14==pc_Plan_next^post_14 && pc_Drive_next^post_14==pc_Drive_next^post_14 && 0<=is_aborted_next^post_14 && is_aborted_next^post_14<=1 && 1<=pc_Plan_next^post_14 && 1+pc_Plan_next^post_14<=8 && 1<=pc_Drive_next^post_14 && 1+pc_Drive_next^post_14<=8 && 5<=pc_Drive_next^post_14 && x_next^post_14<=x^0 && x^0<=x_next^post_14 && y_next^post_14<=y^0 && y^0<=y_next^post_14 && is_aborted^post_14==is_aborted_next^post_14 && x^post_14==x_next^post_14 && y^post_14==y_next^post_14 && pc_Plan^post_14==pc_Plan_next^post_14 && pc_Drive^post_14==pc_Drive_next^post_14 && 1<=is_aborted^post_14 && pc_Loop^post_14==7 && executed_Drive^0==executed_Drive^post_14 && fair^0==fair^post_14 && n0^0==n0^post_14 && n1^0==n1^post_14 ], cost: 1
     14: l3 -> l0 : executed_Drive^0'=executed_Drive^post_15, fair^0'=fair^post_15, is_aborted^0'=is_aborted^post_15, is_aborted_next^0'=is_aborted_next^post_15, n0^0'=n0^post_15, n1^0'=n1^post_15, pc_Drive^0'=pc_Drive^post_15, pc_Drive_next^0'=pc_Drive_next^post_15, pc_Loop^0'=pc_Loop^post_15, pc_Plan^0'=pc_Plan^post_15, pc_Plan_next^0'=pc_Plan_next^post_15, x^0'=x^post_15, x_next^0'=x_next^post_15, y^0'=y^post_15, y_next^0'=y_next^post_15, [ is_aborted_next^post_15==is_aborted_next^post_15 && x_next^post_15==x_next^post_15 && y_next^post_15==y_next^post_15 && pc_Plan_next^post_15==pc_Plan_next^post_15 && pc_Drive_next^post_15==pc_Drive_next^post_15 && 0<=is_aborted_next^post_15 && is_aborted_next^post_15<=1 && 1<=pc_Plan_next^post_15 && 1+pc_Plan_next^post_15<=8 && 1<=pc_Drive_next^post_15 && 1+pc_Drive_next^post_15<=8 && 1+pc_Drive_next^post_15<=4 && x_next^post_15<=x^0 && x^0<=x_next^post_15 && y_next^post_15<=y^0 && y^0<=y_next^post_15 && is_aborted^post_15==is_aborted_next^post_15 && x^post_15==x_next^post_15 && y^post_15==y_next^post_15 && pc_Plan^post_15==pc_Plan_next^post_15 && pc_Drive^post_15==pc_Drive_next^post_15 && 1<=is_aborted^post_15 && pc_Loop^post_15==7 && executed_Drive^0==executed_Drive^post_15 && fair^0==fair^post_15 && n0^0==n0^post_15 && n1^0==n1^post_15 ], cost: 1
     15: l3 -> l0 : executed_Drive^0'=executed_Drive^post_16, fair^0'=fair^post_16, is_aborted^0'=is_aborted^post_16, is_aborted_next^0'=is_aborted_next^post_16, n0^0'=n0^post_16, n1^0'=n1^post_16, pc_Drive^0'=pc_Drive^post_16, pc_Drive_next^0'=pc_Drive_next^post_16, pc_Loop^0'=pc_Loop^post_16, pc_Plan^0'=pc_Plan^post_16, pc_Plan_next^0'=pc_Plan_next^post_16, x^0'=x^post_16, x_next^0'=x_next^post_16, y^0'=y^post_16, y_next^0'=y_next^post_16, [ is_aborted_next^post_16==is_aborted_next^post_16 && x_next^post_16==x_next^post_16 && y_next^post_16==y_next^post_16 && pc_Plan_next^post_16==pc_Plan_next^post_16 && pc_Drive_next^post_16==pc_Drive_next^post_16 && 0<=is_aborted_next^post_16 && is_aborted_next^post_16<=1 && 1<=pc_Plan_next^post_16 && 1+pc_Plan_next^post_16<=8 && 1<=pc_Drive_next^post_16 && 1+pc_Drive_next^post_16<=8 && pc_Drive_next^post_16<=4 && 4<=pc_Drive_next^post_16 && executed_Drive^post_16==1 && x_next^post_16<=1+x^0 && 1+x^0<=x_next^post_16 && y_next^post_16<=1+y^0 && 1+y^0<=y_next^post_16 && is_aborted^post_16==is_aborted_next^post_16 && x^post_16==x_next^post_16 && y^post_16==y_next^post_16 && pc_Plan^post_16==pc_Plan_next^post_16 && pc_Drive^post_16==pc_Drive_next^post_16 && is_aborted^post_16<=0 && n0^0<=x^post_16 && n1^0<=y^post_16 && pc_Loop^post_16==7 && fair^0==fair^post_16 && n0^0==n0^post_16 && n1^0==n1^post_16 ], cost: 1
     16: l3 -> l0 : executed_Drive^0'=executed_Drive^post_17, fair^0'=fair^post_17, is_aborted^0'=is_aborted^post_17, is_aborted_next^0'=is_aborted_next^post_17, n0^0'=n0^post_17, n1^0'=n1^post_17, pc_Drive^0'=pc_Drive^post_17, pc_Drive_next^0'=pc_Drive_next^post_17, pc_Loop^0'=pc_Loop^post_17, pc_Plan^0'=pc_Plan^post_17, pc_Plan_next^0'=pc_Plan_next^post_17, x^0'=x^post_17, x_next^0'=x_next^post_17, y^0'=y^post_17, y_next^0'=y_next^post_17, [ is_aborted_next^post_17==is_aborted_next^post_17 && x_next^post_17==x_next^post_17 && y_next^post_17==y_next^post_17 && pc_Plan_next^post_17==pc_Plan_next^post_17 && pc_Drive_next^post_17==pc_Drive_next^post_17 && 0<=is_aborted_next^post_17 && is_aborted_next^post_17<=1 && 1<=pc_Plan_next^post_17 && 1+pc_Plan_next^post_17<=8 && 1<=pc_Drive_next^post_17 && 1+pc_Drive_next^post_17<=8 && 5<=pc_Drive_next^post_17 && x_next^post_17<=x^0 && x^0<=x_next^post_17 && y_next^post_17<=y^0 && y^0<=y_next^post_17 && is_aborted^post_17==is_aborted_next^post_17 && x^post_17==x_next^post_17 && y^post_17==y_next^post_17 && pc_Plan^post_17==pc_Plan_next^post_17 && pc_Drive^post_17==pc_Drive_next^post_17 && is_aborted^post_17<=0 && n0^0<=x^post_17 && n1^0<=y^post_17 && pc_Loop^post_17==7 && executed_Drive^0==executed_Drive^post_17 && fair^0==fair^post_17 && n0^0==n0^post_17 && n1^0==n1^post_17 ], cost: 1
     17: l3 -> l0 : executed_Drive^0'=executed_Drive^post_18, fair^0'=fair^post_18, is_aborted^0'=is_aborted^post_18, is_aborted_next^0'=is_aborted_next^post_18, n0^0'=n0^post_18, n1^0'=n1^post_18, pc_Drive^0'=pc_Drive^post_18, pc_Drive_next^0'=pc_Drive_next^post_18, pc_Loop^0'=pc_Loop^post_18, pc_Plan^0'=pc_Plan^post_18, pc_Plan_next^0'=pc_Plan_next^post_18, x^0'=x^post_18, x_next^0'=x_next^post_18, y^0'=y^post_18, y_next^0'=y_next^post_18, [ is_aborted_next^post_18==is_aborted_next^post_18 && x_next^post_18==x_next^post_18 && y_next^post_18==y_next^post_18 && pc_Plan_next^post_18==pc_Plan_next^post_18 && pc_Drive_next^post_18==pc_Drive_next^post_18 && 0<=is_aborted_next^post_18 && is_aborted_next^post_18<=1 && 1<=pc_Plan_next^post_18 && 1+pc_Plan_next^post_18<=8 && 1<=pc_Drive_next^post_18 && 1+pc_Drive_next^post_18<=8 && 1+pc_Drive_next^post_18<=4 && x_next^post_18<=x^0 && x^0<=x_next^post_18 && y_next^post_18<=y^0 && y^0<=y_next^post_18 && is_aborted^post_18==is_aborted_next^post_18 && x^post_18==x_next^post_18 && y^post_18==y_next^post_18 && pc_Plan^post_18==pc_Plan_next^post_18 && pc_Drive^post_18==pc_Drive_next^post_18 && is_aborted^post_18<=0 && n0^0<=x^post_18 && n1^0<=y^post_18 && pc_Loop^post_18==7 && executed_Drive^0==executed_Drive^post_18 && fair^0==fair^post_18 && n0^0==n0^post_18 && n1^0==n1^post_18 ], cost: 1
     18: l3 -> l4 : executed_Drive^0'=executed_Drive^post_19, fair^0'=fair^post_19, is_aborted^0'=is_aborted^post_19, is_aborted_next^0'=is_aborted_next^post_19, n0^0'=n0^post_19, n1^0'=n1^post_19, pc_Drive^0'=pc_Drive^post_19, pc_Drive_next^0'=pc_Drive_next^post_19, pc_Loop^0'=pc_Loop^post_19, pc_Plan^0'=pc_Plan^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=x^post_19, x_next^0'=x_next^post_19, y^0'=y^post_19, y_next^0'=y_next^post_19, [ is_aborted_next^post_19==is_aborted_next^post_19 && x_next^post_19==x_next^post_19 && y_next^post_19==y_next^post_19 && pc_Plan_next^post_19==pc_Plan_next^post_19 && pc_Drive_next^post_19==pc_Drive_next^post_19 && 0<=is_aborted_next^post_19 && is_aborted_next^post_19<=1 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=pc_Drive_next^post_19 && 1+pc_Drive_next^post_19<=8 && pc_Drive_next^post_19<=4 && 4<=pc_Drive_next^post_19 && executed_Drive^post_19==1 && x_next^post_19<=1+x^0 && 1+x^0<=x_next^post_19 && y_next^post_19<=1+y^0 && 1+y^0<=y_next^post_19 && is_aborted^post_19==is_aborted_next^post_19 && x^post_19==x_next^post_19 && y^post_19==y_next^post_19 && pc_Plan^post_19==pc_Plan_next^post_19 && pc_Drive^post_19==pc_Drive_next^post_19 && is_aborted^post_19<=0 && 1<=n0^0 && 1<=n1^0 && 1+x^post_19<=n0^0 && 1+y^post_19<=n1^0 && executed_Drive^post_19<=1 && 1<=executed_Drive^post_19 && pc_Loop^post_19==2 && fair^0==fair^post_19 && n0^0==n0^post_19 && n1^0==n1^post_19 ], cost: 1
     19: l3 -> l4 : executed_Drive^0'=executed_Drive^post_20, fair^0'=fair^post_20, is_aborted^0'=is_aborted^post_20, is_aborted_next^0'=is_aborted_next^post_20, n0^0'=n0^post_20, n1^0'=n1^post_20, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive_next^post_20, pc_Loop^0'=pc_Loop^post_20, pc_Plan^0'=pc_Plan^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=x^post_20, x_next^0'=x_next^post_20, y^0'=y^post_20, y_next^0'=y_next^post_20, [ is_aborted_next^post_20==is_aborted_next^post_20 && x_next^post_20==x_next^post_20 && y_next^post_20==y_next^post_20 && pc_Plan_next^post_20==pc_Plan_next^post_20 && pc_Drive_next^post_20==pc_Drive_next^post_20 && 0<=is_aborted_next^post_20 && is_aborted_next^post_20<=1 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1<=pc_Drive_next^post_20 && 1+pc_Drive_next^post_20<=8 && 5<=pc_Drive_next^post_20 && x_next^post_20<=x^0 && x^0<=x_next^post_20 && y_next^post_20<=y^0 && y^0<=y_next^post_20 && is_aborted^post_20==is_aborted_next^post_20 && x^post_20==x_next^post_20 && y^post_20==y_next^post_20 && pc_Plan^post_20==pc_Plan_next^post_20 && pc_Drive^post_20==pc_Drive_next^post_20 && is_aborted^post_20<=0 && 1<=n0^0 && 1<=n1^0 && 1+x^post_20<=n0^0 && 1+y^post_20<=n1^0 && executed_Drive^0<=1 && 1<=executed_Drive^0 && pc_Loop^post_20==2 && executed_Drive^0==executed_Drive^post_20 && fair^0==fair^post_20 && n0^0==n0^post_20 && n1^0==n1^post_20 ], cost: 1
     20: l3 -> l4 : executed_Drive^0'=executed_Drive^post_21, fair^0'=fair^post_21, is_aborted^0'=is_aborted^post_21, is_aborted_next^0'=is_aborted_next^post_21, n0^0'=n0^post_21, n1^0'=n1^post_21, pc_Drive^0'=pc_Drive^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=pc_Loop^post_21, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan_next^post_21, x^0'=x^post_21, x_next^0'=x_next^post_21, y^0'=y^post_21, y_next^0'=y_next^post_21, [ is_aborted_next^post_21==is_aborted_next^post_21 && x_next^post_21==x_next^post_21 && y_next^post_21==y_next^post_21 && pc_Plan_next^post_21==pc_Plan_next^post_21 && pc_Drive_next^post_21==pc_Drive_next^post_21 && 0<=is_aborted_next^post_21 && is_aborted_next^post_21<=1 && 1<=pc_Plan_next^post_21 && 1+pc_Plan_next^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=8 && 1+pc_Drive_next^post_21<=4 && x_next^post_21<=x^0 && x^0<=x_next^post_21 && y_next^post_21<=y^0 && y^0<=y_next^post_21 && is_aborted^post_21==is_aborted_next^post_21 && x^post_21==x_next^post_21 && y^post_21==y_next^post_21 && pc_Plan^post_21==pc_Plan_next^post_21 && pc_Drive^post_21==pc_Drive_next^post_21 && is_aborted^post_21<=0 && 1<=n0^0 && 1<=n1^0 && 1+x^post_21<=n0^0 && 1+y^post_21<=n1^0 && executed_Drive^0<=1 && 1<=executed_Drive^0 && pc_Loop^post_21==2 && executed_Drive^0==executed_Drive^post_21 && fair^0==fair^post_21 && n0^0==n0^post_21 && n1^0==n1^post_21 ], cost: 1
     24: l4 -> l5 : executed_Drive^0'=executed_Drive^post_25, fair^0'=fair^post_25, is_aborted^0'=is_aborted^post_25, is_aborted_next^0'=is_aborted_next^post_25, n0^0'=n0^post_25, n1^0'=n1^post_25, pc_Drive^0'=pc_Drive^post_25, pc_Drive_next^0'=pc_Drive_next^post_25, pc_Loop^0'=pc_Loop^post_25, pc_Plan^0'=pc_Plan^post_25, pc_Plan_next^0'=pc_Plan_next^post_25, x^0'=x^post_25, x_next^0'=x_next^post_25, y^0'=y^post_25, y_next^0'=y_next^post_25, [ is_aborted_next^post_25==is_aborted_next^post_25 && x_next^post_25==x_next^post_25 && y_next^post_25==y_next^post_25 && pc_Plan_next^post_25==pc_Plan_next^post_25 && pc_Drive_next^post_25==pc_Drive_next^post_25 && 0<=is_aborted_next^post_25 && is_aborted_next^post_25<=1 && 1<=pc_Plan_next^post_25 && 1+pc_Plan_next^post_25<=8 && 1<=pc_Drive_next^post_25 && 1+pc_Drive_next^post_25<=8 && pc_Drive_next^post_25<=4 && 4<=pc_Drive_next^post_25 && executed_Drive^post_25==1 && x_next^post_25<=1+x^0 && 1+x^0<=x_next^post_25 && y_next^post_25<=1+y^0 && 1+y^0<=y_next^post_25 && is_aborted^post_25==is_aborted_next^post_25 && x^post_25==x_next^post_25 && y^post_25==y_next^post_25 && pc_Plan^post_25==pc_Plan_next^post_25 && pc_Drive^post_25==pc_Drive_next^post_25 && is_aborted^post_25<=0 && pc_Loop^post_25==3 && fair^0==fair^post_25 && n0^0==n0^post_25 && n1^0==n1^post_25 ], cost: 1
     25: l4 -> l5 : executed_Drive^0'=executed_Drive^post_26, fair^0'=fair^post_26, is_aborted^0'=is_aborted^post_26, is_aborted_next^0'=is_aborted_next^post_26, n0^0'=n0^post_26, n1^0'=n1^post_26, pc_Drive^0'=pc_Drive^post_26, pc_Drive_next^0'=pc_Drive_next^post_26, pc_Loop^0'=pc_Loop^post_26, pc_Plan^0'=pc_Plan^post_26, pc_Plan_next^0'=pc_Plan_next^post_26, x^0'=x^post_26, x_next^0'=x_next^post_26, y^0'=y^post_26, y_next^0'=y_next^post_26, [ is_aborted_next^post_26==is_aborted_next^post_26 && x_next^post_26==x_next^post_26 && y_next^post_26==y_next^post_26 && pc_Plan_next^post_26==pc_Plan_next^post_26 && pc_Drive_next^post_26==pc_Drive_next^post_26 && 0<=is_aborted_next^post_26 && is_aborted_next^post_26<=1 && 1<=pc_Plan_next^post_26 && 1+pc_Plan_next^post_26<=8 && 1<=pc_Drive_next^post_26 && 1+pc_Drive_next^post_26<=8 && 5<=pc_Drive_next^post_26 && x_next^post_26<=x^0 && x^0<=x_next^post_26 && y_next^post_26<=y^0 && y^0<=y_next^post_26 && is_aborted^post_26==is_aborted_next^post_26 && x^post_26==x_next^post_26 && y^post_26==y_next^post_26 && pc_Plan^post_26==pc_Plan_next^post_26 && pc_Drive^post_26==pc_Drive_next^post_26 && is_aborted^post_26<=0 && pc_Loop^post_26==3 && executed_Drive^0==executed_Drive^post_26 && fair^0==fair^post_26 && n0^0==n0^post_26 && n1^0==n1^post_26 ], cost: 1
     26: l4 -> l5 : executed_Drive^0'=executed_Drive^post_27, fair^0'=fair^post_27, is_aborted^0'=is_aborted^post_27, is_aborted_next^0'=is_aborted_next^post_27, n0^0'=n0^post_27, n1^0'=n1^post_27, pc_Drive^0'=pc_Drive^post_27, pc_Drive_next^0'=pc_Drive_next^post_27, pc_Loop^0'=pc_Loop^post_27, pc_Plan^0'=pc_Plan^post_27, pc_Plan_next^0'=pc_Plan_next^post_27, x^0'=x^post_27, x_next^0'=x_next^post_27, y^0'=y^post_27, y_next^0'=y_next^post_27, [ is_aborted_next^post_27==is_aborted_next^post_27 && x_next^post_27==x_next^post_27 && y_next^post_27==y_next^post_27 && pc_Plan_next^post_27==pc_Plan_next^post_27 && pc_Drive_next^post_27==pc_Drive_next^post_27 && 0<=is_aborted_next^post_27 && is_aborted_next^post_27<=1 && 1<=pc_Plan_next^post_27 && 1+pc_Plan_next^post_27<=8 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=8 && 1+pc_Drive_next^post_27<=4 && x_next^post_27<=x^0 && x^0<=x_next^post_27 && y_next^post_27<=y^0 && y^0<=y_next^post_27 && is_aborted^post_27==is_aborted_next^post_27 && x^post_27==x_next^post_27 && y^post_27==y_next^post_27 && pc_Plan^post_27==pc_Plan_next^post_27 && pc_Drive^post_27==pc_Drive_next^post_27 && is_aborted^post_27<=0 && pc_Loop^post_27==3 && executed_Drive^0==executed_Drive^post_27 && fair^0==fair^post_27 && n0^0==n0^post_27 && n1^0==n1^post_27 ], cost: 1
     27: l4 -> l0 : executed_Drive^0'=executed_Drive^post_28, fair^0'=fair^post_28, is_aborted^0'=is_aborted^post_28, is_aborted_next^0'=is_aborted_next^post_28, n0^0'=n0^post_28, n1^0'=n1^post_28, pc_Drive^0'=pc_Drive^post_28, pc_Drive_next^0'=pc_Drive_next^post_28, pc_Loop^0'=pc_Loop^post_28, pc_Plan^0'=pc_Plan^post_28, pc_Plan_next^0'=pc_Plan_next^post_28, x^0'=x^post_28, x_next^0'=x_next^post_28, y^0'=y^post_28, y_next^0'=y_next^post_28, [ is_aborted_next^post_28==is_aborted_next^post_28 && x_next^post_28==x_next^post_28 && y_next^post_28==y_next^post_28 && pc_Plan_next^post_28==pc_Plan_next^post_28 && pc_Drive_next^post_28==pc_Drive_next^post_28 && 0<=is_aborted_next^post_28 && is_aborted_next^post_28<=1 && 1<=pc_Plan_next^post_28 && 1+pc_Plan_next^post_28<=8 && 1<=pc_Drive_next^post_28 && 1+pc_Drive_next^post_28<=8 && pc_Drive_next^post_28<=4 && 4<=pc_Drive_next^post_28 && executed_Drive^post_28==1 && x_next^post_28<=1+x^0 && 1+x^0<=x_next^post_28 && y_next^post_28<=1+y^0 && 1+y^0<=y_next^post_28 && is_aborted^post_28==is_aborted_next^post_28 && x^post_28==x_next^post_28 && y^post_28==y_next^post_28 && pc_Plan^post_28==pc_Plan_next^post_28 && pc_Drive^post_28==pc_Drive_next^post_28 && 1<=is_aborted^post_28 && pc_Loop^post_28==7 && fair^0==fair^post_28 && n0^0==n0^post_28 && n1^0==n1^post_28 ], cost: 1
     28: l4 -> l0 : executed_Drive^0'=executed_Drive^post_29, fair^0'=fair^post_29, is_aborted^0'=is_aborted^post_29, is_aborted_next^0'=is_aborted_next^post_29, n0^0'=n0^post_29, n1^0'=n1^post_29, pc_Drive^0'=pc_Drive^post_29, pc_Drive_next^0'=pc_Drive_next^post_29, pc_Loop^0'=pc_Loop^post_29, pc_Plan^0'=pc_Plan^post_29, pc_Plan_next^0'=pc_Plan_next^post_29, x^0'=x^post_29, x_next^0'=x_next^post_29, y^0'=y^post_29, y_next^0'=y_next^post_29, [ is_aborted_next^post_29==is_aborted_next^post_29 && x_next^post_29==x_next^post_29 && y_next^post_29==y_next^post_29 && pc_Plan_next^post_29==pc_Plan_next^post_29 && pc_Drive_next^post_29==pc_Drive_next^post_29 && 0<=is_aborted_next^post_29 && is_aborted_next^post_29<=1 && 1<=pc_Plan_next^post_29 && 1+pc_Plan_next^post_29<=8 && 1<=pc_Drive_next^post_29 && 1+pc_Drive_next^post_29<=8 && 5<=pc_Drive_next^post_29 && x_next^post_29<=x^0 && x^0<=x_next^post_29 && y_next^post_29<=y^0 && y^0<=y_next^post_29 && is_aborted^post_29==is_aborted_next^post_29 && x^post_29==x_next^post_29 && y^post_29==y_next^post_29 && pc_Plan^post_29==pc_Plan_next^post_29 && pc_Drive^post_29==pc_Drive_next^post_29 && 1<=is_aborted^post_29 && pc_Loop^post_29==7 && executed_Drive^0==executed_Drive^post_29 && fair^0==fair^post_29 && n0^0==n0^post_29 && n1^0==n1^post_29 ], cost: 1
     29: l4 -> l0 : executed_Drive^0'=executed_Drive^post_30, fair^0'=fair^post_30, is_aborted^0'=is_aborted^post_30, is_aborted_next^0'=is_aborted_next^post_30, n0^0'=n0^post_30, n1^0'=n1^post_30, pc_Drive^0'=pc_Drive^post_30, pc_Drive_next^0'=pc_Drive_next^post_30, pc_Loop^0'=pc_Loop^post_30, pc_Plan^0'=pc_Plan^post_30, pc_Plan_next^0'=pc_Plan_next^post_30, x^0'=x^post_30, x_next^0'=x_next^post_30, y^0'=y^post_30, y_next^0'=y_next^post_30, [ is_aborted_next^post_30==is_aborted_next^post_30 && x_next^post_30==x_next^post_30 && y_next^post_30==y_next^post_30 && pc_Plan_next^post_30==pc_Plan_next^post_30 && pc_Drive_next^post_30==pc_Drive_next^post_30 && 0<=is_aborted_next^post_30 && is_aborted_next^post_30<=1 && 1<=pc_Plan_next^post_30 && 1+pc_Plan_next^post_30<=8 && 1<=pc_Drive_next^post_30 && 1+pc_Drive_next^post_30<=8 && 1+pc_Drive_next^post_30<=4 && x_next^post_30<=x^0 && x^0<=x_next^post_30 && y_next^post_30<=y^0 && y^0<=y_next^post_30 && is_aborted^post_30==is_aborted_next^post_30 && x^post_30==x_next^post_30 && y^post_30==y_next^post_30 && pc_Plan^post_30==pc_Plan_next^post_30 && pc_Drive^post_30==pc_Drive_next^post_30 && 1<=is_aborted^post_30 && pc_Loop^post_30==7 && executed_Drive^0==executed_Drive^post_30 && fair^0==fair^post_30 && n0^0==n0^post_30 && n1^0==n1^post_30 ], cost: 1
     21: l5 -> l2 : executed_Drive^0'=executed_Drive^post_22, fair^0'=fair^post_22, is_aborted^0'=is_aborted^post_22, is_aborted_next^0'=is_aborted_next^post_22, n0^0'=n0^post_22, n1^0'=n1^post_22, pc_Drive^0'=pc_Drive^post_22, pc_Drive_next^0'=pc_Drive_next^post_22, pc_Loop^0'=pc_Loop^post_22, pc_Plan^0'=pc_Plan^post_22, pc_Plan_next^0'=pc_Plan_next^post_22, x^0'=x^post_22, x_next^0'=x_next^post_22, y^0'=y^post_22, y_next^0'=y_next^post_22, [ is_aborted_next^post_22==is_aborted_next^post_22 && x_next^post_22==x_next^post_22 && y_next^post_22==y_next^post_22 && pc_Plan_next^post_22==pc_Plan_next^post_22 && pc_Drive_next^post_22==pc_Drive_next^post_22 && 0<=is_aborted_next^post_22 && is_aborted_next^post_22<=1 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=8 && 1<=pc_Drive_next^post_22 && 1+pc_Drive_next^post_22<=8 && pc_Drive_next^post_22<=4 && 4<=pc_Drive_next^post_22 && executed_Drive^post_22==1 && x_next^post_22<=1+x^0 && 1+x^0<=x_next^post_22 && y_next^post_22<=1+y^0 && 1+y^0<=y_next^post_22 && is_aborted^post_22==is_aborted_next^post_22 && x^post_22==x_next^post_22 && y^post_22==y_next^post_22 && pc_Plan^post_22==pc_Plan_next^post_22 && pc_Drive^post_22==pc_Drive_next^post_22 && 1<=is_aborted^post_22 && pc_Loop^post_22==6 && fair^0==fair^post_22 && n0^0==n0^post_22 && n1^0==n1^post_22 ], cost: 1
     22: l5 -> l2 : executed_Drive^0'=executed_Drive^post_23, fair^0'=fair^post_23, is_aborted^0'=is_aborted^post_23, is_aborted_next^0'=is_aborted_next^post_23, n0^0'=n0^post_23, n1^0'=n1^post_23, pc_Drive^0'=pc_Drive^post_23, pc_Drive_next^0'=pc_Drive_next^post_23, pc_Loop^0'=pc_Loop^post_23, pc_Plan^0'=pc_Plan^post_23, pc_Plan_next^0'=pc_Plan_next^post_23, x^0'=x^post_23, x_next^0'=x_next^post_23, y^0'=y^post_23, y_next^0'=y_next^post_23, [ is_aborted_next^post_23==is_aborted_next^post_23 && x_next^post_23==x_next^post_23 && y_next^post_23==y_next^post_23 && pc_Plan_next^post_23==pc_Plan_next^post_23 && pc_Drive_next^post_23==pc_Drive_next^post_23 && 0<=is_aborted_next^post_23 && is_aborted_next^post_23<=1 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=8 && 1<=pc_Drive_next^post_23 && 1+pc_Drive_next^post_23<=8 && 5<=pc_Drive_next^post_23 && x_next^post_23<=x^0 && x^0<=x_next^post_23 && y_next^post_23<=y^0 && y^0<=y_next^post_23 && is_aborted^post_23==is_aborted_next^post_23 && x^post_23==x_next^post_23 && y^post_23==y_next^post_23 && pc_Plan^post_23==pc_Plan_next^post_23 && pc_Drive^post_23==pc_Drive_next^post_23 && 1<=is_aborted^post_23 && pc_Loop^post_23==6 && executed_Drive^0==executed_Drive^post_23 && fair^0==fair^post_23 && n0^0==n0^post_23 && n1^0==n1^post_23 ], cost: 1
     23: l5 -> l2 : executed_Drive^0'=executed_Drive^post_24, fair^0'=fair^post_24, is_aborted^0'=is_aborted^post_24, is_aborted_next^0'=is_aborted_next^post_24, n0^0'=n0^post_24, n1^0'=n1^post_24, pc_Drive^0'=pc_Drive^post_24, pc_Drive_next^0'=pc_Drive_next^post_24, pc_Loop^0'=pc_Loop^post_24, pc_Plan^0'=pc_Plan^post_24, pc_Plan_next^0'=pc_Plan_next^post_24, x^0'=x^post_24, x_next^0'=x_next^post_24, y^0'=y^post_24, y_next^0'=y_next^post_24, [ is_aborted_next^post_24==is_aborted_next^post_24 && x_next^post_24==x_next^post_24 && y_next^post_24==y_next^post_24 && pc_Plan_next^post_24==pc_Plan_next^post_24 && pc_Drive_next^post_24==pc_Drive_next^post_24 && 0<=is_aborted_next^post_24 && is_aborted_next^post_24<=1 && 1<=pc_Plan_next^post_24 && 1+pc_Plan_next^post_24<=8 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=8 && 1+pc_Drive_next^post_24<=4 && x_next^post_24<=x^0 && x^0<=x_next^post_24 && y_next^post_24<=y^0 && y^0<=y_next^post_24 && is_aborted^post_24==is_aborted_next^post_24 && x^post_24==x_next^post_24 && y^post_24==y_next^post_24 && pc_Plan^post_24==pc_Plan_next^post_24 && pc_Drive^post_24==pc_Drive_next^post_24 && 1<=is_aborted^post_24 && pc_Loop^post_24==6 && executed_Drive^0==executed_Drive^post_24 && fair^0==fair^post_24 && n0^0==n0^post_24 && n1^0==n1^post_24 ], cost: 1
     36: l6 -> l1 : executed_Drive^0'=executed_Drive^post_37, fair^0'=fair^post_37, is_aborted^0'=is_aborted^post_37, is_aborted_next^0'=is_aborted_next^post_37, n0^0'=n0^post_37, n1^0'=n1^post_37, pc_Drive^0'=pc_Drive^post_37, pc_Drive_next^0'=pc_Drive_next^post_37, pc_Loop^0'=pc_Loop^post_37, pc_Plan^0'=pc_Plan^post_37, pc_Plan_next^0'=pc_Plan_next^post_37, x^0'=x^post_37, x_next^0'=x_next^post_37, y^0'=y^post_37, y_next^0'=y_next^post_37, [ executed_Drive^0==executed_Drive^post_37 && fair^0==fair^post_37 && is_aborted^0==is_aborted^post_37 && is_aborted_next^0==is_aborted_next^post_37 && n0^0==n0^post_37 && n1^0==n1^post_37 && pc_Drive^0==pc_Drive^post_37 && pc_Drive_next^0==pc_Drive_next^post_37 && pc_Loop^0==pc_Loop^post_37 && pc_Plan^0==pc_Plan^post_37 && pc_Plan_next^0==pc_Plan_next^post_37 && x^0==x^post_37 && x_next^0==x_next^post_37 && y^0==y^post_37 && y_next^0==y_next^post_37 ], cost: 1
     37: l7 -> l6 : executed_Drive^0'=executed_Drive^post_38, fair^0'=fair^post_38, is_aborted^0'=is_aborted^post_38, is_aborted_next^0'=is_aborted_next^post_38, n0^0'=n0^post_38, n1^0'=n1^post_38, pc_Drive^0'=pc_Drive^post_38, pc_Drive_next^0'=pc_Drive_next^post_38, pc_Loop^0'=pc_Loop^post_38, pc_Plan^0'=pc_Plan^post_38, pc_Plan_next^0'=pc_Plan_next^post_38, x^0'=x^post_38, x_next^0'=x_next^post_38, y^0'=y^post_38, y_next^0'=y_next^post_38, [ executed_Drive^0==executed_Drive^post_38 && fair^0==fair^post_38 && is_aborted^0==is_aborted^post_38 && is_aborted_next^0==is_aborted_next^post_38 && n0^0==n0^post_38 && n1^0==n1^post_38 && pc_Drive^0==pc_Drive^post_38 && pc_Drive_next^0==pc_Drive_next^post_38 && pc_Loop^0==pc_Loop^post_38 && pc_Plan^0==pc_Plan^post_38 && pc_Plan_next^0==pc_Plan_next^post_38 && x^0==x^post_38 && x_next^0==x_next^post_38 && y^0==y^post_38 && y_next^0==y_next^post_38 ], cost: 1

Checking for constant complexity:
   The following rule is satisfiable with cost >= 1, yielding constant complexity:
     37: l7 -> l6 : executed_Drive^0'=executed_Drive^post_38, fair^0'=fair^post_38, is_aborted^0'=is_aborted^post_38, is_aborted_next^0'=is_aborted_next^post_38, n0^0'=n0^post_38, n1^0'=n1^post_38, pc_Drive^0'=pc_Drive^post_38, pc_Drive_next^0'=pc_Drive_next^post_38, pc_Loop^0'=pc_Loop^post_38, pc_Plan^0'=pc_Plan^post_38, pc_Plan_next^0'=pc_Plan_next^post_38, x^0'=x^post_38, x_next^0'=x_next^post_38, y^0'=y^post_38, y_next^0'=y_next^post_38, [ executed_Drive^0==executed_Drive^post_38 && fair^0==fair^post_38 && is_aborted^0==is_aborted^post_38 && is_aborted_next^0==is_aborted_next^post_38 && n0^0==n0^post_38 && n1^0==n1^post_38 && pc_Drive^0==pc_Drive^post_38 && pc_Drive_next^0==pc_Drive_next^post_38 && pc_Loop^0==pc_Loop^post_38 && pc_Plan^0==pc_Plan^post_38 && pc_Plan_next^0==pc_Plan_next^post_38 && x^0==x^post_38 && x_next^0==x_next^post_38 && y^0==y^post_38 && y_next^0==y_next^post_38 ], cost: 1

Removed rules with unsatisfiable guard:
   Start location: l7
     30: l1 -> l0 : executed_Drive^0'=executed_Drive^post_31, fair^0'=fair^post_31, is_aborted^0'=is_aborted^post_31, is_aborted_next^0'=is_aborted_next^post_31, n0^0'=n0^post_31, n1^0'=n1^post_31, pc_Drive^0'=pc_Drive^post_31, pc_Drive_next^0'=pc_Drive_next^post_31, pc_Loop^0'=pc_Loop^post_31, pc_Plan^0'=pc_Plan^post_31, pc_Plan_next^0'=pc_Plan_next^post_31, x^0'=x^post_31, x_next^0'=x_next^post_31, y^0'=y^post_31, y_next^0'=y_next^post_31, [ 1<=fair^0 && fair^post_31==-1+fair^0 && is_aborted_next^post_31==is_aborted_next^post_31 && x_next^post_31==x_next^post_31 && y_next^post_31==y_next^post_31 && pc_Plan_next^post_31==pc_Plan_next^post_31 && pc_Drive_next^post_31==pc_Drive_next^post_31 && 0<=is_aborted_next^post_31 && is_aborted_next^post_31<=1 && 1<=pc_Plan_next^post_31 && 1+pc_Plan_next^post_31<=8 && 1<=pc_Drive_next^post_31 && 1+pc_Drive_next^post_31<=8 && 1+pc_Drive_next^post_31<=4 && executed_Drive^post_31==0 && x_next^post_31<=x^0 && x^0<=x_next^post_31 && y_next^post_31<=y^0 && y^0<=y_next^post_31 && is_aborted^post_31==is_aborted_next^post_31 && x^post_31==x_next^post_31 && y^post_31==y_next^post_31 && pc_Plan^post_31==pc_Plan_next^post_31 && pc_Drive^post_31==pc_Drive_next^post_31 && 1<=is_aborted^post_31 && pc_Loop^post_31==7 && n0^0==n0^post_31 && n1^0==n1^post_31 ], cost: 1
     31: l1 -> l4 : executed_Drive^0'=executed_Drive^post_32, fair^0'=fair^post_32, is_aborted^0'=is_aborted^post_32, is_aborted_next^0'=is_aborted_next^post_32, n0^0'=n0^post_32, n1^0'=n1^post_32, pc_Drive^0'=pc_Drive^post_32, pc_Drive_next^0'=pc_Drive_next^post_32, pc_Loop^0'=pc_Loop^post_32, pc_Plan^0'=pc_Plan^post_32, pc_Plan_next^0'=pc_Plan_next^post_32, x^0'=x^post_32, x_next^0'=x_next^post_32, y^0'=y^post_32, y_next^0'=y_next^post_32, [ is_aborted_next^post_32==is_aborted_next^post_32 && x_next^post_32==x_next^post_32 && y_next^post_32==y_next^post_32 && pc_Plan_next^post_32==pc_Plan_next^post_32 && pc_Drive_next^post_32==pc_Drive_next^post_32 && 0<=is_aborted_next^post_32 && is_aborted_next^post_32<=1 && 1<=pc_Plan_next^post_32 && 1+pc_Plan_next^post_32<=8 && 1<=pc_Drive_next^post_32 && 1+pc_Drive_next^post_32<=8 && pc_Drive_next^post_32<=4 && 4<=pc_Drive_next^post_32 && executed_Drive^post_32==1 && x_next^post_32<=1+x^0 && 1+x^0<=x_next^post_32 && y_next^post_32<=1+y^0 && 1+y^0<=y_next^post_32 && is_aborted^post_32==is_aborted_next^post_32 && x^post_32==x_next^post_32 && y^post_32==y_next^post_32 && pc_Plan^post_32==pc_Plan_next^post_32 && pc_Drive^post_32==pc_Drive_next^post_32 && is_aborted^post_32<=0 && pc_Plan^post_32<=3 && 3<=pc_Plan^post_32 && pc_Loop^post_32==2 && fair^0==fair^post_32 && n0^0==n0^post_32 && n1^0==n1^post_32 ], cost: 1
     32: l1 -> l4 : executed_Drive^0'=executed_Drive^post_33, fair^0'=fair^post_33, is_aborted^0'=is_aborted^post_33, is_aborted_next^0'=is_aborted_next^post_33, n0^0'=n0^post_33, n1^0'=n1^post_33, pc_Drive^0'=pc_Drive^post_33, pc_Drive_next^0'=pc_Drive_next^post_33, pc_Loop^0'=pc_Loop^post_33, pc_Plan^0'=pc_Plan^post_33, pc_Plan_next^0'=pc_Plan_next^post_33, x^0'=x^post_33, x_next^0'=x_next^post_33, y^0'=y^post_33, y_next^0'=y_next^post_33, [ is_aborted_next^post_33==is_aborted_next^post_33 && x_next^post_33==x_next^post_33 && y_next^post_33==y_next^post_33 && pc_Plan_next^post_33==pc_Plan_next^post_33 && pc_Drive_next^post_33==pc_Drive_next^post_33 && 0<=is_aborted_next^post_33 && is_aborted_next^post_33<=1 && 1<=pc_Plan_next^post_33 && 1+pc_Plan_next^post_33<=8 && 1<=pc_Drive_next^post_33 && 1+pc_Drive_next^post_33<=8 && 5<=pc_Drive_next^post_33 && executed_Drive^post_33==0 && x_next^post_33<=x^0 && x^0<=x_next^post_33 && y_next^post_33<=y^0 && y^0<=y_next^post_33 && is_aborted^post_33==is_aborted_next^post_33 && x^post_33==x_next^post_33 && y^post_33==y_next^post_33 && pc_Plan^post_33==pc_Plan_next^post_33 && pc_Drive^post_33==pc_Drive_next^post_33 && is_aborted^post_33<=0 && pc_Plan^post_33<=3 && 3<=pc_Plan^post_33 && pc_Loop^post_33==2 && fair^0==fair^post_33 && n0^0==n0^post_33 && n1^0==n1^post_33 ], cost: 1
     33: l1 -> l4 : executed_Drive^0'=executed_Drive^post_34, fair^0'=fair^post_34, is_aborted^0'=is_aborted^post_34, is_aborted_next^0'=is_aborted_next^post_34, n0^0'=n0^post_34, n1^0'=n1^post_34, pc_Drive^0'=pc_Drive^post_34, pc_Drive_next^0'=pc_Drive_next^post_34, pc_Loop^0'=pc_Loop^post_34, pc_Plan^0'=pc_Plan^post_34, pc_Plan_next^0'=pc_Plan_next^post_34, x^0'=x^post_34, x_next^0'=x_next^post_34, y^0'=y^post_34, y_next^0'=y_next^post_34, [ is_aborted_next^post_34==is_aborted_next^post_34 && x_next^post_34==x_next^post_34 && y_next^post_34==y_next^post_34 && pc_Plan_next^post_34==pc_Plan_next^post_34 && pc_Drive_next^post_34==pc_Drive_next^post_34 && 0<=is_aborted_next^post_34 && is_aborted_next^post_34<=1 && 1<=pc_Plan_next^post_34 && 1+pc_Plan_next^post_34<=8 && 1<=pc_Drive_next^post_34 && 1+pc_Drive_next^post_34<=8 && 1+pc_Drive_next^post_34<=4 && executed_Drive^post_34==0 && x_next^post_34<=x^0 && x^0<=x_next^post_34 && y_next^post_34<=y^0 && y^0<=y_next^post_34 && is_aborted^post_34==is_aborted_next^post_34 && x^post_34==x_next^post_34 && y^post_34==y_next^post_34 && pc_Plan^post_34==pc_Plan_next^post_34 && pc_Drive^post_34==pc_Drive_next^post_34 && is_aborted^post_34<=0 && pc_Plan^post_34<=3 && 3<=pc_Plan^post_34 && pc_Loop^post_34==2 && fair^0==fair^post_34 && n0^0==n0^post_34 && n1^0==n1^post_34 ], cost: 1
     34: l1 -> l0 : executed_Drive^0'=executed_Drive^post_35, fair^0'=fair^post_35, is_aborted^0'=is_aborted^post_35, is_aborted_next^0'=is_aborted_next^post_35, n0^0'=n0^post_35, n1^0'=n1^post_35, pc_Drive^0'=pc_Drive^post_35, pc_Drive_next^0'=pc_Drive_next^post_35, pc_Loop^0'=pc_Loop^post_35, pc_Plan^0'=pc_Plan^post_35, pc_Plan_next^0'=pc_Plan_next^post_35, x^0'=x^post_35, x_next^0'=x_next^post_35, y^0'=y^post_35, y_next^0'=y_next^post_35, [ is_aborted_next^post_35==is_aborted_next^post_35 && x_next^post_35==x_next^post_35 && y_next^post_35==y_next^post_35 && pc_Plan_next^post_35==pc_Plan_next^post_35 && pc_Drive_next^post_35==pc_Drive_next^post_35 && 0<=is_aborted_next^post_35 && is_aborted_next^post_35<=1 && 1<=pc_Plan_next^post_35 && 1+pc_Plan_next^post_35<=8 && 1<=pc_Drive_next^post_35 && 1+pc_Drive_next^post_35<=8 && pc_Drive_next^post_35<=4 && 4<=pc_Drive_next^post_35 && executed_Drive^post_35==1 && x_next^post_35<=1+x^0 && 1+x^0<=x_next^post_35 && y_next^post_35<=1+y^0 && 1+y^0<=y_next^post_35 && is_aborted^post_35==is_aborted_next^post_35 && x^post_35==x_next^post_35 && y^post_35==y_next^post_35 && pc_Plan^post_35==pc_Plan_next^post_35 && pc_Drive^post_35==pc_Drive_next^post_35 && 1<=is_aborted^post_35 && pc_Loop^post_35==7 && fair^0==fair^post_35 && n0^0==n0^post_35 && n1^0==n1^post_35 ], cost: 1
     35: l1 -> l0 : executed_Drive^0'=executed_Drive^post_36, fair^0'=fair^post_36, is_aborted^0'=is_aborted^post_36, is_aborted_next^0'=is_aborted_next^post_36, n0^0'=n0^post_36, n1^0'=n1^post_36, pc_Drive^0'=pc_Drive^post_36, pc_Drive_next^0'=pc_Drive_next^post_36, pc_Loop^0'=pc_Loop^post_36, pc_Plan^0'=pc_Plan^post_36, pc_Plan_next^0'=pc_Plan_next^post_36, x^0'=x^post_36, x_next^0'=x_next^post_36, y^0'=y^post_36, y_next^0'=y_next^post_36, [ is_aborted_next^post_36==is_aborted_next^post_36 && x_next^post_36==x_next^post_36 && y_next^post_36==y_next^post_36 && pc_Plan_next^post_36==pc_Plan_next^post_36 && pc_Drive_next^post_36==pc_Drive_next^post_36 && 0<=is_aborted_next^post_36 && is_aborted_next^post_36<=1 && 1<=pc_Plan_next^post_36 && 1+pc_Plan_next^post_36<=8 && 1<=pc_Drive_next^post_36 && 1+pc_Drive_next^post_36<=8 && 5<=pc_Drive_next^post_36 && executed_Drive^post_36==0 && x_next^post_36<=x^0 && x^0<=x_next^post_36 && y_next^post_36<=y^0 && y^0<=y_next^post_36 && is_aborted^post_36==is_aborted_next^post_36 && x^post_36==x_next^post_36 && y^post_36==y_next^post_36 && pc_Plan^post_36==pc_Plan_next^post_36 && pc_Drive^post_36==pc_Drive_next^post_36 && 1<=is_aborted^post_36 && pc_Loop^post_36==7 && fair^0==fair^post_36 && n0^0==n0^post_36 && n1^0==n1^post_36 ], cost: 1
      7: l2 -> l3 : executed_Drive^0'=executed_Drive^post_8, fair^0'=fair^post_8, is_aborted^0'=is_aborted^post_8, is_aborted_next^0'=is_aborted_next^post_8, n0^0'=n0^post_8, n1^0'=n1^post_8, pc_Drive^0'=pc_Drive^post_8, pc_Drive_next^0'=pc_Drive_next^post_8, pc_Loop^0'=pc_Loop^post_8, pc_Plan^0'=pc_Plan^post_8, pc_Plan_next^0'=pc_Plan_next^post_8, x^0'=x^post_8, x_next^0'=x_next^post_8, y^0'=y^post_8, y_next^0'=y_next^post_8, [ is_aborted_next^post_8==is_aborted_next^post_8 && x_next^post_8==x_next^post_8 && y_next^post_8==y_next^post_8 && pc_Plan_next^post_8==pc_Plan_next^post_8 && pc_Drive_next^post_8==pc_Drive_next^post_8 && 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && 1<=pc_Drive_next^post_8 && 1+pc_Drive_next^post_8<=8 && 5<=pc_Drive_next^post_8 && x_next^post_8<=x^0 && x^0<=x_next^post_8 && y_next^post_8<=y^0 && y^0<=y_next^post_8 && is_aborted^post_8==is_aborted_next^post_8 && x^post_8==x_next^post_8 && y^post_8==y_next^post_8 && pc_Plan^post_8==pc_Plan_next^post_8 && pc_Drive^post_8==pc_Drive_next^post_8 && pc_Drive^post_8<=7 && 7<=pc_Drive^post_8 && executed_Drive^0<=1 && 1<=executed_Drive^0 && pc_Loop^post_8==4 && executed_Drive^0==executed_Drive^post_8 && fair^0==fair^post_8 && n0^0==n0^post_8 && n1^0==n1^post_8 ], cost: 1
     11: l2 -> l3 : executed_Drive^0'=executed_Drive^post_12, fair^0'=fair^post_12, is_aborted^0'=is_aborted^post_12, is_aborted_next^0'=is_aborted_next^post_12, n0^0'=n0^post_12, n1^0'=n1^post_12, pc_Drive^0'=pc_Drive^post_12, pc_Drive_next^0'=pc_Drive_next^post_12, pc_Loop^0'=pc_Loop^post_12, pc_Plan^0'=pc_Plan^post_12, pc_Plan_next^0'=pc_Plan_next^post_12, x^0'=x^post_12, x_next^0'=x_next^post_12, y^0'=y^post_12, y_next^0'=y_next^post_12, [ is_aborted_next^post_12==is_aborted_next^post_12 && x_next^post_12==x_next^post_12 && y_next^post_12==y_next^post_12 && pc_Plan_next^post_12==pc_Plan_next^post_12 && pc_Drive_next^post_12==pc_Drive_next^post_12 && is_aborted_next^post_12<=1 && 1<=is_aborted_next^post_12 && 0<=is_aborted_next^post_12 && is_aborted_next^post_12<=1 && 1<=pc_Plan_next^post_12 && 1+pc_Plan_next^post_12<=8 && 1<=pc_Drive_next^post_12 && 1+pc_Drive_next^post_12<=8 && 1+pc_Drive_next^post_12<=4 && x_next^post_12<=x^0 && x^0<=x_next^post_12 && y_next^post_12<=y^0 && y^0<=y_next^post_12 && is_aborted^post_12==is_aborted_next^post_12 && x^post_12==x_next^post_12 && y^post_12==y_next^post_12 && pc_Plan^post_12==pc_Plan_next^post_12 && pc_Drive^post_12==pc_Drive_next^post_12 && pc_Drive^post_12<=2 && 2<=pc_Drive^post_12 && executed_Drive^post_12==0 && pc_Loop^post_12==4 && fair^0==fair^post_12 && n0^0==n0^post_12 && n1^0==n1^post_12 ], cost: 1
     12: l3 -> l0 : executed_Drive^0'=executed_Drive^post_13, fair^0'=fair^post_13, is_aborted^0'=is_aborted^post_13, is_aborted_next^0'=is_aborted_next^post_13, n0^0'=n0^post_13, n1^0'=n1^post_13, pc_Drive^0'=pc_Drive^post_13, pc_Drive_next^0'=pc_Drive_next^post_13, pc_Loop^0'=pc_Loop^post_13, pc_Plan^0'=pc_Plan^post_13, pc_Plan_next^0'=pc_Plan_next^post_13, x^0'=x^post_13, x_next^0'=x_next^post_13, y^0'=y^post_13, y_next^0'=y_next^post_13, [ is_aborted_next^post_13==is_aborted_next^post_13 && x_next^post_13==x_next^post_13 && y_next^post_13==y_next^post_13 && pc_Plan_next^post_13==pc_Plan_next^post_13 && pc_Drive_next^post_13==pc_Drive_next^post_13 && 0<=is_aborted_next^post_13 && is_aborted_next^post_13<=1 && 1<=pc_Plan_next^post_13 && 1+pc_Plan_next^post_13<=8 && 1<=pc_Drive_next^post_13 && 1+pc_Drive_next^post_13<=8 && pc_Drive_next^post_13<=4 && 4<=pc_Drive_next^post_13 && executed_Drive^post_13==1 && x_next^post_13<=1+x^0 && 1+x^0<=x_next^post_13 && y_next^post_13<=1+y^0 && 1+y^0<=y_next^post_13 && is_aborted^post_13==is_aborted_next^post_13 && x^post_13==x_next^post_13 && y^post_13==y_next^post_13 && pc_Plan^post_13==pc_Plan_next^post_13 && pc_Drive^post_13==pc_Drive_next^post_13 && 1<=is_aborted^post_13 && pc_Loop^post_13==7 && fair^0==fair^post_13 && n0^0==n0^post_13 && n1^0==n1^post_13 ], cost: 1
     13: l3 -> l0 : executed_Drive^0'=executed_Drive^post_14, fair^0'=fair^post_14, is_aborted^0'=is_aborted^post_14, is_aborted_next^0'=is_aborted_next^post_14, n0^0'=n0^post_14, n1^0'=n1^post_14, pc_Drive^0'=pc_Drive^post_14, pc_Drive_next^0'=pc_Drive_next^post_14, pc_Loop^0'=pc_Loop^post_14, pc_Plan^0'=pc_Plan^post_14, pc_Plan_next^0'=pc_Plan_next^post_14, x^0'=x^post_14, x_next^0'=x_next^post_14, y^0'=y^post_14, y_next^0'=y_next^post_14, [ is_aborted_next^post_14==is_aborted_next^post_14 && x_next^post_14==x_next^post_14 && y_next^post_14==y_next^post_14 && pc_Plan_next^post_14==pc_Plan_next^post_14 && pc_Drive_next^post_14==pc_Drive_next^post_14 && 0<=is_aborted_next^post_14 && is_aborted_next^post_14<=1 && 1<=pc_Plan_next^post_14 && 1+pc_Plan_next^post_14<=8 && 1<=pc_Drive_next^post_14 && 1+pc_Drive_next^post_14<=8 && 5<=pc_Drive_next^post_14 && x_next^post_14<=x^0 && x^0<=x_next^post_14 && y_next^post_14<=y^0 && y^0<=y_next^post_14 && is_aborted^post_14==is_aborted_next^post_14 && x^post_14==x_next^post_14 && y^post_14==y_next^post_14 && pc_Plan^post_14==pc_Plan_next^post_14 && pc_Drive^post_14==pc_Drive_next^post_14 && 1<=is_aborted^post_14 && pc_Loop^post_14==7 && executed_Drive^0==executed_Drive^post_14 && fair^0==fair^post_14 && n0^0==n0^post_14 && n1^0==n1^post_14 ], cost: 1
     14: l3 -> l0 : executed_Drive^0'=executed_Drive^post_15, fair^0'=fair^post_15, is_aborted^0'=is_aborted^post_15, is_aborted_next^0'=is_aborted_next^post_15, n0^0'=n0^post_15, n1^0'=n1^post_15, pc_Drive^0'=pc_Drive^post_15, pc_Drive_next^0'=pc_Drive_next^post_15, pc_Loop^0'=pc_Loop^post_15, pc_Plan^0'=pc_Plan^post_15, pc_Plan_next^0'=pc_Plan_next^post_15, x^0'=x^post_15, x_next^0'=x_next^post_15, y^0'=y^post_15, y_next^0'=y_next^post_15, [ is_aborted_next^post_15==is_aborted_next^post_15 && x_next^post_15==x_next^post_15 && y_next^post_15==y_next^post_15 && pc_Plan_next^post_15==pc_Plan_next^post_15 && pc_Drive_next^post_15==pc_Drive_next^post_15 && 0<=is_aborted_next^post_15 && is_aborted_next^post_15<=1 && 1<=pc_Plan_next^post_15 && 1+pc_Plan_next^post_15<=8 && 1<=pc_Drive_next^post_15 && 1+pc_Drive_next^post_15<=8 && 1+pc_Drive_next^post_15<=4 && x_next^post_15<=x^0 && x^0<=x_next^post_15 && y_next^post_15<=y^0 && y^0<=y_next^post_15 && is_aborted^post_15==is_aborted_next^post_15 && x^post_15==x_next^post_15 && y^post_15==y_next^post_15 && pc_Plan^post_15==pc_Plan_next^post_15 && pc_Drive^post_15==pc_Drive_next^post_15 && 1<=is_aborted^post_15 && pc_Loop^post_15==7 && executed_Drive^0==executed_Drive^post_15 && fair^0==fair^post_15 && n0^0==n0^post_15 && n1^0==n1^post_15 ], cost: 1
     15: l3 -> l0 : executed_Drive^0'=executed_Drive^post_16, fair^0'=fair^post_16, is_aborted^0'=is_aborted^post_16, is_aborted_next^0'=is_aborted_next^post_16, n0^0'=n0^post_16, n1^0'=n1^post_16, pc_Drive^0'=pc_Drive^post_16, pc_Drive_next^0'=pc_Drive_next^post_16, pc_Loop^0'=pc_Loop^post_16, pc_Plan^0'=pc_Plan^post_16, pc_Plan_next^0'=pc_Plan_next^post_16, x^0'=x^post_16, x_next^0'=x_next^post_16, y^0'=y^post_16, y_next^0'=y_next^post_16, [ is_aborted_next^post_16==is_aborted_next^post_16 && x_next^post_16==x_next^post_16 && y_next^post_16==y_next^post_16 && pc_Plan_next^post_16==pc_Plan_next^post_16 && pc_Drive_next^post_16==pc_Drive_next^post_16 && 0<=is_aborted_next^post_16 && is_aborted_next^post_16<=1 && 1<=pc_Plan_next^post_16 && 1+pc_Plan_next^post_16<=8 && 1<=pc_Drive_next^post_16 && 1+pc_Drive_next^post_16<=8 && pc_Drive_next^post_16<=4 && 4<=pc_Drive_next^post_16 && executed_Drive^post_16==1 && x_next^post_16<=1+x^0 && 1+x^0<=x_next^post_16 && y_next^post_16<=1+y^0 && 1+y^0<=y_next^post_16 && is_aborted^post_16==is_aborted_next^post_16 && x^post_16==x_next^post_16 && y^post_16==y_next^post_16 && pc_Plan^post_16==pc_Plan_next^post_16 && pc_Drive^post_16==pc_Drive_next^post_16 && is_aborted^post_16<=0 && n0^0<=x^post_16 && n1^0<=y^post_16 && pc_Loop^post_16==7 && fair^0==fair^post_16 && n0^0==n0^post_16 && n1^0==n1^post_16 ], cost: 1
     16: l3 -> l0 : executed_Drive^0'=executed_Drive^post_17, fair^0'=fair^post_17, is_aborted^0'=is_aborted^post_17, is_aborted_next^0'=is_aborted_next^post_17, n0^0'=n0^post_17, n1^0'=n1^post_17, pc_Drive^0'=pc_Drive^post_17, pc_Drive_next^0'=pc_Drive_next^post_17, pc_Loop^0'=pc_Loop^post_17, pc_Plan^0'=pc_Plan^post_17, pc_Plan_next^0'=pc_Plan_next^post_17, x^0'=x^post_17, x_next^0'=x_next^post_17, y^0'=y^post_17, y_next^0'=y_next^post_17, [ is_aborted_next^post_17==is_aborted_next^post_17 && x_next^post_17==x_next^post_17 && y_next^post_17==y_next^post_17 && pc_Plan_next^post_17==pc_Plan_next^post_17 && pc_Drive_next^post_17==pc_Drive_next^post_17 && 0<=is_aborted_next^post_17 && is_aborted_next^post_17<=1 && 1<=pc_Plan_next^post_17 && 1+pc_Plan_next^post_17<=8 && 1<=pc_Drive_next^post_17 && 1+pc_Drive_next^post_17<=8 && 5<=pc_Drive_next^post_17 && x_next^post_17<=x^0 && x^0<=x_next^post_17 && y_next^post_17<=y^0 && y^0<=y_next^post_17 && is_aborted^post_17==is_aborted_next^post_17 && x^post_17==x_next^post_17 && y^post_17==y_next^post_17 && pc_Plan^post_17==pc_Plan_next^post_17 && pc_Drive^post_17==pc_Drive_next^post_17 && is_aborted^post_17<=0 && n0^0<=x^post_17 && n1^0<=y^post_17 && pc_Loop^post_17==7 && executed_Drive^0==executed_Drive^post_17 && fair^0==fair^post_17 && n0^0==n0^post_17 && n1^0==n1^post_17 ], cost: 1
     17: l3 -> l0 : executed_Drive^0'=executed_Drive^post_18, fair^0'=fair^post_18, is_aborted^0'=is_aborted^post_18, is_aborted_next^0'=is_aborted_next^post_18, n0^0'=n0^post_18, n1^0'=n1^post_18, pc_Drive^0'=pc_Drive^post_18, pc_Drive_next^0'=pc_Drive_next^post_18, pc_Loop^0'=pc_Loop^post_18, pc_Plan^0'=pc_Plan^post_18, pc_Plan_next^0'=pc_Plan_next^post_18, x^0'=x^post_18, x_next^0'=x_next^post_18, y^0'=y^post_18, y_next^0'=y_next^post_18, [ is_aborted_next^post_18==is_aborted_next^post_18 && x_next^post_18==x_next^post_18 && y_next^post_18==y_next^post_18 && pc_Plan_next^post_18==pc_Plan_next^post_18 && pc_Drive_next^post_18==pc_Drive_next^post_18 && 0<=is_aborted_next^post_18 && is_aborted_next^post_18<=1 && 1<=pc_Plan_next^post_18 && 1+pc_Plan_next^post_18<=8 && 1<=pc_Drive_next^post_18 && 1+pc_Drive_next^post_18<=8 && 1+pc_Drive_next^post_18<=4 && x_next^post_18<=x^0 && x^0<=x_next^post_18 && y_next^post_18<=y^0 && y^0<=y_next^post_18 && is_aborted^post_18==is_aborted_next^post_18 && x^post_18==x_next^post_18 && y^post_18==y_next^post_18 && pc_Plan^post_18==pc_Plan_next^post_18 && pc_Drive^post_18==pc_Drive_next^post_18 && is_aborted^post_18<=0 && n0^0<=x^post_18 && n1^0<=y^post_18 && pc_Loop^post_18==7 && executed_Drive^0==executed_Drive^post_18 && fair^0==fair^post_18 && n0^0==n0^post_18 && n1^0==n1^post_18 ], cost: 1
     18: l3 -> l4 : executed_Drive^0'=executed_Drive^post_19, fair^0'=fair^post_19, is_aborted^0'=is_aborted^post_19, is_aborted_next^0'=is_aborted_next^post_19, n0^0'=n0^post_19, n1^0'=n1^post_19, pc_Drive^0'=pc_Drive^post_19, pc_Drive_next^0'=pc_Drive_next^post_19, pc_Loop^0'=pc_Loop^post_19, pc_Plan^0'=pc_Plan^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=x^post_19, x_next^0'=x_next^post_19, y^0'=y^post_19, y_next^0'=y_next^post_19, [ is_aborted_next^post_19==is_aborted_next^post_19 && x_next^post_19==x_next^post_19 && y_next^post_19==y_next^post_19 && pc_Plan_next^post_19==pc_Plan_next^post_19 && pc_Drive_next^post_19==pc_Drive_next^post_19 && 0<=is_aborted_next^post_19 && is_aborted_next^post_19<=1 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=pc_Drive_next^post_19 && 1+pc_Drive_next^post_19<=8 && pc_Drive_next^post_19<=4 && 4<=pc_Drive_next^post_19 && executed_Drive^post_19==1 && x_next^post_19<=1+x^0 && 1+x^0<=x_next^post_19 && y_next^post_19<=1+y^0 && 1+y^0<=y_next^post_19 && is_aborted^post_19==is_aborted_next^post_19 && x^post_19==x_next^post_19 && y^post_19==y_next^post_19 && pc_Plan^post_19==pc_Plan_next^post_19 && pc_Drive^post_19==pc_Drive_next^post_19 && is_aborted^post_19<=0 && 1<=n0^0 && 1<=n1^0 && 1+x^post_19<=n0^0 && 1+y^post_19<=n1^0 && executed_Drive^post_19<=1 && 1<=executed_Drive^post_19 && pc_Loop^post_19==2 && fair^0==fair^post_19 && n0^0==n0^post_19 && n1^0==n1^post_19 ], cost: 1
     19: l3 -> l4 : executed_Drive^0'=executed_Drive^post_20, fair^0'=fair^post_20, is_aborted^0'=is_aborted^post_20, is_aborted_next^0'=is_aborted_next^post_20, n0^0'=n0^post_20, n1^0'=n1^post_20, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive_next^post_20, pc_Loop^0'=pc_Loop^post_20, pc_Plan^0'=pc_Plan^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=x^post_20, x_next^0'=x_next^post_20, y^0'=y^post_20, y_next^0'=y_next^post_20, [ is_aborted_next^post_20==is_aborted_next^post_20 && x_next^post_20==x_next^post_20 && y_next^post_20==y_next^post_20 && pc_Plan_next^post_20==pc_Plan_next^post_20 && pc_Drive_next^post_20==pc_Drive_next^post_20 && 0<=is_aborted_next^post_20 && is_aborted_next^post_20<=1 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1<=pc_Drive_next^post_20 && 1+pc_Drive_next^post_20<=8 && 5<=pc_Drive_next^post_20 && x_next^post_20<=x^0 && x^0<=x_next^post_20 && y_next^post_20<=y^0 && y^0<=y_next^post_20 && is_aborted^post_20==is_aborted_next^post_20 && x^post_20==x_next^post_20 && y^post_20==y_next^post_20 && pc_Plan^post_20==pc_Plan_next^post_20 && pc_Drive^post_20==pc_Drive_next^post_20 && is_aborted^post_20<=0 && 1<=n0^0 && 1<=n1^0 && 1+x^post_20<=n0^0 && 1+y^post_20<=n1^0 && executed_Drive^0<=1 && 1<=executed_Drive^0 && pc_Loop^post_20==2 && executed_Drive^0==executed_Drive^post_20 && fair^0==fair^post_20 && n0^0==n0^post_20 && n1^0==n1^post_20 ], cost: 1
     20: l3 -> l4 : executed_Drive^0'=executed_Drive^post_21, fair^0'=fair^post_21, is_aborted^0'=is_aborted^post_21, is_aborted_next^0'=is_aborted_next^post_21, n0^0'=n0^post_21, n1^0'=n1^post_21, pc_Drive^0'=pc_Drive^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=pc_Loop^post_21, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan_next^post_21, x^0'=x^post_21, x_next^0'=x_next^post_21, y^0'=y^post_21, y_next^0'=y_next^post_21, [ is_aborted_next^post_21==is_aborted_next^post_21 && x_next^post_21==x_next^post_21 && y_next^post_21==y_next^post_21 && pc_Plan_next^post_21==pc_Plan_next^post_21 && pc_Drive_next^post_21==pc_Drive_next^post_21 && 0<=is_aborted_next^post_21 && is_aborted_next^post_21<=1 && 1<=pc_Plan_next^post_21 && 1+pc_Plan_next^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=8 && 1+pc_Drive_next^post_21<=4 && x_next^post_21<=x^0 && x^0<=x_next^post_21 && y_next^post_21<=y^0 && y^0<=y_next^post_21 && is_aborted^post_21==is_aborted_next^post_21 && x^post_21==x_next^post_21 && y^post_21==y_next^post_21 && pc_Plan^post_21==pc_Plan_next^post_21 && pc_Drive^post_21==pc_Drive_next^post_21 && is_aborted^post_21<=0 && 1<=n0^0 && 1<=n1^0 && 1+x^post_21<=n0^0 && 1+y^post_21<=n1^0 && executed_Drive^0<=1 && 1<=executed_Drive^0 && pc_Loop^post_21==2 && executed_Drive^0==executed_Drive^post_21 && fair^0==fair^post_21 && n0^0==n0^post_21 && n1^0==n1^post_21 ], cost: 1
     24: l4 -> l5 : executed_Drive^0'=executed_Drive^post_25, fair^0'=fair^post_25, is_aborted^0'=is_aborted^post_25, is_aborted_next^0'=is_aborted_next^post_25, n0^0'=n0^post_25, n1^0'=n1^post_25, pc_Drive^0'=pc_Drive^post_25, pc_Drive_next^0'=pc_Drive_next^post_25, pc_Loop^0'=pc_Loop^post_25, pc_Plan^0'=pc_Plan^post_25, pc_Plan_next^0'=pc_Plan_next^post_25, x^0'=x^post_25, x_next^0'=x_next^post_25, y^0'=y^post_25, y_next^0'=y_next^post_25, [ is_aborted_next^post_25==is_aborted_next^post_25 && x_next^post_25==x_next^post_25 && y_next^post_25==y_next^post_25 && pc_Plan_next^post_25==pc_Plan_next^post_25 && pc_Drive_next^post_25==pc_Drive_next^post_25 && 0<=is_aborted_next^post_25 && is_aborted_next^post_25<=1 && 1<=pc_Plan_next^post_25 && 1+pc_Plan_next^post_25<=8 && 1<=pc_Drive_next^post_25 && 1+pc_Drive_next^post_25<=8 && pc_Drive_next^post_25<=4 && 4<=pc_Drive_next^post_25 && executed_Drive^post_25==1 && x_next^post_25<=1+x^0 && 1+x^0<=x_next^post_25 && y_next^post_25<=1+y^0 && 1+y^0<=y_next^post_25 && is_aborted^post_25==is_aborted_next^post_25 && x^post_25==x_next^post_25 && y^post_25==y_next^post_25 && pc_Plan^post_25==pc_Plan_next^post_25 && pc_Drive^post_25==pc_Drive_next^post_25 && is_aborted^post_25<=0 && pc_Loop^post_25==3 && fair^0==fair^post_25 && n0^0==n0^post_25 && n1^0==n1^post_25 ], cost: 1
     25: l4 -> l5 : executed_Drive^0'=executed_Drive^post_26, fair^0'=fair^post_26, is_aborted^0'=is_aborted^post_26, is_aborted_next^0'=is_aborted_next^post_26, n0^0'=n0^post_26, n1^0'=n1^post_26, pc_Drive^0'=pc_Drive^post_26, pc_Drive_next^0'=pc_Drive_next^post_26, pc_Loop^0'=pc_Loop^post_26, pc_Plan^0'=pc_Plan^post_26, pc_Plan_next^0'=pc_Plan_next^post_26, x^0'=x^post_26, x_next^0'=x_next^post_26, y^0'=y^post_26, y_next^0'=y_next^post_26, [ is_aborted_next^post_26==is_aborted_next^post_26 && x_next^post_26==x_next^post_26 && y_next^post_26==y_next^post_26 && pc_Plan_next^post_26==pc_Plan_next^post_26 && pc_Drive_next^post_26==pc_Drive_next^post_26 && 0<=is_aborted_next^post_26 && is_aborted_next^post_26<=1 && 1<=pc_Plan_next^post_26 && 1+pc_Plan_next^post_26<=8 && 1<=pc_Drive_next^post_26 && 1+pc_Drive_next^post_26<=8 && 5<=pc_Drive_next^post_26 && x_next^post_26<=x^0 && x^0<=x_next^post_26 && y_next^post_26<=y^0 && y^0<=y_next^post_26 && is_aborted^post_26==is_aborted_next^post_26 && x^post_26==x_next^post_26 && y^post_26==y_next^post_26 && pc_Plan^post_26==pc_Plan_next^post_26 && pc_Drive^post_26==pc_Drive_next^post_26 && is_aborted^post_26<=0 && pc_Loop^post_26==3 && executed_Drive^0==executed_Drive^post_26 && fair^0==fair^post_26 && n0^0==n0^post_26 && n1^0==n1^post_26 ], cost: 1
     26: l4 -> l5 : executed_Drive^0'=executed_Drive^post_27, fair^0'=fair^post_27, is_aborted^0'=is_aborted^post_27, is_aborted_next^0'=is_aborted_next^post_27, n0^0'=n0^post_27, n1^0'=n1^post_27, pc_Drive^0'=pc_Drive^post_27, pc_Drive_next^0'=pc_Drive_next^post_27, pc_Loop^0'=pc_Loop^post_27, pc_Plan^0'=pc_Plan^post_27, pc_Plan_next^0'=pc_Plan_next^post_27, x^0'=x^post_27, x_next^0'=x_next^post_27, y^0'=y^post_27, y_next^0'=y_next^post_27, [ is_aborted_next^post_27==is_aborted_next^post_27 && x_next^post_27==x_next^post_27 && y_next^post_27==y_next^post_27 && pc_Plan_next^post_27==pc_Plan_next^post_27 && pc_Drive_next^post_27==pc_Drive_next^post_27 && 0<=is_aborted_next^post_27 && is_aborted_next^post_27<=1 && 1<=pc_Plan_next^post_27 && 1+pc_Plan_next^post_27<=8 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=8 && 1+pc_Drive_next^post_27<=4 && x_next^post_27<=x^0 && x^0<=x_next^post_27 && y_next^post_27<=y^0 && y^0<=y_next^post_27 && is_aborted^post_27==is_aborted_next^post_27 && x^post_27==x_next^post_27 && y^post_27==y_next^post_27 && pc_Plan^post_27==pc_Plan_next^post_27 && pc_Drive^post_27==pc_Drive_next^post_27 && is_aborted^post_27<=0 && pc_Loop^post_27==3 && executed_Drive^0==executed_Drive^post_27 && fair^0==fair^post_27 && n0^0==n0^post_27 && n1^0==n1^post_27 ], cost: 1
     27: l4 -> l0 : executed_Drive^0'=executed_Drive^post_28, fair^0'=fair^post_28, is_aborted^0'=is_aborted^post_28, is_aborted_next^0'=is_aborted_next^post_28, n0^0'=n0^post_28, n1^0'=n1^post_28, pc_Drive^0'=pc_Drive^post_28, pc_Drive_next^0'=pc_Drive_next^post_28, pc_Loop^0'=pc_Loop^post_28, pc_Plan^0'=pc_Plan^post_28, pc_Plan_next^0'=pc_Plan_next^post_28, x^0'=x^post_28, x_next^0'=x_next^post_28, y^0'=y^post_28, y_next^0'=y_next^post_28, [ is_aborted_next^post_28==is_aborted_next^post_28 && x_next^post_28==x_next^post_28 && y_next^post_28==y_next^post_28 && pc_Plan_next^post_28==pc_Plan_next^post_28 && pc_Drive_next^post_28==pc_Drive_next^post_28 && 0<=is_aborted_next^post_28 && is_aborted_next^post_28<=1 && 1<=pc_Plan_next^post_28 && 1+pc_Plan_next^post_28<=8 && 1<=pc_Drive_next^post_28 && 1+pc_Drive_next^post_28<=8 && pc_Drive_next^post_28<=4 && 4<=pc_Drive_next^post_28 && executed_Drive^post_28==1 && x_next^post_28<=1+x^0 && 1+x^0<=x_next^post_28 && y_next^post_28<=1+y^0 && 1+y^0<=y_next^post_28 && is_aborted^post_28==is_aborted_next^post_28 && x^post_28==x_next^post_28 && y^post_28==y_next^post_28 && pc_Plan^post_28==pc_Plan_next^post_28 && pc_Drive^post_28==pc_Drive_next^post_28 && 1<=is_aborted^post_28 && pc_Loop^post_28==7 && fair^0==fair^post_28 && n0^0==n0^post_28 && n1^0==n1^post_28 ], cost: 1
     28: l4 -> l0 : executed_Drive^0'=executed_Drive^post_29, fair^0'=fair^post_29, is_aborted^0'=is_aborted^post_29, is_aborted_next^0'=is_aborted_next^post_29, n0^0'=n0^post_29, n1^0'=n1^post_29, pc_Drive^0'=pc_Drive^post_29, pc_Drive_next^0'=pc_Drive_next^post_29, pc_Loop^0'=pc_Loop^post_29, pc_Plan^0'=pc_Plan^post_29, pc_Plan_next^0'=pc_Plan_next^post_29, x^0'=x^post_29, x_next^0'=x_next^post_29, y^0'=y^post_29, y_next^0'=y_next^post_29, [ is_aborted_next^post_29==is_aborted_next^post_29 && x_next^post_29==x_next^post_29 && y_next^post_29==y_next^post_29 && pc_Plan_next^post_29==pc_Plan_next^post_29 && pc_Drive_next^post_29==pc_Drive_next^post_29 && 0<=is_aborted_next^post_29 && is_aborted_next^post_29<=1 && 1<=pc_Plan_next^post_29 && 1+pc_Plan_next^post_29<=8 && 1<=pc_Drive_next^post_29 && 1+pc_Drive_next^post_29<=8 && 5<=pc_Drive_next^post_29 && x_next^post_29<=x^0 && x^0<=x_next^post_29 && y_next^post_29<=y^0 && y^0<=y_next^post_29 && is_aborted^post_29==is_aborted_next^post_29 && x^post_29==x_next^post_29 && y^post_29==y_next^post_29 && pc_Plan^post_29==pc_Plan_next^post_29 && pc_Drive^post_29==pc_Drive_next^post_29 && 1<=is_aborted^post_29 && pc_Loop^post_29==7 && executed_Drive^0==executed_Drive^post_29 && fair^0==fair^post_29 && n0^0==n0^post_29 && n1^0==n1^post_29 ], cost: 1
     29: l4 -> l0 : executed_Drive^0'=executed_Drive^post_30, fair^0'=fair^post_30, is_aborted^0'=is_aborted^post_30, is_aborted_next^0'=is_aborted_next^post_30, n0^0'=n0^post_30, n1^0'=n1^post_30, pc_Drive^0'=pc_Drive^post_30, pc_Drive_next^0'=pc_Drive_next^post_30, pc_Loop^0'=pc_Loop^post_30, pc_Plan^0'=pc_Plan^post_30, pc_Plan_next^0'=pc_Plan_next^post_30, x^0'=x^post_30, x_next^0'=x_next^post_30, y^0'=y^post_30, y_next^0'=y_next^post_30, [ is_aborted_next^post_30==is_aborted_next^post_30 && x_next^post_30==x_next^post_30 && y_next^post_30==y_next^post_30 && pc_Plan_next^post_30==pc_Plan_next^post_30 && pc_Drive_next^post_30==pc_Drive_next^post_30 && 0<=is_aborted_next^post_30 && is_aborted_next^post_30<=1 && 1<=pc_Plan_next^post_30 && 1+pc_Plan_next^post_30<=8 && 1<=pc_Drive_next^post_30 && 1+pc_Drive_next^post_30<=8 && 1+pc_Drive_next^post_30<=4 && x_next^post_30<=x^0 && x^0<=x_next^post_30 && y_next^post_30<=y^0 && y^0<=y_next^post_30 && is_aborted^post_30==is_aborted_next^post_30 && x^post_30==x_next^post_30 && y^post_30==y_next^post_30 && pc_Plan^post_30==pc_Plan_next^post_30 && pc_Drive^post_30==pc_Drive_next^post_30 && 1<=is_aborted^post_30 && pc_Loop^post_30==7 && executed_Drive^0==executed_Drive^post_30 && fair^0==fair^post_30 && n0^0==n0^post_30 && n1^0==n1^post_30 ], cost: 1
     21: l5 -> l2 : executed_Drive^0'=executed_Drive^post_22, fair^0'=fair^post_22, is_aborted^0'=is_aborted^post_22, is_aborted_next^0'=is_aborted_next^post_22, n0^0'=n0^post_22, n1^0'=n1^post_22, pc_Drive^0'=pc_Drive^post_22, pc_Drive_next^0'=pc_Drive_next^post_22, pc_Loop^0'=pc_Loop^post_22, pc_Plan^0'=pc_Plan^post_22, pc_Plan_next^0'=pc_Plan_next^post_22, x^0'=x^post_22, x_next^0'=x_next^post_22, y^0'=y^post_22, y_next^0'=y_next^post_22, [ is_aborted_next^post_22==is_aborted_next^post_22 && x_next^post_22==x_next^post_22 && y_next^post_22==y_next^post_22 && pc_Plan_next^post_22==pc_Plan_next^post_22 && pc_Drive_next^post_22==pc_Drive_next^post_22 && 0<=is_aborted_next^post_22 && is_aborted_next^post_22<=1 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=8 && 1<=pc_Drive_next^post_22 && 1+pc_Drive_next^post_22<=8 && pc_Drive_next^post_22<=4 && 4<=pc_Drive_next^post_22 && executed_Drive^post_22==1 && x_next^post_22<=1+x^0 && 1+x^0<=x_next^post_22 && y_next^post_22<=1+y^0 && 1+y^0<=y_next^post_22 && is_aborted^post_22==is_aborted_next^post_22 && x^post_22==x_next^post_22 && y^post_22==y_next^post_22 && pc_Plan^post_22==pc_Plan_next^post_22 && pc_Drive^post_22==pc_Drive_next^post_22 && 1<=is_aborted^post_22 && pc_Loop^post_22==6 && fair^0==fair^post_22 && n0^0==n0^post_22 && n1^0==n1^post_22 ], cost: 1
     22: l5 -> l2 : executed_Drive^0'=executed_Drive^post_23, fair^0'=fair^post_23, is_aborted^0'=is_aborted^post_23, is_aborted_next^0'=is_aborted_next^post_23, n0^0'=n0^post_23, n1^0'=n1^post_23, pc_Drive^0'=pc_Drive^post_23, pc_Drive_next^0'=pc_Drive_next^post_23, pc_Loop^0'=pc_Loop^post_23, pc_Plan^0'=pc_Plan^post_23, pc_Plan_next^0'=pc_Plan_next^post_23, x^0'=x^post_23, x_next^0'=x_next^post_23, y^0'=y^post_23, y_next^0'=y_next^post_23, [ is_aborted_next^post_23==is_aborted_next^post_23 && x_next^post_23==x_next^post_23 && y_next^post_23==y_next^post_23 && pc_Plan_next^post_23==pc_Plan_next^post_23 && pc_Drive_next^post_23==pc_Drive_next^post_23 && 0<=is_aborted_next^post_23 && is_aborted_next^post_23<=1 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=8 && 1<=pc_Drive_next^post_23 && 1+pc_Drive_next^post_23<=8 && 5<=pc_Drive_next^post_23 && x_next^post_23<=x^0 && x^0<=x_next^post_23 && y_next^post_23<=y^0 && y^0<=y_next^post_23 && is_aborted^post_23==is_aborted_next^post_23 && x^post_23==x_next^post_23 && y^post_23==y_next^post_23 && pc_Plan^post_23==pc_Plan_next^post_23 && pc_Drive^post_23==pc_Drive_next^post_23 && 1<=is_aborted^post_23 && pc_Loop^post_23==6 && executed_Drive^0==executed_Drive^post_23 && fair^0==fair^post_23 && n0^0==n0^post_23 && n1^0==n1^post_23 ], cost: 1
     23: l5 -> l2 : executed_Drive^0'=executed_Drive^post_24, fair^0'=fair^post_24, is_aborted^0'=is_aborted^post_24, is_aborted_next^0'=is_aborted_next^post_24, n0^0'=n0^post_24, n1^0'=n1^post_24, pc_Drive^0'=pc_Drive^post_24, pc_Drive_next^0'=pc_Drive_next^post_24, pc_Loop^0'=pc_Loop^post_24, pc_Plan^0'=pc_Plan^post_24, pc_Plan_next^0'=pc_Plan_next^post_24, x^0'=x^post_24, x_next^0'=x_next^post_24, y^0'=y^post_24, y_next^0'=y_next^post_24, [ is_aborted_next^post_24==is_aborted_next^post_24 && x_next^post_24==x_next^post_24 && y_next^post_24==y_next^post_24 && pc_Plan_next^post_24==pc_Plan_next^post_24 && pc_Drive_next^post_24==pc_Drive_next^post_24 && 0<=is_aborted_next^post_24 && is_aborted_next^post_24<=1 && 1<=pc_Plan_next^post_24 && 1+pc_Plan_next^post_24<=8 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=8 && 1+pc_Drive_next^post_24<=4 && x_next^post_24<=x^0 && x^0<=x_next^post_24 && y_next^post_24<=y^0 && y^0<=y_next^post_24 && is_aborted^post_24==is_aborted_next^post_24 && x^post_24==x_next^post_24 && y^post_24==y_next^post_24 && pc_Plan^post_24==pc_Plan_next^post_24 && pc_Drive^post_24==pc_Drive_next^post_24 && 1<=is_aborted^post_24 && pc_Loop^post_24==6 && executed_Drive^0==executed_Drive^post_24 && fair^0==fair^post_24 && n0^0==n0^post_24 && n1^0==n1^post_24 ], cost: 1
     36: l6 -> l1 : executed_Drive^0'=executed_Drive^post_37, fair^0'=fair^post_37, is_aborted^0'=is_aborted^post_37, is_aborted_next^0'=is_aborted_next^post_37, n0^0'=n0^post_37, n1^0'=n1^post_37, pc_Drive^0'=pc_Drive^post_37, pc_Drive_next^0'=pc_Drive_next^post_37, pc_Loop^0'=pc_Loop^post_37, pc_Plan^0'=pc_Plan^post_37, pc_Plan_next^0'=pc_Plan_next^post_37, x^0'=x^post_37, x_next^0'=x_next^post_37, y^0'=y^post_37, y_next^0'=y_next^post_37, [ executed_Drive^0==executed_Drive^post_37 && fair^0==fair^post_37 && is_aborted^0==is_aborted^post_37 && is_aborted_next^0==is_aborted_next^post_37 && n0^0==n0^post_37 && n1^0==n1^post_37 && pc_Drive^0==pc_Drive^post_37 && pc_Drive_next^0==pc_Drive_next^post_37 && pc_Loop^0==pc_Loop^post_37 && pc_Plan^0==pc_Plan^post_37 && pc_Plan_next^0==pc_Plan_next^post_37 && x^0==x^post_37 && x_next^0==x_next^post_37 && y^0==y^post_37 && y_next^0==y_next^post_37 ], cost: 1
     37: l7 -> l6 : executed_Drive^0'=executed_Drive^post_38, fair^0'=fair^post_38, is_aborted^0'=is_aborted^post_38, is_aborted_next^0'=is_aborted_next^post_38, n0^0'=n0^post_38, n1^0'=n1^post_38, pc_Drive^0'=pc_Drive^post_38, pc_Drive_next^0'=pc_Drive_next^post_38, pc_Loop^0'=pc_Loop^post_38, pc_Plan^0'=pc_Plan^post_38, pc_Plan_next^0'=pc_Plan_next^post_38, x^0'=x^post_38, x_next^0'=x_next^post_38, y^0'=y^post_38, y_next^0'=y_next^post_38, [ executed_Drive^0==executed_Drive^post_38 && fair^0==fair^post_38 && is_aborted^0==is_aborted^post_38 && is_aborted_next^0==is_aborted_next^post_38 && n0^0==n0^post_38 && n1^0==n1^post_38 && pc_Drive^0==pc_Drive^post_38 && pc_Drive_next^0==pc_Drive_next^post_38 && pc_Loop^0==pc_Loop^post_38 && pc_Plan^0==pc_Plan^post_38 && pc_Plan_next^0==pc_Plan_next^post_38 && x^0==x^post_38 && x_next^0==x_next^post_38 && y^0==y^post_38 && y_next^0==y_next^post_38 ], cost: 1

Removed unreachable and leaf rules:
   Start location: l7
     31: l1 -> l4 : executed_Drive^0'=executed_Drive^post_32, fair^0'=fair^post_32, is_aborted^0'=is_aborted^post_32, is_aborted_next^0'=is_aborted_next^post_32, n0^0'=n0^post_32, n1^0'=n1^post_32, pc_Drive^0'=pc_Drive^post_32, pc_Drive_next^0'=pc_Drive_next^post_32, pc_Loop^0'=pc_Loop^post_32, pc_Plan^0'=pc_Plan^post_32, pc_Plan_next^0'=pc_Plan_next^post_32, x^0'=x^post_32, x_next^0'=x_next^post_32, y^0'=y^post_32, y_next^0'=y_next^post_32, [ is_aborted_next^post_32==is_aborted_next^post_32 && x_next^post_32==x_next^post_32 && y_next^post_32==y_next^post_32 && pc_Plan_next^post_32==pc_Plan_next^post_32 && pc_Drive_next^post_32==pc_Drive_next^post_32 && 0<=is_aborted_next^post_32 && is_aborted_next^post_32<=1 && 1<=pc_Plan_next^post_32 && 1+pc_Plan_next^post_32<=8 && 1<=pc_Drive_next^post_32 && 1+pc_Drive_next^post_32<=8 && pc_Drive_next^post_32<=4 && 4<=pc_Drive_next^post_32 && executed_Drive^post_32==1 && x_next^post_32<=1+x^0 && 1+x^0<=x_next^post_32 && y_next^post_32<=1+y^0 && 1+y^0<=y_next^post_32 && is_aborted^post_32==is_aborted_next^post_32 && x^post_32==x_next^post_32 && y^post_32==y_next^post_32 && pc_Plan^post_32==pc_Plan_next^post_32 && pc_Drive^post_32==pc_Drive_next^post_32 && is_aborted^post_32<=0 && pc_Plan^post_32<=3 && 3<=pc_Plan^post_32 && pc_Loop^post_32==2 && fair^0==fair^post_32 && n0^0==n0^post_32 && n1^0==n1^post_32 ], cost: 1
     32: l1 -> l4 : executed_Drive^0'=executed_Drive^post_33, fair^0'=fair^post_33, is_aborted^0'=is_aborted^post_33, is_aborted_next^0'=is_aborted_next^post_33, n0^0'=n0^post_33, n1^0'=n1^post_33, pc_Drive^0'=pc_Drive^post_33, pc_Drive_next^0'=pc_Drive_next^post_33, pc_Loop^0'=pc_Loop^post_33, pc_Plan^0'=pc_Plan^post_33, pc_Plan_next^0'=pc_Plan_next^post_33, x^0'=x^post_33, x_next^0'=x_next^post_33, y^0'=y^post_33, y_next^0'=y_next^post_33, [ is_aborted_next^post_33==is_aborted_next^post_33 && x_next^post_33==x_next^post_33 && y_next^post_33==y_next^post_33 && pc_Plan_next^post_33==pc_Plan_next^post_33 && pc_Drive_next^post_33==pc_Drive_next^post_33 && 0<=is_aborted_next^post_33 && is_aborted_next^post_33<=1 && 1<=pc_Plan_next^post_33 && 1+pc_Plan_next^post_33<=8 && 1<=pc_Drive_next^post_33 && 1+pc_Drive_next^post_33<=8 && 5<=pc_Drive_next^post_33 && executed_Drive^post_33==0 && x_next^post_33<=x^0 && x^0<=x_next^post_33 && y_next^post_33<=y^0 && y^0<=y_next^post_33 && is_aborted^post_33==is_aborted_next^post_33 && x^post_33==x_next^post_33 && y^post_33==y_next^post_33 && pc_Plan^post_33==pc_Plan_next^post_33 && pc_Drive^post_33==pc_Drive_next^post_33 && is_aborted^post_33<=0 && pc_Plan^post_33<=3 && 3<=pc_Plan^post_33 && pc_Loop^post_33==2 && fair^0==fair^post_33 && n0^0==n0^post_33 && n1^0==n1^post_33 ], cost: 1
     33: l1 -> l4 : executed_Drive^0'=executed_Drive^post_34, fair^0'=fair^post_34, is_aborted^0'=is_aborted^post_34, is_aborted_next^0'=is_aborted_next^post_34, n0^0'=n0^post_34, n1^0'=n1^post_34, pc_Drive^0'=pc_Drive^post_34, pc_Drive_next^0'=pc_Drive_next^post_34, pc_Loop^0'=pc_Loop^post_34, pc_Plan^0'=pc_Plan^post_34, pc_Plan_next^0'=pc_Plan_next^post_34, x^0'=x^post_34, x_next^0'=x_next^post_34, y^0'=y^post_34, y_next^0'=y_next^post_34, [ is_aborted_next^post_34==is_aborted_next^post_34 && x_next^post_34==x_next^post_34 && y_next^post_34==y_next^post_34 && pc_Plan_next^post_34==pc_Plan_next^post_34 && pc_Drive_next^post_34==pc_Drive_next^post_34 && 0<=is_aborted_next^post_34 && is_aborted_next^post_34<=1 && 1<=pc_Plan_next^post_34 && 1+pc_Plan_next^post_34<=8 && 1<=pc_Drive_next^post_34 && 1+pc_Drive_next^post_34<=8 && 1+pc_Drive_next^post_34<=4 && executed_Drive^post_34==0 && x_next^post_34<=x^0 && x^0<=x_next^post_34 && y_next^post_34<=y^0 && y^0<=y_next^post_34 && is_aborted^post_34==is_aborted_next^post_34 && x^post_34==x_next^post_34 && y^post_34==y_next^post_34 && pc_Plan^post_34==pc_Plan_next^post_34 && pc_Drive^post_34==pc_Drive_next^post_34 && is_aborted^post_34<=0 && pc_Plan^post_34<=3 && 3<=pc_Plan^post_34 && pc_Loop^post_34==2 && fair^0==fair^post_34 && n0^0==n0^post_34 && n1^0==n1^post_34 ], cost: 1
      7: l2 -> l3 : executed_Drive^0'=executed_Drive^post_8, fair^0'=fair^post_8, is_aborted^0'=is_aborted^post_8, is_aborted_next^0'=is_aborted_next^post_8, n0^0'=n0^post_8, n1^0'=n1^post_8, pc_Drive^0'=pc_Drive^post_8, pc_Drive_next^0'=pc_Drive_next^post_8, pc_Loop^0'=pc_Loop^post_8, pc_Plan^0'=pc_Plan^post_8, pc_Plan_next^0'=pc_Plan_next^post_8, x^0'=x^post_8, x_next^0'=x_next^post_8, y^0'=y^post_8, y_next^0'=y_next^post_8, [ is_aborted_next^post_8==is_aborted_next^post_8 && x_next^post_8==x_next^post_8 && y_next^post_8==y_next^post_8 && pc_Plan_next^post_8==pc_Plan_next^post_8 && pc_Drive_next^post_8==pc_Drive_next^post_8 && 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && 1<=pc_Drive_next^post_8 && 1+pc_Drive_next^post_8<=8 && 5<=pc_Drive_next^post_8 && x_next^post_8<=x^0 && x^0<=x_next^post_8 && y_next^post_8<=y^0 && y^0<=y_next^post_8 && is_aborted^post_8==is_aborted_next^post_8 && x^post_8==x_next^post_8 && y^post_8==y_next^post_8 && pc_Plan^post_8==pc_Plan_next^post_8 && pc_Drive^post_8==pc_Drive_next^post_8 && pc_Drive^post_8<=7 && 7<=pc_Drive^post_8 && executed_Drive^0<=1 && 1<=executed_Drive^0 && pc_Loop^post_8==4 && executed_Drive^0==executed_Drive^post_8 && fair^0==fair^post_8 && n0^0==n0^post_8 && n1^0==n1^post_8 ], cost: 1
     11: l2 -> l3 : executed_Drive^0'=executed_Drive^post_12, fair^0'=fair^post_12, is_aborted^0'=is_aborted^post_12, is_aborted_next^0'=is_aborted_next^post_12, n0^0'=n0^post_12, n1^0'=n1^post_12, pc_Drive^0'=pc_Drive^post_12, pc_Drive_next^0'=pc_Drive_next^post_12, pc_Loop^0'=pc_Loop^post_12, pc_Plan^0'=pc_Plan^post_12, pc_Plan_next^0'=pc_Plan_next^post_12, x^0'=x^post_12, x_next^0'=x_next^post_12, y^0'=y^post_12, y_next^0'=y_next^post_12, [ is_aborted_next^post_12==is_aborted_next^post_12 && x_next^post_12==x_next^post_12 && y_next^post_12==y_next^post_12 && pc_Plan_next^post_12==pc_Plan_next^post_12 && pc_Drive_next^post_12==pc_Drive_next^post_12 && is_aborted_next^post_12<=1 && 1<=is_aborted_next^post_12 && 0<=is_aborted_next^post_12 && is_aborted_next^post_12<=1 && 1<=pc_Plan_next^post_12 && 1+pc_Plan_next^post_12<=8 && 1<=pc_Drive_next^post_12 && 1+pc_Drive_next^post_12<=8 && 1+pc_Drive_next^post_12<=4 && x_next^post_12<=x^0 && x^0<=x_next^post_12 && y_next^post_12<=y^0 && y^0<=y_next^post_12 && is_aborted^post_12==is_aborted_next^post_12 && x^post_12==x_next^post_12 && y^post_12==y_next^post_12 && pc_Plan^post_12==pc_Plan_next^post_12 && pc_Drive^post_12==pc_Drive_next^post_12 && pc_Drive^post_12<=2 && 2<=pc_Drive^post_12 && executed_Drive^post_12==0 && pc_Loop^post_12==4 && fair^0==fair^post_12 && n0^0==n0^post_12 && n1^0==n1^post_12 ], cost: 1
     18: l3 -> l4 : executed_Drive^0'=executed_Drive^post_19, fair^0'=fair^post_19, is_aborted^0'=is_aborted^post_19, is_aborted_next^0'=is_aborted_next^post_19, n0^0'=n0^post_19, n1^0'=n1^post_19, pc_Drive^0'=pc_Drive^post_19, pc_Drive_next^0'=pc_Drive_next^post_19, pc_Loop^0'=pc_Loop^post_19, pc_Plan^0'=pc_Plan^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=x^post_19, x_next^0'=x_next^post_19, y^0'=y^post_19, y_next^0'=y_next^post_19, [ is_aborted_next^post_19==is_aborted_next^post_19 && x_next^post_19==x_next^post_19 && y_next^post_19==y_next^post_19 && pc_Plan_next^post_19==pc_Plan_next^post_19 && pc_Drive_next^post_19==pc_Drive_next^post_19 && 0<=is_aborted_next^post_19 && is_aborted_next^post_19<=1 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=pc_Drive_next^post_19 && 1+pc_Drive_next^post_19<=8 && pc_Drive_next^post_19<=4 && 4<=pc_Drive_next^post_19 && executed_Drive^post_19==1 && x_next^post_19<=1+x^0 && 1+x^0<=x_next^post_19 && y_next^post_19<=1+y^0 && 1+y^0<=y_next^post_19 && is_aborted^post_19==is_aborted_next^post_19 && x^post_19==x_next^post_19 && y^post_19==y_next^post_19 && pc_Plan^post_19==pc_Plan_next^post_19 && pc_Drive^post_19==pc_Drive_next^post_19 && is_aborted^post_19<=0 && 1<=n0^0 && 1<=n1^0 && 1+x^post_19<=n0^0 && 1+y^post_19<=n1^0 && executed_Drive^post_19<=1 && 1<=executed_Drive^post_19 && pc_Loop^post_19==2 && fair^0==fair^post_19 && n0^0==n0^post_19 && n1^0==n1^post_19 ], cost: 1
     19: l3 -> l4 : executed_Drive^0'=executed_Drive^post_20, fair^0'=fair^post_20, is_aborted^0'=is_aborted^post_20, is_aborted_next^0'=is_aborted_next^post_20, n0^0'=n0^post_20, n1^0'=n1^post_20, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive_next^post_20, pc_Loop^0'=pc_Loop^post_20, pc_Plan^0'=pc_Plan^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=x^post_20, x_next^0'=x_next^post_20, y^0'=y^post_20, y_next^0'=y_next^post_20, [ is_aborted_next^post_20==is_aborted_next^post_20 && x_next^post_20==x_next^post_20 && y_next^post_20==y_next^post_20 && pc_Plan_next^post_20==pc_Plan_next^post_20 && pc_Drive_next^post_20==pc_Drive_next^post_20 && 0<=is_aborted_next^post_20 && is_aborted_next^post_20<=1 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1<=pc_Drive_next^post_20 && 1+pc_Drive_next^post_20<=8 && 5<=pc_Drive_next^post_20 && x_next^post_20<=x^0 && x^0<=x_next^post_20 && y_next^post_20<=y^0 && y^0<=y_next^post_20 && is_aborted^post_20==is_aborted_next^post_20 && x^post_20==x_next^post_20 && y^post_20==y_next^post_20 && pc_Plan^post_20==pc_Plan_next^post_20 && pc_Drive^post_20==pc_Drive_next^post_20 && is_aborted^post_20<=0 && 1<=n0^0 && 1<=n1^0 && 1+x^post_20<=n0^0 && 1+y^post_20<=n1^0 && executed_Drive^0<=1 && 1<=executed_Drive^0 && pc_Loop^post_20==2 && executed_Drive^0==executed_Drive^post_20 && fair^0==fair^post_20 && n0^0==n0^post_20 && n1^0==n1^post_20 ], cost: 1
     20: l3 -> l4 : executed_Drive^0'=executed_Drive^post_21, fair^0'=fair^post_21, is_aborted^0'=is_aborted^post_21, is_aborted_next^0'=is_aborted_next^post_21, n0^0'=n0^post_21, n1^0'=n1^post_21, pc_Drive^0'=pc_Drive^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=pc_Loop^post_21, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan_next^post_21, x^0'=x^post_21, x_next^0'=x_next^post_21, y^0'=y^post_21, y_next^0'=y_next^post_21, [ is_aborted_next^post_21==is_aborted_next^post_21 && x_next^post_21==x_next^post_21 && y_next^post_21==y_next^post_21 && pc_Plan_next^post_21==pc_Plan_next^post_21 && pc_Drive_next^post_21==pc_Drive_next^post_21 && 0<=is_aborted_next^post_21 && is_aborted_next^post_21<=1 && 1<=pc_Plan_next^post_21 && 1+pc_Plan_next^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=8 && 1+pc_Drive_next^post_21<=4 && x_next^post_21<=x^0 && x^0<=x_next^post_21 && y_next^post_21<=y^0 && y^0<=y_next^post_21 && is_aborted^post_21==is_aborted_next^post_21 && x^post_21==x_next^post_21 && y^post_21==y_next^post_21 && pc_Plan^post_21==pc_Plan_next^post_21 && pc_Drive^post_21==pc_Drive_next^post_21 && is_aborted^post_21<=0 && 1<=n0^0 && 1<=n1^0 && 1+x^post_21<=n0^0 && 1+y^post_21<=n1^0 && executed_Drive^0<=1 && 1<=executed_Drive^0 && pc_Loop^post_21==2 && executed_Drive^0==executed_Drive^post_21 && fair^0==fair^post_21 && n0^0==n0^post_21 && n1^0==n1^post_21 ], cost: 1
     24: l4 -> l5 : executed_Drive^0'=executed_Drive^post_25, fair^0'=fair^post_25, is_aborted^0'=is_aborted^post_25, is_aborted_next^0'=is_aborted_next^post_25, n0^0'=n0^post_25, n1^0'=n1^post_25, pc_Drive^0'=pc_Drive^post_25, pc_Drive_next^0'=pc_Drive_next^post_25, pc_Loop^0'=pc_Loop^post_25, pc_Plan^0'=pc_Plan^post_25, pc_Plan_next^0'=pc_Plan_next^post_25, x^0'=x^post_25, x_next^0'=x_next^post_25, y^0'=y^post_25, y_next^0'=y_next^post_25, [ is_aborted_next^post_25==is_aborted_next^post_25 && x_next^post_25==x_next^post_25 && y_next^post_25==y_next^post_25 && pc_Plan_next^post_25==pc_Plan_next^post_25 && pc_Drive_next^post_25==pc_Drive_next^post_25 && 0<=is_aborted_next^post_25 && is_aborted_next^post_25<=1 && 1<=pc_Plan_next^post_25 && 1+pc_Plan_next^post_25<=8 && 1<=pc_Drive_next^post_25 && 1+pc_Drive_next^post_25<=8 && pc_Drive_next^post_25<=4 && 4<=pc_Drive_next^post_25 && executed_Drive^post_25==1 && x_next^post_25<=1+x^0 && 1+x^0<=x_next^post_25 && y_next^post_25<=1+y^0 && 1+y^0<=y_next^post_25 && is_aborted^post_25==is_aborted_next^post_25 && x^post_25==x_next^post_25 && y^post_25==y_next^post_25 && pc_Plan^post_25==pc_Plan_next^post_25 && pc_Drive^post_25==pc_Drive_next^post_25 && is_aborted^post_25<=0 && pc_Loop^post_25==3 && fair^0==fair^post_25 && n0^0==n0^post_25 && n1^0==n1^post_25 ], cost: 1
     25: l4 -> l5 : executed_Drive^0'=executed_Drive^post_26, fair^0'=fair^post_26, is_aborted^0'=is_aborted^post_26, is_aborted_next^0'=is_aborted_next^post_26, n0^0'=n0^post_26, n1^0'=n1^post_26, pc_Drive^0'=pc_Drive^post_26, pc_Drive_next^0'=pc_Drive_next^post_26, pc_Loop^0'=pc_Loop^post_26, pc_Plan^0'=pc_Plan^post_26, pc_Plan_next^0'=pc_Plan_next^post_26, x^0'=x^post_26, x_next^0'=x_next^post_26, y^0'=y^post_26, y_next^0'=y_next^post_26, [ is_aborted_next^post_26==is_aborted_next^post_26 && x_next^post_26==x_next^post_26 && y_next^post_26==y_next^post_26 && pc_Plan_next^post_26==pc_Plan_next^post_26 && pc_Drive_next^post_26==pc_Drive_next^post_26 && 0<=is_aborted_next^post_26 && is_aborted_next^post_26<=1 && 1<=pc_Plan_next^post_26 && 1+pc_Plan_next^post_26<=8 && 1<=pc_Drive_next^post_26 && 1+pc_Drive_next^post_26<=8 && 5<=pc_Drive_next^post_26 && x_next^post_26<=x^0 && x^0<=x_next^post_26 && y_next^post_26<=y^0 && y^0<=y_next^post_26 && is_aborted^post_26==is_aborted_next^post_26 && x^post_26==x_next^post_26 && y^post_26==y_next^post_26 && pc_Plan^post_26==pc_Plan_next^post_26 && pc_Drive^post_26==pc_Drive_next^post_26 && is_aborted^post_26<=0 && pc_Loop^post_26==3 && executed_Drive^0==executed_Drive^post_26 && fair^0==fair^post_26 && n0^0==n0^post_26 && n1^0==n1^post_26 ], cost: 1
     26: l4 -> l5 : executed_Drive^0'=executed_Drive^post_27, fair^0'=fair^post_27, is_aborted^0'=is_aborted^post_27, is_aborted_next^0'=is_aborted_next^post_27, n0^0'=n0^post_27, n1^0'=n1^post_27, pc_Drive^0'=pc_Drive^post_27, pc_Drive_next^0'=pc_Drive_next^post_27, pc_Loop^0'=pc_Loop^post_27, pc_Plan^0'=pc_Plan^post_27, pc_Plan_next^0'=pc_Plan_next^post_27, x^0'=x^post_27, x_next^0'=x_next^post_27, y^0'=y^post_27, y_next^0'=y_next^post_27, [ is_aborted_next^post_27==is_aborted_next^post_27 && x_next^post_27==x_next^post_27 && y_next^post_27==y_next^post_27 && pc_Plan_next^post_27==pc_Plan_next^post_27 && pc_Drive_next^post_27==pc_Drive_next^post_27 && 0<=is_aborted_next^post_27 && is_aborted_next^post_27<=1 && 1<=pc_Plan_next^post_27 && 1+pc_Plan_next^post_27<=8 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=8 && 1+pc_Drive_next^post_27<=4 && x_next^post_27<=x^0 && x^0<=x_next^post_27 && y_next^post_27<=y^0 && y^0<=y_next^post_27 && is_aborted^post_27==is_aborted_next^post_27 && x^post_27==x_next^post_27 && y^post_27==y_next^post_27 && pc_Plan^post_27==pc_Plan_next^post_27 && pc_Drive^post_27==pc_Drive_next^post_27 && is_aborted^post_27<=0 && pc_Loop^post_27==3 && executed_Drive^0==executed_Drive^post_27 && fair^0==fair^post_27 && n0^0==n0^post_27 && n1^0==n1^post_27 ], cost: 1
     21: l5 -> l2 : executed_Drive^0'=executed_Drive^post_22, fair^0'=fair^post_22, is_aborted^0'=is_aborted^post_22, is_aborted_next^0'=is_aborted_next^post_22, n0^0'=n0^post_22, n1^0'=n1^post_22, pc_Drive^0'=pc_Drive^post_22, pc_Drive_next^0'=pc_Drive_next^post_22, pc_Loop^0'=pc_Loop^post_22, pc_Plan^0'=pc_Plan^post_22, pc_Plan_next^0'=pc_Plan_next^post_22, x^0'=x^post_22, x_next^0'=x_next^post_22, y^0'=y^post_22, y_next^0'=y_next^post_22, [ is_aborted_next^post_22==is_aborted_next^post_22 && x_next^post_22==x_next^post_22 && y_next^post_22==y_next^post_22 && pc_Plan_next^post_22==pc_Plan_next^post_22 && pc_Drive_next^post_22==pc_Drive_next^post_22 && 0<=is_aborted_next^post_22 && is_aborted_next^post_22<=1 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=8 && 1<=pc_Drive_next^post_22 && 1+pc_Drive_next^post_22<=8 && pc_Drive_next^post_22<=4 && 4<=pc_Drive_next^post_22 && executed_Drive^post_22==1 && x_next^post_22<=1+x^0 && 1+x^0<=x_next^post_22 && y_next^post_22<=1+y^0 && 1+y^0<=y_next^post_22 && is_aborted^post_22==is_aborted_next^post_22 && x^post_22==x_next^post_22 && y^post_22==y_next^post_22 && pc_Plan^post_22==pc_Plan_next^post_22 && pc_Drive^post_22==pc_Drive_next^post_22 && 1<=is_aborted^post_22 && pc_Loop^post_22==6 && fair^0==fair^post_22 && n0^0==n0^post_22 && n1^0==n1^post_22 ], cost: 1
     22: l5 -> l2 : executed_Drive^0'=executed_Drive^post_23, fair^0'=fair^post_23, is_aborted^0'=is_aborted^post_23, is_aborted_next^0'=is_aborted_next^post_23, n0^0'=n0^post_23, n1^0'=n1^post_23, pc_Drive^0'=pc_Drive^post_23, pc_Drive_next^0'=pc_Drive_next^post_23, pc_Loop^0'=pc_Loop^post_23, pc_Plan^0'=pc_Plan^post_23, pc_Plan_next^0'=pc_Plan_next^post_23, x^0'=x^post_23, x_next^0'=x_next^post_23, y^0'=y^post_23, y_next^0'=y_next^post_23, [ is_aborted_next^post_23==is_aborted_next^post_23 && x_next^post_23==x_next^post_23 && y_next^post_23==y_next^post_23 && pc_Plan_next^post_23==pc_Plan_next^post_23 && pc_Drive_next^post_23==pc_Drive_next^post_23 && 0<=is_aborted_next^post_23 && is_aborted_next^post_23<=1 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=8 && 1<=pc_Drive_next^post_23 && 1+pc_Drive_next^post_23<=8 && 5<=pc_Drive_next^post_23 && x_next^post_23<=x^0 && x^0<=x_next^post_23 && y_next^post_23<=y^0 && y^0<=y_next^post_23 && is_aborted^post_23==is_aborted_next^post_23 && x^post_23==x_next^post_23 && y^post_23==y_next^post_23 && pc_Plan^post_23==pc_Plan_next^post_23 && pc_Drive^post_23==pc_Drive_next^post_23 && 1<=is_aborted^post_23 && pc_Loop^post_23==6 && executed_Drive^0==executed_Drive^post_23 && fair^0==fair^post_23 && n0^0==n0^post_23 && n1^0==n1^post_23 ], cost: 1
     23: l5 -> l2 : executed_Drive^0'=executed_Drive^post_24, fair^0'=fair^post_24, is_aborted^0'=is_aborted^post_24, is_aborted_next^0'=is_aborted_next^post_24, n0^0'=n0^post_24, n1^0'=n1^post_24, pc_Drive^0'=pc_Drive^post_24, pc_Drive_next^0'=pc_Drive_next^post_24, pc_Loop^0'=pc_Loop^post_24, pc_Plan^0'=pc_Plan^post_24, pc_Plan_next^0'=pc_Plan_next^post_24, x^0'=x^post_24, x_next^0'=x_next^post_24, y^0'=y^post_24, y_next^0'=y_next^post_24, [ is_aborted_next^post_24==is_aborted_next^post_24 && x_next^post_24==x_next^post_24 && y_next^post_24==y_next^post_24 && pc_Plan_next^post_24==pc_Plan_next^post_24 && pc_Drive_next^post_24==pc_Drive_next^post_24 && 0<=is_aborted_next^post_24 && is_aborted_next^post_24<=1 && 1<=pc_Plan_next^post_24 && 1+pc_Plan_next^post_24<=8 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=8 && 1+pc_Drive_next^post_24<=4 && x_next^post_24<=x^0 && x^0<=x_next^post_24 && y_next^post_24<=y^0 && y^0<=y_next^post_24 && is_aborted^post_24==is_aborted_next^post_24 && x^post_24==x_next^post_24 && y^post_24==y_next^post_24 && pc_Plan^post_24==pc_Plan_next^post_24 && pc_Drive^post_24==pc_Drive_next^post_24 && 1<=is_aborted^post_24 && pc_Loop^post_24==6 && executed_Drive^0==executed_Drive^post_24 && fair^0==fair^post_24 && n0^0==n0^post_24 && n1^0==n1^post_24 ], cost: 1
     36: l6 -> l1 : executed_Drive^0'=executed_Drive^post_37, fair^0'=fair^post_37, is_aborted^0'=is_aborted^post_37, is_aborted_next^0'=is_aborted_next^post_37, n0^0'=n0^post_37, n1^0'=n1^post_37, pc_Drive^0'=pc_Drive^post_37, pc_Drive_next^0'=pc_Drive_next^post_37, pc_Loop^0'=pc_Loop^post_37, pc_Plan^0'=pc_Plan^post_37, pc_Plan_next^0'=pc_Plan_next^post_37, x^0'=x^post_37, x_next^0'=x_next^post_37, y^0'=y^post_37, y_next^0'=y_next^post_37, [ executed_Drive^0==executed_Drive^post_37 && fair^0==fair^post_37 && is_aborted^0==is_aborted^post_37 && is_aborted_next^0==is_aborted_next^post_37 && n0^0==n0^post_37 && n1^0==n1^post_37 && pc_Drive^0==pc_Drive^post_37 && pc_Drive_next^0==pc_Drive_next^post_37 && pc_Loop^0==pc_Loop^post_37 && pc_Plan^0==pc_Plan^post_37 && pc_Plan_next^0==pc_Plan_next^post_37 && x^0==x^post_37 && x_next^0==x_next^post_37 && y^0==y^post_37 && y_next^0==y_next^post_37 ], cost: 1
     37: l7 -> l6 : executed_Drive^0'=executed_Drive^post_38, fair^0'=fair^post_38, is_aborted^0'=is_aborted^post_38, is_aborted_next^0'=is_aborted_next^post_38, n0^0'=n0^post_38, n1^0'=n1^post_38, pc_Drive^0'=pc_Drive^post_38, pc_Drive_next^0'=pc_Drive_next^post_38, pc_Loop^0'=pc_Loop^post_38, pc_Plan^0'=pc_Plan^post_38, pc_Plan_next^0'=pc_Plan_next^post_38, x^0'=x^post_38, x_next^0'=x_next^post_38, y^0'=y^post_38, y_next^0'=y_next^post_38, [ executed_Drive^0==executed_Drive^post_38 && fair^0==fair^post_38 && is_aborted^0==is_aborted^post_38 && is_aborted_next^0==is_aborted_next^post_38 && n0^0==n0^post_38 && n1^0==n1^post_38 && pc_Drive^0==pc_Drive^post_38 && pc_Drive_next^0==pc_Drive_next^post_38 && pc_Loop^0==pc_Loop^post_38 && pc_Plan^0==pc_Plan^post_38 && pc_Plan_next^0==pc_Plan_next^post_38 && x^0==x^post_38 && x_next^0==x_next^post_38 && y^0==y^post_38 && y_next^0==y_next^post_38 ], cost: 1

Simplified all rules, resulting in:
   Start location: l7
     31: 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, [], cost: 1
     32: l1 -> l4 : executed_Drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_33, pc_Drive_next^0'=pc_Drive_next^post_33, 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^post_33<=8 && 5<=pc_Drive_next^post_33 ], cost: 1
     33: l1 -> l4 : executed_Drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_34, pc_Drive_next^0'=pc_Drive^post_34, 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^post_34 && 1+pc_Drive^post_34<=4 ], cost: 1
      7: l2 -> l3 : is_aborted^0'=is_aborted_next^post_8, is_aborted_next^0'=is_aborted_next^post_8, pc_Drive^0'=7, pc_Drive_next^0'=7, pc_Loop^0'=4, pc_Plan^0'=pc_Plan_next^post_8, pc_Plan_next^0'=pc_Plan_next^post_8, x_next^0'=x^0, y_next^0'=y^0, [ 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && -1+executed_Drive^0==0 ], cost: 1
     11: 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^post_12, pc_Plan_next^0'=pc_Plan_next^post_12, x_next^0'=x^0, y_next^0'=y^0, [ 1<=pc_Plan_next^post_12 && 1+pc_Plan_next^post_12<=8 ], cost: 1
     18: 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, 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^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 1
     19: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x_next^0'=x^0, y_next^0'=y^0, [ 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && -1+executed_Drive^0==0 ], cost: 1
     20: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x_next^0'=x^0, y_next^0'=y^0, [ 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && -1+executed_Drive^0==0 ], cost: 1
     24: 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^post_25, pc_Plan_next^0'=pc_Plan^post_25, 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^post_25 && 1+pc_Plan^post_25<=8 ], cost: 1
     25: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_26, pc_Drive_next^0'=pc_Drive^post_26, pc_Loop^0'=3, pc_Plan^0'=pc_Plan^post_26, pc_Plan_next^0'=pc_Plan^post_26, x_next^0'=x^0, y_next^0'=y^0, [ 1<=pc_Plan^post_26 && 1+pc_Plan^post_26<=8 && 1+pc_Drive^post_26<=8 && 5<=pc_Drive^post_26 ], cost: 1
     26: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_27, pc_Drive_next^0'=pc_Drive^post_27, pc_Loop^0'=3, pc_Plan^0'=pc_Plan_next^post_27, pc_Plan_next^0'=pc_Plan_next^post_27, x_next^0'=x^0, y_next^0'=y^0, [ 1<=pc_Plan_next^post_27 && 1+pc_Plan_next^post_27<=8 && 1<=pc_Drive^post_27 && 1+pc_Drive^post_27<=4 ], cost: 1
     21: 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^post_22, pc_Plan_next^0'=pc_Plan^post_22, 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^post_22 && 1+pc_Plan^post_22<=8 ], cost: 1
     22: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_Drive^0'=pc_Drive^post_23, pc_Drive_next^0'=pc_Drive^post_23, pc_Loop^0'=6, pc_Plan^0'=pc_Plan_next^post_23, pc_Plan_next^0'=pc_Plan_next^post_23, x_next^0'=x^0, y_next^0'=y^0, [ 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=8 && 1+pc_Drive^post_23<=8 && 5<=pc_Drive^post_23 ], cost: 1
     23: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_Drive^0'=pc_Drive^post_24, pc_Drive_next^0'=pc_Drive^post_24, pc_Loop^0'=6, pc_Plan^0'=pc_Plan^post_24, pc_Plan_next^0'=pc_Plan^post_24, x_next^0'=x^0, y_next^0'=y^0, [ 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=8 && 1<=pc_Drive^post_24 && 1+pc_Drive^post_24<=4 ], cost: 1
     36: l6 -> l1 : [], cost: 1
     37: l7 -> l6 : [], cost: 1

### Simplification by acceleration and chaining ###

Eliminated locations (on linear paths):
   Start location: l7
     31: 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, [], cost: 1
     32: l1 -> l4 : executed_Drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_33, pc_Drive_next^0'=pc_Drive_next^post_33, 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^post_33<=8 && 5<=pc_Drive_next^post_33 ], cost: 1
     33: l1 -> l4 : executed_Drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_34, pc_Drive_next^0'=pc_Drive^post_34, 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^post_34 && 1+pc_Drive^post_34<=4 ], cost: 1
      7: l2 -> l3 : is_aborted^0'=is_aborted_next^post_8, is_aborted_next^0'=is_aborted_next^post_8, pc_Drive^0'=7, pc_Drive_next^0'=7, pc_Loop^0'=4, pc_Plan^0'=pc_Plan_next^post_8, pc_Plan_next^0'=pc_Plan_next^post_8, x_next^0'=x^0, y_next^0'=y^0, [ 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && -1+executed_Drive^0==0 ], cost: 1
     11: 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^post_12, pc_Plan_next^0'=pc_Plan_next^post_12, x_next^0'=x^0, y_next^0'=y^0, [ 1<=pc_Plan_next^post_12 && 1+pc_Plan_next^post_12<=8 ], cost: 1
     18: 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, 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^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 1
     19: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x_next^0'=x^0, y_next^0'=y^0, [ 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && -1+executed_Drive^0==0 ], cost: 1
     20: l3 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x_next^0'=x^0, y_next^0'=y^0, [ 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && -1+executed_Drive^0==0 ], cost: 1
     24: 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^post_25, pc_Plan_next^0'=pc_Plan^post_25, 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^post_25 && 1+pc_Plan^post_25<=8 ], cost: 1
     25: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_26, pc_Drive_next^0'=pc_Drive^post_26, pc_Loop^0'=3, pc_Plan^0'=pc_Plan^post_26, pc_Plan_next^0'=pc_Plan^post_26, x_next^0'=x^0, y_next^0'=y^0, [ 1<=pc_Plan^post_26 && 1+pc_Plan^post_26<=8 && 1+pc_Drive^post_26<=8 && 5<=pc_Drive^post_26 ], cost: 1
     26: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_27, pc_Drive_next^0'=pc_Drive^post_27, pc_Loop^0'=3, pc_Plan^0'=pc_Plan_next^post_27, pc_Plan_next^0'=pc_Plan_next^post_27, x_next^0'=x^0, y_next^0'=y^0, [ 1<=pc_Plan_next^post_27 && 1+pc_Plan_next^post_27<=8 && 1<=pc_Drive^post_27 && 1+pc_Drive^post_27<=4 ], cost: 1
     21: 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^post_22, pc_Plan_next^0'=pc_Plan^post_22, 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^post_22 && 1+pc_Plan^post_22<=8 ], cost: 1
     22: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_Drive^0'=pc_Drive^post_23, pc_Drive_next^0'=pc_Drive^post_23, pc_Loop^0'=6, pc_Plan^0'=pc_Plan_next^post_23, pc_Plan_next^0'=pc_Plan_next^post_23, x_next^0'=x^0, y_next^0'=y^0, [ 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=8 && 1+pc_Drive^post_23<=8 && 5<=pc_Drive^post_23 ], cost: 1
     23: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_Drive^0'=pc_Drive^post_24, pc_Drive_next^0'=pc_Drive^post_24, pc_Loop^0'=6, pc_Plan^0'=pc_Plan^post_24, pc_Plan_next^0'=pc_Plan^post_24, x_next^0'=x^0, y_next^0'=y^0, [ 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=8 && 1<=pc_Drive^post_24 && 1+pc_Drive^post_24<=4 ], cost: 1
     38: l7 -> l1 : [], cost: 2

Eliminated locations (on tree-shaped paths):
   Start location: l7
     51: l2 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, [ 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 2
     52: l2 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x_next^0'=x^0, y_next^0'=y^0, [ 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: 2
     53: l2 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x_next^0'=x^0, y_next^0'=y^0, [ 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: 2
     54: l2 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, 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^post_12 && 1+pc_Plan_next^post_12<=8 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 2
     42: l4 -> 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^post_22, pc_Plan_next^0'=pc_Plan^post_22, x^0'=2+x^0, x_next^0'=2+x^0, y^0'=2+y^0, y_next^0'=2+y^0, [ 1<=pc_Plan^post_25 && 1+pc_Plan^post_25<=8 && 1<=pc_Plan^post_22 && 1+pc_Plan^post_22<=8 ], cost: 2
     43: l4 -> l2 : executed_Drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_Drive^0'=pc_Drive^post_23, pc_Drive_next^0'=pc_Drive^post_23, pc_Loop^0'=6, pc_Plan^0'=pc_Plan_next^post_23, pc_Plan_next^0'=pc_Plan_next^post_23, 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^post_25 && 1+pc_Plan^post_25<=8 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=8 && 1+pc_Drive^post_23<=8 && 5<=pc_Drive^post_23 ], cost: 2
     44: l4 -> l2 : executed_Drive^0'=1, is_aborted^0'=1, is_aborted_next^0'=1, pc_Drive^0'=pc_Drive^post_24, pc_Drive_next^0'=pc_Drive^post_24, pc_Loop^0'=6, pc_Plan^0'=pc_Plan^post_24, pc_Plan_next^0'=pc_Plan^post_24, 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^post_25 && 1+pc_Plan^post_25<=8 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=8 && 1<=pc_Drive^post_24 && 1+pc_Drive^post_24<=4 ], cost: 2
     45: l4 -> 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^post_22, pc_Plan_next^0'=pc_Plan^post_22, 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^post_26 && 1+pc_Plan^post_26<=8 && 1+pc_Drive^post_26<=8 && 5<=pc_Drive^post_26 && 1<=pc_Plan^post_22 && 1+pc_Plan^post_22<=8 ], cost: 2
     46: l4 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_Drive^0'=pc_Drive^post_23, pc_Drive_next^0'=pc_Drive^post_23, pc_Loop^0'=6, pc_Plan^0'=pc_Plan_next^post_23, pc_Plan_next^0'=pc_Plan_next^post_23, x_next^0'=x^0, y_next^0'=y^0, [ 1<=pc_Plan^post_26 && 1+pc_Plan^post_26<=8 && 1+pc_Drive^post_26<=8 && 5<=pc_Drive^post_26 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=8 && 1+pc_Drive^post_23<=8 && 5<=pc_Drive^post_23 ], cost: 2
     47: l4 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_Drive^0'=pc_Drive^post_24, pc_Drive_next^0'=pc_Drive^post_24, pc_Loop^0'=6, pc_Plan^0'=pc_Plan^post_24, pc_Plan_next^0'=pc_Plan^post_24, x_next^0'=x^0, y_next^0'=y^0, [ 1<=pc_Plan^post_26 && 1+pc_Plan^post_26<=8 && 1+pc_Drive^post_26<=8 && 5<=pc_Drive^post_26 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=8 && 1<=pc_Drive^post_24 && 1+pc_Drive^post_24<=4 ], cost: 2
     48: l4 -> 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^post_22, pc_Plan_next^0'=pc_Plan^post_22, 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^post_27 && 1+pc_Plan_next^post_27<=8 && 1<=pc_Drive^post_27 && 1+pc_Drive^post_27<=4 && 1<=pc_Plan^post_22 && 1+pc_Plan^post_22<=8 ], cost: 2
     49: l4 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_Drive^0'=pc_Drive^post_23, pc_Drive_next^0'=pc_Drive^post_23, pc_Loop^0'=6, pc_Plan^0'=pc_Plan_next^post_23, pc_Plan_next^0'=pc_Plan_next^post_23, x_next^0'=x^0, y_next^0'=y^0, [ 1<=pc_Plan_next^post_27 && 1+pc_Plan_next^post_27<=8 && 1<=pc_Drive^post_27 && 1+pc_Drive^post_27<=4 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=8 && 1+pc_Drive^post_23<=8 && 5<=pc_Drive^post_23 ], cost: 2
     50: l4 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_Drive^0'=pc_Drive^post_24, pc_Drive_next^0'=pc_Drive^post_24, pc_Loop^0'=6, pc_Plan^0'=pc_Plan^post_24, pc_Plan_next^0'=pc_Plan^post_24, x_next^0'=x^0, y_next^0'=y^0, [ 1<=pc_Plan_next^post_27 && 1+pc_Plan_next^post_27<=8 && 1<=pc_Drive^post_27 && 1+pc_Drive^post_27<=4 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=8 && 1<=pc_Drive^post_24 && 1+pc_Drive^post_24<=4 ], cost: 2
     39: l7 -> 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, [], cost: 3
     40: l7 -> l4 : executed_Drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_33, pc_Drive_next^0'=pc_Drive_next^post_33, 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^post_33<=8 && 5<=pc_Drive_next^post_33 ], cost: 3
     41: l7 -> l4 : executed_Drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_34, pc_Drive_next^0'=pc_Drive^post_34, 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^post_34 && 1+pc_Drive^post_34<=4 ], cost: 3

Eliminated locations (on tree-shaped paths):
   Start location: l7
     55: 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=3+x^0, x_next^0'=3+x^0, y^0'=3+y^0, y_next^0'=3+y^0, [ 1<=pc_Plan^post_25 && 1+pc_Plan^post_25<=8 && 1<=pc_Plan^post_22 && 1+pc_Plan^post_22<=8 && 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+y^0<=n1^0 ], cost: 4
     56: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=2+x^0, x_next^0'=2+x^0, y^0'=2+y^0, y_next^0'=2+y^0, [ 1<=pc_Plan^post_25 && 1+pc_Plan^post_25<=8 && 1<=pc_Plan^post_22 && 1+pc_Plan^post_22<=8 && 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4
     57: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x^0'=2+x^0, x_next^0'=2+x^0, y^0'=2+y^0, y_next^0'=2+y^0, [ 1<=pc_Plan^post_25 && 1+pc_Plan^post_25<=8 && 1<=pc_Plan^post_22 && 1+pc_Plan^post_22<=8 && 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4
     58: 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=3+x^0, x_next^0'=3+x^0, y^0'=3+y^0, y_next^0'=3+y^0, [ 1<=pc_Plan^post_25 && 1+pc_Plan^post_25<=8 && 1<=pc_Plan^post_22 && 1+pc_Plan^post_22<=8 && 1<=pc_Plan_next^post_12 && 1+pc_Plan_next^post_12<=8 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+y^0<=n1^0 ], cost: 4
     59: 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=2+x^0, x_next^0'=2+x^0, y^0'=2+y^0, y_next^0'=2+y^0, [ 1<=pc_Plan^post_25 && 1+pc_Plan^post_25<=8 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=8 && 1+pc_Drive^post_23<=8 && 5<=pc_Drive^post_23 && 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4
     60: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, 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^post_25 && 1+pc_Plan^post_25<=8 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=8 && 1+pc_Drive^post_23<=8 && 5<=pc_Drive^post_23 && 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4
     61: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, 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^post_25 && 1+pc_Plan^post_25<=8 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=8 && 1+pc_Drive^post_23<=8 && 5<=pc_Drive^post_23 && 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4
     62: 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=2+x^0, x_next^0'=2+x^0, y^0'=2+y^0, y_next^0'=2+y^0, [ 1<=pc_Plan^post_25 && 1+pc_Plan^post_25<=8 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=8 && 1+pc_Drive^post_23<=8 && 5<=pc_Drive^post_23 && 1<=pc_Plan_next^post_12 && 1+pc_Plan_next^post_12<=8 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4
     63: 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=2+x^0, x_next^0'=2+x^0, y^0'=2+y^0, y_next^0'=2+y^0, [ 1<=pc_Plan^post_25 && 1+pc_Plan^post_25<=8 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=8 && 1<=pc_Drive^post_24 && 1+pc_Drive^post_24<=4 && 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4
     64: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, 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^post_25 && 1+pc_Plan^post_25<=8 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=8 && 1<=pc_Drive^post_24 && 1+pc_Drive^post_24<=4 && 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4
     65: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, 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^post_25 && 1+pc_Plan^post_25<=8 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=8 && 1<=pc_Drive^post_24 && 1+pc_Drive^post_24<=4 && 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4
     66: 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=2+x^0, x_next^0'=2+x^0, y^0'=2+y^0, y_next^0'=2+y^0, [ 1<=pc_Plan^post_25 && 1+pc_Plan^post_25<=8 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=8 && 1<=pc_Drive^post_24 && 1+pc_Drive^post_24<=4 && 1<=pc_Plan_next^post_12 && 1+pc_Plan_next^post_12<=8 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4
     67: 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=2+x^0, x_next^0'=2+x^0, y^0'=2+y^0, y_next^0'=2+y^0, [ 1<=pc_Plan^post_26 && 1+pc_Plan^post_26<=8 && 1+pc_Drive^post_26<=8 && 5<=pc_Drive^post_26 && 1<=pc_Plan^post_22 && 1+pc_Plan^post_22<=8 && 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4
     68: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, 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^post_26 && 1+pc_Plan^post_26<=8 && 1+pc_Drive^post_26<=8 && 5<=pc_Drive^post_26 && 1<=pc_Plan^post_22 && 1+pc_Plan^post_22<=8 && 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4
     69: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, 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^post_26 && 1+pc_Plan^post_26<=8 && 1+pc_Drive^post_26<=8 && 5<=pc_Drive^post_26 && 1<=pc_Plan^post_22 && 1+pc_Plan^post_22<=8 && 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4
     70: 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=2+x^0, x_next^0'=2+x^0, y^0'=2+y^0, y_next^0'=2+y^0, [ 1<=pc_Plan^post_26 && 1+pc_Plan^post_26<=8 && 1+pc_Drive^post_26<=8 && 5<=pc_Drive^post_26 && 1<=pc_Plan^post_22 && 1+pc_Plan^post_22<=8 && 1<=pc_Plan_next^post_12 && 1+pc_Plan_next^post_12<=8 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4
     71: 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, 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^post_26 && 1+pc_Plan^post_26<=8 && 1+pc_Drive^post_26<=8 && 5<=pc_Drive^post_26 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=8 && 1+pc_Drive^post_23<=8 && 5<=pc_Drive^post_23 && 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4
     72: l4 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x_next^0'=x^0, y_next^0'=y^0, [ 1<=pc_Plan^post_26 && 1+pc_Plan^post_26<=8 && 1+pc_Drive^post_26<=8 && 5<=pc_Drive^post_26 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=8 && 1+pc_Drive^post_23<=8 && 5<=pc_Drive^post_23 && 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: 4
     73: l4 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x_next^0'=x^0, y_next^0'=y^0, [ 1<=pc_Plan^post_26 && 1+pc_Plan^post_26<=8 && 1+pc_Drive^post_26<=8 && 5<=pc_Drive^post_26 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=8 && 1+pc_Drive^post_23<=8 && 5<=pc_Drive^post_23 && 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: 4
     74: 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, 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^post_26 && 1+pc_Plan^post_26<=8 && 1+pc_Drive^post_26<=8 && 5<=pc_Drive^post_26 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=8 && 1+pc_Drive^post_23<=8 && 5<=pc_Drive^post_23 && 1<=pc_Plan_next^post_12 && 1+pc_Plan_next^post_12<=8 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4
     75: 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, 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^post_26 && 1+pc_Plan^post_26<=8 && 1+pc_Drive^post_26<=8 && 5<=pc_Drive^post_26 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=8 && 1<=pc_Drive^post_24 && 1+pc_Drive^post_24<=4 && 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4
     76: l4 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x_next^0'=x^0, y_next^0'=y^0, [ 1<=pc_Plan^post_26 && 1+pc_Plan^post_26<=8 && 1+pc_Drive^post_26<=8 && 5<=pc_Drive^post_26 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=8 && 1<=pc_Drive^post_24 && 1+pc_Drive^post_24<=4 && 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: 4
     77: l4 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x_next^0'=x^0, y_next^0'=y^0, [ 1<=pc_Plan^post_26 && 1+pc_Plan^post_26<=8 && 1+pc_Drive^post_26<=8 && 5<=pc_Drive^post_26 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=8 && 1<=pc_Drive^post_24 && 1+pc_Drive^post_24<=4 && 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: 4
     78: 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, 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^post_26 && 1+pc_Plan^post_26<=8 && 1+pc_Drive^post_26<=8 && 5<=pc_Drive^post_26 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=8 && 1<=pc_Drive^post_24 && 1+pc_Drive^post_24<=4 && 1<=pc_Plan_next^post_12 && 1+pc_Plan_next^post_12<=8 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4
     79: 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=2+x^0, x_next^0'=2+x^0, y^0'=2+y^0, y_next^0'=2+y^0, [ 1<=pc_Plan_next^post_27 && 1+pc_Plan_next^post_27<=8 && 1<=pc_Drive^post_27 && 1+pc_Drive^post_27<=4 && 1<=pc_Plan^post_22 && 1+pc_Plan^post_22<=8 && 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4
     80: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, 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^post_27 && 1+pc_Plan_next^post_27<=8 && 1<=pc_Drive^post_27 && 1+pc_Drive^post_27<=4 && 1<=pc_Plan^post_22 && 1+pc_Plan^post_22<=8 && 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4
     81: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, 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^post_27 && 1+pc_Plan_next^post_27<=8 && 1<=pc_Drive^post_27 && 1+pc_Drive^post_27<=4 && 1<=pc_Plan^post_22 && 1+pc_Plan^post_22<=8 && 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4
     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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=2+x^0, x_next^0'=2+x^0, y^0'=2+y^0, y_next^0'=2+y^0, [ 1<=pc_Plan_next^post_27 && 1+pc_Plan_next^post_27<=8 && 1<=pc_Drive^post_27 && 1+pc_Drive^post_27<=4 && 1<=pc_Plan^post_22 && 1+pc_Plan^post_22<=8 && 1<=pc_Plan_next^post_12 && 1+pc_Plan_next^post_12<=8 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4
     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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, 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^post_27 && 1+pc_Plan_next^post_27<=8 && 1<=pc_Drive^post_27 && 1+pc_Drive^post_27<=4 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=8 && 1+pc_Drive^post_23<=8 && 5<=pc_Drive^post_23 && 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4
     84: l4 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x_next^0'=x^0, y_next^0'=y^0, [ 1<=pc_Plan_next^post_27 && 1+pc_Plan_next^post_27<=8 && 1<=pc_Drive^post_27 && 1+pc_Drive^post_27<=4 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=8 && 1+pc_Drive^post_23<=8 && 5<=pc_Drive^post_23 && 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: 4
     85: l4 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x_next^0'=x^0, y_next^0'=y^0, [ 1<=pc_Plan_next^post_27 && 1+pc_Plan_next^post_27<=8 && 1<=pc_Drive^post_27 && 1+pc_Drive^post_27<=4 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=8 && 1+pc_Drive^post_23<=8 && 5<=pc_Drive^post_23 && 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: 4
     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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, 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^post_27 && 1+pc_Plan_next^post_27<=8 && 1<=pc_Drive^post_27 && 1+pc_Drive^post_27<=4 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=8 && 1+pc_Drive^post_23<=8 && 5<=pc_Drive^post_23 && 1<=pc_Plan_next^post_12 && 1+pc_Plan_next^post_12<=8 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4
     87: 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, 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^post_27 && 1+pc_Plan_next^post_27<=8 && 1<=pc_Drive^post_27 && 1+pc_Drive^post_27<=4 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=8 && 1<=pc_Drive^post_24 && 1+pc_Drive^post_24<=4 && 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4
     88: l4 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x_next^0'=x^0, y_next^0'=y^0, [ 1<=pc_Plan_next^post_27 && 1+pc_Plan_next^post_27<=8 && 1<=pc_Drive^post_27 && 1+pc_Drive^post_27<=4 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=8 && 1<=pc_Drive^post_24 && 1+pc_Drive^post_24<=4 && 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: 4
     89: l4 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x_next^0'=x^0, y_next^0'=y^0, [ 1<=pc_Plan_next^post_27 && 1+pc_Plan_next^post_27<=8 && 1<=pc_Drive^post_27 && 1+pc_Drive^post_27<=4 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=8 && 1<=pc_Drive^post_24 && 1+pc_Drive^post_24<=4 && 0<=is_aborted_next^post_8 && is_aborted_next^post_8<=1 && 1<=pc_Plan_next^post_8 && 1+pc_Plan_next^post_8<=8 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: 4
     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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, 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^post_27 && 1+pc_Plan_next^post_27<=8 && 1<=pc_Drive^post_27 && 1+pc_Drive^post_27<=4 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=8 && 1<=pc_Drive^post_24 && 1+pc_Drive^post_24<=4 && 1<=pc_Plan_next^post_12 && 1+pc_Plan_next^post_12<=8 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4
     39: l7 -> 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, [], cost: 3
     40: l7 -> l4 : executed_Drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_33, pc_Drive_next^0'=pc_Drive_next^post_33, 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^post_33<=8 && 5<=pc_Drive_next^post_33 ], cost: 3
     41: l7 -> l4 : executed_Drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_34, pc_Drive_next^0'=pc_Drive^post_34, 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^post_34 && 1+pc_Drive^post_34<=4 ], cost: 3

Accelerating simple loops of location 4.
[accelerate] Removed some duplicate simple loops
   Simplified some of the simple loops (and removed duplicate rules).
   Accelerating the following rules:
     56: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=2+x^0, x_next^0'=2+x^0, y^0'=2+y^0, y_next^0'=2+y^0, [ 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4
     57: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x^0'=2+x^0, x_next^0'=2+x^0, y^0'=2+y^0, y_next^0'=2+y^0, [ 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4
     58: 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=3+x^0, x_next^0'=3+x^0, y^0'=3+y^0, y_next^0'=3+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+y^0<=n1^0 ], cost: 4
     80: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, 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^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4
     81: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, 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^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4
     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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=2+x^0, x_next^0'=2+x^0, y^0'=2+y^0, y_next^0'=2+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4
     87: 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=1+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, [ -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4
     88: l4 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x_next^0'=x^0, y_next^0'=y^0, [ -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: 4
     89: l4 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x_next^0'=x^0, y_next^0'=y^0, [ -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: 4
     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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, 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^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4

   Accelerated rule 56 with backward acceleration, yielding the new rule 91.
   Accelerated rule 57 with backward acceleration, yielding the new rule 92.
   Accelerated rule 58 with backward acceleration, yielding the new rule 93.
   Accelerated rule 80 with backward acceleration, yielding the new rule 94.
   Accelerated rule 80 with backward acceleration, yielding the new rule 95.
   Accelerated rule 81 with backward acceleration, yielding the new rule 96.
   Accelerated rule 81 with backward acceleration, yielding the new rule 97.
   Accelerated rule 82 with backward acceleration, yielding the new rule 98.
   Accelerated rule 87 with backward acceleration, yielding the new rule 99.
   Accelerated rule 87 with backward acceleration, yielding the new rule 100.
   Accelerated rule 88 with non-termination, yielding the new rule 101.
   Accelerated rule 89 with non-termination, yielding the new rule 102.
   Accelerated rule 90 with backward acceleration, yielding the new rule 103.
   Accelerated rule 90 with backward acceleration, yielding the new rule 104.
[accelerate] Nesting with 12 inner and 8 outer candidates
   Removing the simple loops: 56 57 58 80 81 82 87 88 89 90.

Accelerated all simple loops using metering functions (where possible):
   Start location: l7
     91: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=x^0+2*k, x_next^0'=x^0+2*k, y^0'=2*k+y^0, y_next^0'=2*k+y^0, [ 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && k>=1 && 1+x^0+2*k<=n0^0 && 1+2*k+y^0<=n1^0 ], cost: 4*k
     92: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x^0'=2*k_1+x^0, x_next^0'=2*k_1+x^0, y^0'=2*k_1+y^0, y_next^0'=2*k_1+y^0, [ 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && k_1>=1 && 1+2*k_1+x^0<=n0^0 && 1+2*k_1+y^0<=n1^0 ], cost: 4*k_1
     93: 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=x^0+3*k_2, x_next^0'=x^0+3*k_2, y^0'=3*k_2+y^0, y_next^0'=3*k_2+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && k_2>=1 && 1+x^0+3*k_2<=n0^0 && 1+3*k_2+y^0<=n1^0 ], cost: 4*k_2
     94: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=-1+n0^0, x_next^0'=-1+n0^0, y^0'=-1+n0^0-x^0+y^0, y_next^0'=-1+n0^0-x^0+y^0, [ 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0-x^0+y^0<=n1^0 ], cost: -4+4*n0^0-4*x^0
     95: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=-1+x^0+n1^0-y^0, x_next^0'=-1+x^0+n1^0-y^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && x^0+n1^0-y^0<=n0^0 ], cost: -4+4*n1^0-4*y^0
     96: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x^0'=-1+n0^0, x_next^0'=-1+n0^0, y^0'=-1+n0^0-x^0+y^0, y_next^0'=-1+n0^0-x^0+y^0, [ 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0-x^0+y^0<=n1^0 ], cost: -4+4*n0^0-4*x^0
     97: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x^0'=-1+x^0+n1^0-y^0, x_next^0'=-1+x^0+n1^0-y^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && x^0+n1^0-y^0<=n0^0 ], cost: -4+4*n1^0-4*y^0
     98: 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=x^0+2*k_5, x_next^0'=x^0+2*k_5, y^0'=2*k_5+y^0, y_next^0'=2*k_5+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && k_5>=1 && 1+x^0+2*k_5<=n0^0 && 1+2*k_5+y^0<=n1^0 ], cost: 4*k_5
     99: 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=-1+n0^0, x_next^0'=-1+n0^0, y^0'=-1+n0^0-x^0+y^0, y_next^0'=-1+n0^0-x^0+y^0, [ -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0-x^0+y^0<=n1^0 ], cost: -4+4*n0^0-4*x^0
    100: 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=-1+x^0+n1^0-y^0, x_next^0'=-1+x^0+n1^0-y^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && x^0+n1^0-y^0<=n0^0 ], cost: -4+4*n1^0-4*y^0
    101: l4 -> [8] : [ -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: NONTERM
    102: l4 -> [8] : [ -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: NONTERM
    103: 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=-1+n0^0, x_next^0'=-1+n0^0, y^0'=-1+n0^0-x^0+y^0, y_next^0'=-1+n0^0-x^0+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0-x^0+y^0<=n1^0 ], cost: -4+4*n0^0-4*x^0
    104: 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=-1+x^0+n1^0-y^0, x_next^0'=-1+x^0+n1^0-y^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && x^0+n1^0-y^0<=n0^0 ], cost: -4+4*n1^0-4*y^0
     39: l7 -> 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, [], cost: 3
     40: l7 -> l4 : executed_Drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_33, pc_Drive_next^0'=pc_Drive_next^post_33, 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^post_33<=8 && 5<=pc_Drive_next^post_33 ], cost: 3
     41: l7 -> l4 : executed_Drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_34, pc_Drive_next^0'=pc_Drive^post_34, 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^post_34 && 1+pc_Drive^post_34<=4 ], cost: 3

Chained accelerated rules (with incoming rules):
   Start location: l7
     39: l7 -> 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, [], cost: 3
     40: l7 -> l4 : executed_Drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_33, pc_Drive_next^0'=pc_Drive_next^post_33, 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^post_33<=8 && 5<=pc_Drive_next^post_33 ], cost: 3
     41: l7 -> l4 : executed_Drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_34, pc_Drive_next^0'=pc_Drive^post_34, 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^post_34 && 1+pc_Drive^post_34<=4 ], cost: 3
    105: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=1+x^0+2*k, x_next^0'=1+x^0+2*k, y^0'=1+2*k+y^0, y_next^0'=1+2*k+y^0, [ 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && k>=1 && 2+x^0+2*k<=n0^0 && 2+2*k+y^0<=n1^0 ], cost: 3+4*k
    106: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=x^0+2*k, x_next^0'=x^0+2*k, y^0'=2*k+y^0, y_next^0'=2*k+y^0, [ 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && k>=1 && 1+x^0+2*k<=n0^0 && 1+2*k+y^0<=n1^0 ], cost: 3+4*k
    107: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=x^0+2*k, x_next^0'=x^0+2*k, y^0'=2*k+y^0, y_next^0'=2*k+y^0, [ 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && k>=1 && 1+x^0+2*k<=n0^0 && 1+2*k+y^0<=n1^0 ], cost: 3+4*k
    108: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x^0'=1+2*k_1+x^0, x_next^0'=1+2*k_1+x^0, y^0'=1+2*k_1+y^0, y_next^0'=1+2*k_1+y^0, [ 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && k_1>=1 && 2+2*k_1+x^0<=n0^0 && 2+2*k_1+y^0<=n1^0 ], cost: 3+4*k_1
    109: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x^0'=2*k_1+x^0, x_next^0'=2*k_1+x^0, y^0'=2*k_1+y^0, y_next^0'=2*k_1+y^0, [ 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && k_1>=1 && 1+2*k_1+x^0<=n0^0 && 1+2*k_1+y^0<=n1^0 ], cost: 3+4*k_1
    110: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x^0'=2*k_1+x^0, x_next^0'=2*k_1+x^0, y^0'=2*k_1+y^0, y_next^0'=2*k_1+y^0, [ 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && k_1>=1 && 1+2*k_1+x^0<=n0^0 && 1+2*k_1+y^0<=n1^0 ], cost: 3+4*k_1
    111: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=1+x^0+3*k_2, x_next^0'=1+x^0+3*k_2, y^0'=1+3*k_2+y^0, y_next^0'=1+3*k_2+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && k_2>=1 && 2+x^0+3*k_2<=n0^0 && 2+3*k_2+y^0<=n1^0 ], cost: 3+4*k_2
    112: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=x^0+3*k_2, x_next^0'=x^0+3*k_2, y^0'=3*k_2+y^0, y_next^0'=3*k_2+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && k_2>=1 && 1+x^0+3*k_2<=n0^0 && 1+3*k_2+y^0<=n1^0 ], cost: 3+4*k_2
    113: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=x^0+3*k_2, x_next^0'=x^0+3*k_2, y^0'=3*k_2+y^0, y_next^0'=3*k_2+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && k_2>=1 && 1+x^0+3*k_2<=n0^0 && 1+3*k_2+y^0<=n1^0 ], cost: 3+4*k_2
    114: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=-1+n0^0, x_next^0'=-1+n0^0, y^0'=-1+n0^0-x^0+y^0, y_next^0'=-1+n0^0-x^0+y^0, [ 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && -2+n0^0-x^0>=1 && n0^0-x^0+y^0<=n1^0 ], cost: -5+4*n0^0-4*x^0
    115: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=-1+n0^0, x_next^0'=-1+n0^0, y^0'=-1+n0^0-x^0+y^0, y_next^0'=-1+n0^0-x^0+y^0, [ 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0-x^0+y^0<=n1^0 ], cost: -1+4*n0^0-4*x^0
    116: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=-1+n0^0, x_next^0'=-1+n0^0, y^0'=-1+n0^0-x^0+y^0, y_next^0'=-1+n0^0-x^0+y^0, [ 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0-x^0+y^0<=n1^0 ], cost: -1+4*n0^0-4*x^0
    117: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=-1+x^0+n1^0-y^0, x_next^0'=-1+x^0+n1^0-y^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && -2+n1^0-y^0>=1 && x^0+n1^0-y^0<=n0^0 ], cost: -5+4*n1^0-4*y^0
    118: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=-1+x^0+n1^0-y^0, x_next^0'=-1+x^0+n1^0-y^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && x^0+n1^0-y^0<=n0^0 ], cost: -1+4*n1^0-4*y^0
    119: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=-1+x^0+n1^0-y^0, x_next^0'=-1+x^0+n1^0-y^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && x^0+n1^0-y^0<=n0^0 ], cost: -1+4*n1^0-4*y^0
    120: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x^0'=-1+n0^0, x_next^0'=-1+n0^0, y^0'=-1+n0^0-x^0+y^0, y_next^0'=-1+n0^0-x^0+y^0, [ 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && -2+n0^0-x^0>=1 && n0^0-x^0+y^0<=n1^0 ], cost: -5+4*n0^0-4*x^0
    121: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x^0'=-1+n0^0, x_next^0'=-1+n0^0, y^0'=-1+n0^0-x^0+y^0, y_next^0'=-1+n0^0-x^0+y^0, [ 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0-x^0+y^0<=n1^0 ], cost: -1+4*n0^0-4*x^0
    122: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x^0'=-1+n0^0, x_next^0'=-1+n0^0, y^0'=-1+n0^0-x^0+y^0, y_next^0'=-1+n0^0-x^0+y^0, [ 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0-x^0+y^0<=n1^0 ], cost: -1+4*n0^0-4*x^0
    123: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x^0'=-1+x^0+n1^0-y^0, x_next^0'=-1+x^0+n1^0-y^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && -2+n1^0-y^0>=1 && x^0+n1^0-y^0<=n0^0 ], cost: -5+4*n1^0-4*y^0
    124: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x^0'=-1+x^0+n1^0-y^0, x_next^0'=-1+x^0+n1^0-y^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && x^0+n1^0-y^0<=n0^0 ], cost: -1+4*n1^0-4*y^0
    125: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x^0'=-1+x^0+n1^0-y^0, x_next^0'=-1+x^0+n1^0-y^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && x^0+n1^0-y^0<=n0^0 ], cost: -1+4*n1^0-4*y^0
    126: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=1+x^0+2*k_5, x_next^0'=1+x^0+2*k_5, y^0'=1+2*k_5+y^0, y_next^0'=1+2*k_5+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && k_5>=1 && 2+x^0+2*k_5<=n0^0 && 2+2*k_5+y^0<=n1^0 ], cost: 3+4*k_5
    127: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=x^0+2*k_5, x_next^0'=x^0+2*k_5, y^0'=2*k_5+y^0, y_next^0'=2*k_5+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && k_5>=1 && 1+x^0+2*k_5<=n0^0 && 1+2*k_5+y^0<=n1^0 ], cost: 3+4*k_5
    128: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=x^0+2*k_5, x_next^0'=x^0+2*k_5, y^0'=2*k_5+y^0, y_next^0'=2*k_5+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && k_5>=1 && 1+x^0+2*k_5<=n0^0 && 1+2*k_5+y^0<=n1^0 ], cost: 3+4*k_5
    129: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=-1+n0^0, x_next^0'=-1+n0^0, y^0'=-1+n0^0-x^0+y^0, y_next^0'=-1+n0^0-x^0+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && -2+n0^0-x^0>=1 && n0^0-x^0+y^0<=n1^0 ], cost: -5+4*n0^0-4*x^0
    130: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=-1+x^0+n1^0-y^0, x_next^0'=-1+x^0+n1^0-y^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && -2+n1^0-y^0>=1 && x^0+n1^0-y^0<=n0^0 ], cost: -5+4*n1^0-4*y^0
    131: l7 -> [8] : [ 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: NONTERM
    132: l7 -> [8] : [ 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: NONTERM
    133: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=-1+n0^0, x_next^0'=-1+n0^0, y^0'=-1+n0^0-x^0+y^0, y_next^0'=-1+n0^0-x^0+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && -2+n0^0-x^0>=1 && n0^0-x^0+y^0<=n1^0 ], cost: -5+4*n0^0-4*x^0
    134: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=-1+n0^0, x_next^0'=-1+n0^0, y^0'=-1+n0^0-x^0+y^0, y_next^0'=-1+n0^0-x^0+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0-x^0+y^0<=n1^0 ], cost: -1+4*n0^0-4*x^0
    135: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=-1+n0^0, x_next^0'=-1+n0^0, y^0'=-1+n0^0-x^0+y^0, y_next^0'=-1+n0^0-x^0+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0-x^0+y^0<=n1^0 ], cost: -1+4*n0^0-4*x^0
    136: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=-1+x^0+n1^0-y^0, x_next^0'=-1+x^0+n1^0-y^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && -2+n1^0-y^0>=1 && x^0+n1^0-y^0<=n0^0 ], cost: -5+4*n1^0-4*y^0
    137: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=-1+x^0+n1^0-y^0, x_next^0'=-1+x^0+n1^0-y^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && x^0+n1^0-y^0<=n0^0 ], cost: -1+4*n1^0-4*y^0
    138: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=-1+x^0+n1^0-y^0, x_next^0'=-1+x^0+n1^0-y^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && x^0+n1^0-y^0<=n0^0 ], cost: -1+4*n1^0-4*y^0

Removed unreachable locations (and leaf rules with constant cost):
   Start location: l7
    105: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=1+x^0+2*k, x_next^0'=1+x^0+2*k, y^0'=1+2*k+y^0, y_next^0'=1+2*k+y^0, [ 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && k>=1 && 2+x^0+2*k<=n0^0 && 2+2*k+y^0<=n1^0 ], cost: 3+4*k
    106: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=x^0+2*k, x_next^0'=x^0+2*k, y^0'=2*k+y^0, y_next^0'=2*k+y^0, [ 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && k>=1 && 1+x^0+2*k<=n0^0 && 1+2*k+y^0<=n1^0 ], cost: 3+4*k
    107: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=x^0+2*k, x_next^0'=x^0+2*k, y^0'=2*k+y^0, y_next^0'=2*k+y^0, [ 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && k>=1 && 1+x^0+2*k<=n0^0 && 1+2*k+y^0<=n1^0 ], cost: 3+4*k
    108: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x^0'=1+2*k_1+x^0, x_next^0'=1+2*k_1+x^0, y^0'=1+2*k_1+y^0, y_next^0'=1+2*k_1+y^0, [ 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && k_1>=1 && 2+2*k_1+x^0<=n0^0 && 2+2*k_1+y^0<=n1^0 ], cost: 3+4*k_1
    109: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x^0'=2*k_1+x^0, x_next^0'=2*k_1+x^0, y^0'=2*k_1+y^0, y_next^0'=2*k_1+y^0, [ 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && k_1>=1 && 1+2*k_1+x^0<=n0^0 && 1+2*k_1+y^0<=n1^0 ], cost: 3+4*k_1
    110: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x^0'=2*k_1+x^0, x_next^0'=2*k_1+x^0, y^0'=2*k_1+y^0, y_next^0'=2*k_1+y^0, [ 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && k_1>=1 && 1+2*k_1+x^0<=n0^0 && 1+2*k_1+y^0<=n1^0 ], cost: 3+4*k_1
    111: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=1+x^0+3*k_2, x_next^0'=1+x^0+3*k_2, y^0'=1+3*k_2+y^0, y_next^0'=1+3*k_2+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && k_2>=1 && 2+x^0+3*k_2<=n0^0 && 2+3*k_2+y^0<=n1^0 ], cost: 3+4*k_2
    112: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=x^0+3*k_2, x_next^0'=x^0+3*k_2, y^0'=3*k_2+y^0, y_next^0'=3*k_2+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && k_2>=1 && 1+x^0+3*k_2<=n0^0 && 1+3*k_2+y^0<=n1^0 ], cost: 3+4*k_2
    113: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=x^0+3*k_2, x_next^0'=x^0+3*k_2, y^0'=3*k_2+y^0, y_next^0'=3*k_2+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && k_2>=1 && 1+x^0+3*k_2<=n0^0 && 1+3*k_2+y^0<=n1^0 ], cost: 3+4*k_2
    114: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=-1+n0^0, x_next^0'=-1+n0^0, y^0'=-1+n0^0-x^0+y^0, y_next^0'=-1+n0^0-x^0+y^0, [ 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && -2+n0^0-x^0>=1 && n0^0-x^0+y^0<=n1^0 ], cost: -5+4*n0^0-4*x^0
    115: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=-1+n0^0, x_next^0'=-1+n0^0, y^0'=-1+n0^0-x^0+y^0, y_next^0'=-1+n0^0-x^0+y^0, [ 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0-x^0+y^0<=n1^0 ], cost: -1+4*n0^0-4*x^0
    116: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=-1+n0^0, x_next^0'=-1+n0^0, y^0'=-1+n0^0-x^0+y^0, y_next^0'=-1+n0^0-x^0+y^0, [ 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0-x^0+y^0<=n1^0 ], cost: -1+4*n0^0-4*x^0
    117: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=-1+x^0+n1^0-y^0, x_next^0'=-1+x^0+n1^0-y^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && -2+n1^0-y^0>=1 && x^0+n1^0-y^0<=n0^0 ], cost: -5+4*n1^0-4*y^0
    118: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=-1+x^0+n1^0-y^0, x_next^0'=-1+x^0+n1^0-y^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && x^0+n1^0-y^0<=n0^0 ], cost: -1+4*n1^0-4*y^0
    119: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=-1+x^0+n1^0-y^0, x_next^0'=-1+x^0+n1^0-y^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && x^0+n1^0-y^0<=n0^0 ], cost: -1+4*n1^0-4*y^0
    120: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x^0'=-1+n0^0, x_next^0'=-1+n0^0, y^0'=-1+n0^0-x^0+y^0, y_next^0'=-1+n0^0-x^0+y^0, [ 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && -2+n0^0-x^0>=1 && n0^0-x^0+y^0<=n1^0 ], cost: -5+4*n0^0-4*x^0
    121: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x^0'=-1+n0^0, x_next^0'=-1+n0^0, y^0'=-1+n0^0-x^0+y^0, y_next^0'=-1+n0^0-x^0+y^0, [ 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0-x^0+y^0<=n1^0 ], cost: -1+4*n0^0-4*x^0
    122: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x^0'=-1+n0^0, x_next^0'=-1+n0^0, y^0'=-1+n0^0-x^0+y^0, y_next^0'=-1+n0^0-x^0+y^0, [ 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0-x^0+y^0<=n1^0 ], cost: -1+4*n0^0-4*x^0
    123: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x^0'=-1+x^0+n1^0-y^0, x_next^0'=-1+x^0+n1^0-y^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && -2+n1^0-y^0>=1 && x^0+n1^0-y^0<=n0^0 ], cost: -5+4*n1^0-4*y^0
    124: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x^0'=-1+x^0+n1^0-y^0, x_next^0'=-1+x^0+n1^0-y^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && x^0+n1^0-y^0<=n0^0 ], cost: -1+4*n1^0-4*y^0
    125: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x^0'=-1+x^0+n1^0-y^0, x_next^0'=-1+x^0+n1^0-y^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && x^0+n1^0-y^0<=n0^0 ], cost: -1+4*n1^0-4*y^0
    126: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=1+x^0+2*k_5, x_next^0'=1+x^0+2*k_5, y^0'=1+2*k_5+y^0, y_next^0'=1+2*k_5+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && k_5>=1 && 2+x^0+2*k_5<=n0^0 && 2+2*k_5+y^0<=n1^0 ], cost: 3+4*k_5
    127: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=x^0+2*k_5, x_next^0'=x^0+2*k_5, y^0'=2*k_5+y^0, y_next^0'=2*k_5+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && k_5>=1 && 1+x^0+2*k_5<=n0^0 && 1+2*k_5+y^0<=n1^0 ], cost: 3+4*k_5
    128: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=x^0+2*k_5, x_next^0'=x^0+2*k_5, y^0'=2*k_5+y^0, y_next^0'=2*k_5+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && k_5>=1 && 1+x^0+2*k_5<=n0^0 && 1+2*k_5+y^0<=n1^0 ], cost: 3+4*k_5
    129: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=-1+n0^0, x_next^0'=-1+n0^0, y^0'=-1+n0^0-x^0+y^0, y_next^0'=-1+n0^0-x^0+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && -2+n0^0-x^0>=1 && n0^0-x^0+y^0<=n1^0 ], cost: -5+4*n0^0-4*x^0
    130: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=-1+x^0+n1^0-y^0, x_next^0'=-1+x^0+n1^0-y^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && -2+n1^0-y^0>=1 && x^0+n1^0-y^0<=n0^0 ], cost: -5+4*n1^0-4*y^0
    131: l7 -> [8] : [ 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: NONTERM
    132: l7 -> [8] : [ 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: NONTERM
    133: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=-1+n0^0, x_next^0'=-1+n0^0, y^0'=-1+n0^0-x^0+y^0, y_next^0'=-1+n0^0-x^0+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && -2+n0^0-x^0>=1 && n0^0-x^0+y^0<=n1^0 ], cost: -5+4*n0^0-4*x^0
    134: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=-1+n0^0, x_next^0'=-1+n0^0, y^0'=-1+n0^0-x^0+y^0, y_next^0'=-1+n0^0-x^0+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0-x^0+y^0<=n1^0 ], cost: -1+4*n0^0-4*x^0
    135: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=-1+n0^0, x_next^0'=-1+n0^0, y^0'=-1+n0^0-x^0+y^0, y_next^0'=-1+n0^0-x^0+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0-x^0+y^0<=n1^0 ], cost: -1+4*n0^0-4*x^0
    136: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=-1+x^0+n1^0-y^0, x_next^0'=-1+x^0+n1^0-y^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && -2+n1^0-y^0>=1 && x^0+n1^0-y^0<=n0^0 ], cost: -5+4*n1^0-4*y^0
    137: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=-1+x^0+n1^0-y^0, x_next^0'=-1+x^0+n1^0-y^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && x^0+n1^0-y^0<=n0^0 ], cost: -1+4*n1^0-4*y^0
    138: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=-1+x^0+n1^0-y^0, x_next^0'=-1+x^0+n1^0-y^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && x^0+n1^0-y^0<=n0^0 ], cost: -1+4*n1^0-4*y^0

### Computing asymptotic complexity ###

Fully simplified ITS problem
   Start location: l7
    105: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=1+x^0+2*k, x_next^0'=1+x^0+2*k, y^0'=1+2*k+y^0, y_next^0'=1+2*k+y^0, [ 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && k>=1 && 2+x^0+2*k<=n0^0 && 2+2*k+y^0<=n1^0 ], cost: 3+4*k
    107: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=x^0+2*k, x_next^0'=x^0+2*k, y^0'=2*k+y^0, y_next^0'=2*k+y^0, [ 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && k>=1 && 1+x^0+2*k<=n0^0 && 1+2*k+y^0<=n1^0 ], cost: 3+4*k
    108: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x^0'=1+2*k_1+x^0, x_next^0'=1+2*k_1+x^0, y^0'=1+2*k_1+y^0, y_next^0'=1+2*k_1+y^0, [ 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && k_1>=1 && 2+2*k_1+x^0<=n0^0 && 2+2*k_1+y^0<=n1^0 ], cost: 3+4*k_1
    110: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x^0'=2*k_1+x^0, x_next^0'=2*k_1+x^0, y^0'=2*k_1+y^0, y_next^0'=2*k_1+y^0, [ 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && k_1>=1 && 1+2*k_1+x^0<=n0^0 && 1+2*k_1+y^0<=n1^0 ], cost: 3+4*k_1
    111: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=1+x^0+3*k_2, x_next^0'=1+x^0+3*k_2, y^0'=1+3*k_2+y^0, y_next^0'=1+3*k_2+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && k_2>=1 && 2+x^0+3*k_2<=n0^0 && 2+3*k_2+y^0<=n1^0 ], cost: 3+4*k_2
    113: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=x^0+3*k_2, x_next^0'=x^0+3*k_2, y^0'=3*k_2+y^0, y_next^0'=3*k_2+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && k_2>=1 && 1+x^0+3*k_2<=n0^0 && 1+3*k_2+y^0<=n1^0 ], cost: 3+4*k_2
    114: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=-1+n0^0, x_next^0'=-1+n0^0, y^0'=-1+n0^0-x^0+y^0, y_next^0'=-1+n0^0-x^0+y^0, [ 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && -2+n0^0-x^0>=1 && n0^0-x^0+y^0<=n1^0 ], cost: -5+4*n0^0-4*x^0
    116: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=-1+n0^0, x_next^0'=-1+n0^0, y^0'=-1+n0^0-x^0+y^0, y_next^0'=-1+n0^0-x^0+y^0, [ 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0-x^0+y^0<=n1^0 ], cost: -1+4*n0^0-4*x^0
    117: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=-1+x^0+n1^0-y^0, x_next^0'=-1+x^0+n1^0-y^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && -2+n1^0-y^0>=1 && x^0+n1^0-y^0<=n0^0 ], cost: -5+4*n1^0-4*y^0
    119: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive^post_20, pc_Drive_next^0'=pc_Drive^post_20, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^post_20, pc_Plan_next^0'=pc_Plan_next^post_20, x^0'=-1+x^0+n1^0-y^0, x_next^0'=-1+x^0+n1^0-y^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=8 && 1+pc_Drive^post_20<=8 && 5<=pc_Drive^post_20 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && x^0+n1^0-y^0<=n0^0 ], cost: -1+4*n1^0-4*y^0
    120: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x^0'=-1+n0^0, x_next^0'=-1+n0^0, y^0'=-1+n0^0-x^0+y^0, y_next^0'=-1+n0^0-x^0+y^0, [ 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && -2+n0^0-x^0>=1 && n0^0-x^0+y^0<=n1^0 ], cost: -5+4*n0^0-4*x^0
    122: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x^0'=-1+n0^0, x_next^0'=-1+n0^0, y^0'=-1+n0^0-x^0+y^0, y_next^0'=-1+n0^0-x^0+y^0, [ 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0-x^0+y^0<=n1^0 ], cost: -1+4*n0^0-4*x^0
    123: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x^0'=-1+x^0+n1^0-y^0, x_next^0'=-1+x^0+n1^0-y^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && -2+n1^0-y^0>=1 && x^0+n1^0-y^0<=n0^0 ], cost: -5+4*n1^0-4*y^0
    125: l7 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_21, pc_Drive_next^0'=pc_Drive_next^post_21, pc_Loop^0'=2, pc_Plan^0'=pc_Plan^post_21, pc_Plan_next^0'=pc_Plan^post_21, x^0'=-1+x^0+n1^0-y^0, x_next^0'=-1+x^0+n1^0-y^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=8 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && x^0+n1^0-y^0<=n0^0 ], cost: -1+4*n1^0-4*y^0
    126: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=1+x^0+2*k_5, x_next^0'=1+x^0+2*k_5, y^0'=1+2*k_5+y^0, y_next^0'=1+2*k_5+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && k_5>=1 && 2+x^0+2*k_5<=n0^0 && 2+2*k_5+y^0<=n1^0 ], cost: 3+4*k_5
    128: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=x^0+2*k_5, x_next^0'=x^0+2*k_5, y^0'=2*k_5+y^0, y_next^0'=2*k_5+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && k_5>=1 && 1+x^0+2*k_5<=n0^0 && 1+2*k_5+y^0<=n1^0 ], cost: 3+4*k_5
    132: l7 -> [8] : [ 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: NONTERM
    133: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=-1+n0^0, x_next^0'=-1+n0^0, y^0'=-1+n0^0-x^0+y^0, y_next^0'=-1+n0^0-x^0+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && -2+n0^0-x^0>=1 && n0^0-x^0+y^0<=n1^0 ], cost: -5+4*n0^0-4*x^0
    135: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=-1+n0^0, x_next^0'=-1+n0^0, y^0'=-1+n0^0-x^0+y^0, y_next^0'=-1+n0^0-x^0+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0-x^0+y^0<=n1^0 ], cost: -1+4*n0^0-4*x^0
    136: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=-1+x^0+n1^0-y^0, x_next^0'=-1+x^0+n1^0-y^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && -2+n1^0-y^0>=1 && x^0+n1^0-y^0<=n0^0 ], cost: -5+4*n1^0-4*y^0
    138: l7 -> 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^post_19, pc_Plan_next^0'=pc_Plan_next^post_19, x^0'=-1+x^0+n1^0-y^0, x_next^0'=-1+x^0+n1^0-y^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=8 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && x^0+n1^0-y^0<=n0^0 ], cost: -1+4*n1^0-4*y^0

Computing asymptotic complexity for rule 132
   Guard is satisfiable, yielding nontermination
   Resulting cost NONTERM has complexity: Nonterm

Found new complexity Nonterm.

Obtained the following overall complexity (w.r.t. the length of the input n):
   Complexity:  Nonterm
   Cpx degree:  Nonterm
   Solved cost: NONTERM
   Rule cost:   NONTERM
   Rule guard:  [ 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ]

NO