NO ### Pre-processing the ITS problem ### Initial linear ITS problem Start location: l7 0: l0 -> l1 : __const_6^0'=__const_6^post_1, __const_7^0'=__const_7^post_1, __const_8^0'=__const_8^post_1, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_1 && 1+pc_Drive_next^post_1<=__const_8^0 && 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 && __const_6^0==__const_6^post_1 && __const_7^0==__const_7^post_1 && __const_8^0==__const_8^post_1 && n0^0==n0^post_1 && n1^0==n1^post_1 ], cost: 1 1: l0 -> l1 : __const_6^0'=__const_6^post_2, __const_7^0'=__const_7^post_2, __const_8^0'=__const_8^post_2, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_2 && 1+pc_Drive_next^post_2<=__const_8^0 && 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 && __const_6^0==__const_6^post_2 && __const_7^0==__const_7^post_2 && __const_8^0==__const_8^post_2 && executed_Drive^0==executed_Drive^post_2 && n0^0==n0^post_2 && n1^0==n1^post_2 ], cost: 1 2: l0 -> l1 : __const_6^0'=__const_6^post_3, __const_7^0'=__const_7^post_3, __const_8^0'=__const_8^post_3, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_3 && 1+pc_Drive_next^post_3<=__const_8^0 && 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 && __const_6^0==__const_6^post_3 && __const_7^0==__const_7^post_3 && __const_8^0==__const_8^post_3 && executed_Drive^0==executed_Drive^post_3 && n0^0==n0^post_3 && n1^0==n1^post_3 ], cost: 1 3: l0 -> l1 : __const_6^0'=__const_6^post_4, __const_7^0'=__const_7^post_4, __const_8^0'=__const_8^post_4, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_4 && 1+pc_Drive_next^post_4<=__const_8^0 && 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 && __const_6^0==__const_6^post_4 && __const_7^0==__const_7^post_4 && __const_8^0==__const_8^post_4 && n0^0==n0^post_4 && n1^0==n1^post_4 ], cost: 1 4: l0 -> l1 : __const_6^0'=__const_6^post_5, __const_7^0'=__const_7^post_5, __const_8^0'=__const_8^post_5, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_5 && 1+pc_Drive_next^post_5<=__const_8^0 && 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 && __const_6^0==__const_6^post_5 && __const_7^0==__const_7^post_5 && __const_8^0==__const_8^post_5 && executed_Drive^0==executed_Drive^post_5 && n0^0==n0^post_5 && n1^0==n1^post_5 ], cost: 1 5: l0 -> l1 : __const_6^0'=__const_6^post_6, __const_7^0'=__const_7^post_6, __const_8^0'=__const_8^post_6, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_6 && 1+pc_Drive_next^post_6<=__const_8^0 && 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 && __const_6^0==__const_6^post_6 && __const_7^0==__const_7^post_6 && __const_8^0==__const_8^post_6 && executed_Drive^0==executed_Drive^post_6 && n0^0==n0^post_6 && n1^0==n1^post_6 ], cost: 1 30: l1 -> l4 : __const_6^0'=__const_6^post_31, __const_7^0'=__const_7^post_31, __const_8^0'=__const_8^post_31, executed_Drive^0'=executed_Drive^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, [ 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<=__const_8^0 && 1<=pc_Drive_next^post_31 && 1+pc_Drive_next^post_31<=__const_8^0 && pc_Drive_next^post_31<=4 && 4<=pc_Drive_next^post_31 && executed_Drive^post_31==1 && x_next^post_31<=1+x^0 && 1+x^0<=x_next^post_31 && y_next^post_31<=1+y^0 && 1+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 && is_aborted^post_31<=0 && pc_Plan^post_31<=3 && 3<=pc_Plan^post_31 && pc_Loop^post_31==2 && __const_6^0==__const_6^post_31 && __const_7^0==__const_7^post_31 && __const_8^0==__const_8^post_31 && n0^0==n0^post_31 && n1^0==n1^post_31 ], cost: 1 31: l1 -> l4 : __const_6^0'=__const_6^post_32, __const_7^0'=__const_7^post_32, __const_8^0'=__const_8^post_32, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_32 && 1+pc_Drive_next^post_32<=__const_8^0 && 5<=pc_Drive_next^post_32 && executed_Drive^post_32==0 && x_next^post_32<=x^0 && x^0<=x_next^post_32 && y_next^post_32<=y^0 && 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 && __const_6^0==__const_6^post_32 && __const_7^0==__const_7^post_32 && __const_8^0==__const_8^post_32 && n0^0==n0^post_32 && n1^0==n1^post_32 ], cost: 1 32: l1 -> l4 : __const_6^0'=__const_6^post_33, __const_7^0'=__const_7^post_33, __const_8^0'=__const_8^post_33, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_33 && 1+pc_Drive_next^post_33<=__const_8^0 && 1+pc_Drive_next^post_33<=4 && 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 && __const_6^0==__const_6^post_33 && __const_7^0==__const_7^post_33 && __const_8^0==__const_8^post_33 && n0^0==n0^post_33 && n1^0==n1^post_33 ], cost: 1 33: l1 -> l0 : __const_6^0'=__const_6^post_34, __const_7^0'=__const_7^post_34, __const_8^0'=__const_8^post_34, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_34 && 1+pc_Drive_next^post_34<=__const_8^0 && pc_Drive_next^post_34<=4 && 4<=pc_Drive_next^post_34 && executed_Drive^post_34==1 && x_next^post_34<=1+x^0 && 1+x^0<=x_next^post_34 && y_next^post_34<=1+y^0 && 1+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 && 1<=is_aborted^post_34 && pc_Loop^post_34==__const_7^0 && __const_6^0==__const_6^post_34 && __const_7^0==__const_7^post_34 && __const_8^0==__const_8^post_34 && n0^0==n0^post_34 && n1^0==n1^post_34 ], cost: 1 34: l1 -> l0 : __const_6^0'=__const_6^post_35, __const_7^0'=__const_7^post_35, __const_8^0'=__const_8^post_35, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_35 && 1+pc_Drive_next^post_35<=__const_8^0 && 5<=pc_Drive_next^post_35 && executed_Drive^post_35==0 && x_next^post_35<=x^0 && x^0<=x_next^post_35 && y_next^post_35<=y^0 && 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==__const_7^0 && __const_6^0==__const_6^post_35 && __const_7^0==__const_7^post_35 && __const_8^0==__const_8^post_35 && n0^0==n0^post_35 && n1^0==n1^post_35 ], cost: 1 35: l1 -> l0 : __const_6^0'=__const_6^post_36, __const_7^0'=__const_7^post_36, __const_8^0'=__const_8^post_36, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_36 && 1+pc_Drive_next^post_36<=__const_8^0 && 1+pc_Drive_next^post_36<=4 && 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==__const_7^0 && __const_6^0==__const_6^post_36 && __const_7^0==__const_7^post_36 && __const_8^0==__const_8^post_36 && n0^0==n0^post_36 && n1^0==n1^post_36 ], cost: 1 6: l2 -> l3 : __const_6^0'=__const_6^post_7, __const_7^0'=__const_7^post_7, __const_8^0'=__const_8^post_7, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_7 && 1+pc_Drive_next^post_7<=__const_8^0 && 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<=__const_7^0 && __const_7^0<=pc_Drive^post_7 && executed_Drive^post_7<=1 && 1<=executed_Drive^post_7 && pc_Loop^post_7==4 && __const_6^0==__const_6^post_7 && __const_7^0==__const_7^post_7 && __const_8^0==__const_8^post_7 && n0^0==n0^post_7 && n1^0==n1^post_7 ], cost: 1 7: l2 -> l3 : __const_6^0'=__const_6^post_8, __const_7^0'=__const_7^post_8, __const_8^0'=__const_8^post_8, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_8 && 1+pc_Drive_next^post_8<=__const_8^0 && 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<=__const_7^0 && __const_7^0<=pc_Drive^post_8 && executed_Drive^0<=1 && 1<=executed_Drive^0 && pc_Loop^post_8==4 && __const_6^0==__const_6^post_8 && __const_7^0==__const_7^post_8 && __const_8^0==__const_8^post_8 && executed_Drive^0==executed_Drive^post_8 && n0^0==n0^post_8 && n1^0==n1^post_8 ], cost: 1 8: l2 -> l3 : __const_6^0'=__const_6^post_9, __const_7^0'=__const_7^post_9, __const_8^0'=__const_8^post_9, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_9 && 1+pc_Drive_next^post_9<=__const_8^0 && 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<=__const_7^0 && __const_7^0<=pc_Drive^post_9 && executed_Drive^0<=1 && 1<=executed_Drive^0 && pc_Loop^post_9==4 && __const_6^0==__const_6^post_9 && __const_7^0==__const_7^post_9 && __const_8^0==__const_8^post_9 && executed_Drive^0==executed_Drive^post_9 && n0^0==n0^post_9 && n1^0==n1^post_9 ], cost: 1 9: l2 -> l3 : __const_6^0'=__const_6^post_10, __const_7^0'=__const_7^post_10, __const_8^0'=__const_8^post_10, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_10 && 1+pc_Drive_next^post_10<=__const_8^0 && 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 && __const_6^0==__const_6^post_10 && __const_7^0==__const_7^post_10 && __const_8^0==__const_8^post_10 && n0^0==n0^post_10 && n1^0==n1^post_10 ], cost: 1 10: l2 -> l3 : __const_6^0'=__const_6^post_11, __const_7^0'=__const_7^post_11, __const_8^0'=__const_8^post_11, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_11 && 1+pc_Drive_next^post_11<=__const_8^0 && 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 && __const_6^0==__const_6^post_11 && __const_7^0==__const_7^post_11 && __const_8^0==__const_8^post_11 && n0^0==n0^post_11 && n1^0==n1^post_11 ], cost: 1 11: l2 -> l3 : __const_6^0'=__const_6^post_12, __const_7^0'=__const_7^post_12, __const_8^0'=__const_8^post_12, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_12 && 1+pc_Drive_next^post_12<=__const_8^0 && 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 && __const_6^0==__const_6^post_12 && __const_7^0==__const_7^post_12 && __const_8^0==__const_8^post_12 && n0^0==n0^post_12 && n1^0==n1^post_12 ], cost: 1 12: l3 -> l0 : __const_6^0'=__const_6^post_13, __const_7^0'=__const_7^post_13, __const_8^0'=__const_8^post_13, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_13 && 1+pc_Drive_next^post_13<=__const_8^0 && 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==__const_7^0 && __const_6^0==__const_6^post_13 && __const_7^0==__const_7^post_13 && __const_8^0==__const_8^post_13 && n0^0==n0^post_13 && n1^0==n1^post_13 ], cost: 1 13: l3 -> l0 : __const_6^0'=__const_6^post_14, __const_7^0'=__const_7^post_14, __const_8^0'=__const_8^post_14, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_14 && 1+pc_Drive_next^post_14<=__const_8^0 && 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==__const_7^0 && __const_6^0==__const_6^post_14 && __const_7^0==__const_7^post_14 && __const_8^0==__const_8^post_14 && executed_Drive^0==executed_Drive^post_14 && n0^0==n0^post_14 && n1^0==n1^post_14 ], cost: 1 14: l3 -> l0 : __const_6^0'=__const_6^post_15, __const_7^0'=__const_7^post_15, __const_8^0'=__const_8^post_15, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_15 && 1+pc_Drive_next^post_15<=__const_8^0 && 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==__const_7^0 && __const_6^0==__const_6^post_15 && __const_7^0==__const_7^post_15 && __const_8^0==__const_8^post_15 && executed_Drive^0==executed_Drive^post_15 && n0^0==n0^post_15 && n1^0==n1^post_15 ], cost: 1 15: l3 -> l0 : __const_6^0'=__const_6^post_16, __const_7^0'=__const_7^post_16, __const_8^0'=__const_8^post_16, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_16 && 1+pc_Drive_next^post_16<=__const_8^0 && 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==__const_7^0 && __const_6^0==__const_6^post_16 && __const_7^0==__const_7^post_16 && __const_8^0==__const_8^post_16 && n0^0==n0^post_16 && n1^0==n1^post_16 ], cost: 1 16: l3 -> l0 : __const_6^0'=__const_6^post_17, __const_7^0'=__const_7^post_17, __const_8^0'=__const_8^post_17, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_17 && 1+pc_Drive_next^post_17<=__const_8^0 && 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==__const_7^0 && __const_6^0==__const_6^post_17 && __const_7^0==__const_7^post_17 && __const_8^0==__const_8^post_17 && executed_Drive^0==executed_Drive^post_17 && n0^0==n0^post_17 && n1^0==n1^post_17 ], cost: 1 17: l3 -> l0 : __const_6^0'=__const_6^post_18, __const_7^0'=__const_7^post_18, __const_8^0'=__const_8^post_18, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_18 && 1+pc_Drive_next^post_18<=__const_8^0 && 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==__const_7^0 && __const_6^0==__const_6^post_18 && __const_7^0==__const_7^post_18 && __const_8^0==__const_8^post_18 && executed_Drive^0==executed_Drive^post_18 && n0^0==n0^post_18 && n1^0==n1^post_18 ], cost: 1 18: l3 -> l4 : __const_6^0'=__const_6^post_19, __const_7^0'=__const_7^post_19, __const_8^0'=__const_8^post_19, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_19 && 1+pc_Drive_next^post_19<=__const_8^0 && 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 && __const_6^0==__const_6^post_19 && __const_7^0==__const_7^post_19 && __const_8^0==__const_8^post_19 && n0^0==n0^post_19 && n1^0==n1^post_19 ], cost: 1 19: l3 -> l4 : __const_6^0'=__const_6^post_20, __const_7^0'=__const_7^post_20, __const_8^0'=__const_8^post_20, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_20 && 1+pc_Drive_next^post_20<=__const_8^0 && 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 && __const_6^0==__const_6^post_20 && __const_7^0==__const_7^post_20 && __const_8^0==__const_8^post_20 && executed_Drive^0==executed_Drive^post_20 && n0^0==n0^post_20 && n1^0==n1^post_20 ], cost: 1 20: l3 -> l4 : __const_6^0'=__const_6^post_21, __const_7^0'=__const_7^post_21, __const_8^0'=__const_8^post_21, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 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 && __const_6^0==__const_6^post_21 && __const_7^0==__const_7^post_21 && __const_8^0==__const_8^post_21 && executed_Drive^0==executed_Drive^post_21 && n0^0==n0^post_21 && n1^0==n1^post_21 ], cost: 1 24: l4 -> l5 : __const_6^0'=__const_6^post_25, __const_7^0'=__const_7^post_25, __const_8^0'=__const_8^post_25, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_25 && 1+pc_Drive_next^post_25<=__const_8^0 && 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 && __const_6^0==__const_6^post_25 && __const_7^0==__const_7^post_25 && __const_8^0==__const_8^post_25 && n0^0==n0^post_25 && n1^0==n1^post_25 ], cost: 1 25: l4 -> l5 : __const_6^0'=__const_6^post_26, __const_7^0'=__const_7^post_26, __const_8^0'=__const_8^post_26, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_26 && 1+pc_Drive_next^post_26<=__const_8^0 && 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 && __const_6^0==__const_6^post_26 && __const_7^0==__const_7^post_26 && __const_8^0==__const_8^post_26 && executed_Drive^0==executed_Drive^post_26 && n0^0==n0^post_26 && n1^0==n1^post_26 ], cost: 1 26: l4 -> l5 : __const_6^0'=__const_6^post_27, __const_7^0'=__const_7^post_27, __const_8^0'=__const_8^post_27, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 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 && __const_6^0==__const_6^post_27 && __const_7^0==__const_7^post_27 && __const_8^0==__const_8^post_27 && executed_Drive^0==executed_Drive^post_27 && n0^0==n0^post_27 && n1^0==n1^post_27 ], cost: 1 27: l4 -> l0 : __const_6^0'=__const_6^post_28, __const_7^0'=__const_7^post_28, __const_8^0'=__const_8^post_28, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_28 && 1+pc_Drive_next^post_28<=__const_8^0 && 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==__const_7^0 && __const_6^0==__const_6^post_28 && __const_7^0==__const_7^post_28 && __const_8^0==__const_8^post_28 && n0^0==n0^post_28 && n1^0==n1^post_28 ], cost: 1 28: l4 -> l0 : __const_6^0'=__const_6^post_29, __const_7^0'=__const_7^post_29, __const_8^0'=__const_8^post_29, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_29 && 1+pc_Drive_next^post_29<=__const_8^0 && 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==__const_7^0 && __const_6^0==__const_6^post_29 && __const_7^0==__const_7^post_29 && __const_8^0==__const_8^post_29 && executed_Drive^0==executed_Drive^post_29 && n0^0==n0^post_29 && n1^0==n1^post_29 ], cost: 1 29: l4 -> l0 : __const_6^0'=__const_6^post_30, __const_7^0'=__const_7^post_30, __const_8^0'=__const_8^post_30, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_30 && 1+pc_Drive_next^post_30<=__const_8^0 && 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==__const_7^0 && __const_6^0==__const_6^post_30 && __const_7^0==__const_7^post_30 && __const_8^0==__const_8^post_30 && executed_Drive^0==executed_Drive^post_30 && n0^0==n0^post_30 && n1^0==n1^post_30 ], cost: 1 21: l5 -> l2 : __const_6^0'=__const_6^post_22, __const_7^0'=__const_7^post_22, __const_8^0'=__const_8^post_22, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_22 && 1+pc_Drive_next^post_22<=__const_8^0 && 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==__const_6^0 && __const_6^0==__const_6^post_22 && __const_7^0==__const_7^post_22 && __const_8^0==__const_8^post_22 && n0^0==n0^post_22 && n1^0==n1^post_22 ], cost: 1 22: l5 -> l2 : __const_6^0'=__const_6^post_23, __const_7^0'=__const_7^post_23, __const_8^0'=__const_8^post_23, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_23 && 1+pc_Drive_next^post_23<=__const_8^0 && 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==__const_6^0 && __const_6^0==__const_6^post_23 && __const_7^0==__const_7^post_23 && __const_8^0==__const_8^post_23 && executed_Drive^0==executed_Drive^post_23 && n0^0==n0^post_23 && n1^0==n1^post_23 ], cost: 1 23: l5 -> l2 : __const_6^0'=__const_6^post_24, __const_7^0'=__const_7^post_24, __const_8^0'=__const_8^post_24, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 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==__const_6^0 && __const_6^0==__const_6^post_24 && __const_7^0==__const_7^post_24 && __const_8^0==__const_8^post_24 && executed_Drive^0==executed_Drive^post_24 && n0^0==n0^post_24 && n1^0==n1^post_24 ], cost: 1 36: l6 -> l1 : __const_6^0'=__const_6^post_37, __const_7^0'=__const_7^post_37, __const_8^0'=__const_8^post_37, executed_Drive^0'=executed_Drive^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, [ __const_6^0==__const_6^post_37 && __const_7^0==__const_7^post_37 && __const_8^0==__const_8^post_37 && executed_Drive^0==executed_Drive^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 : __const_6^0'=__const_6^post_38, __const_7^0'=__const_7^post_38, __const_8^0'=__const_8^post_38, executed_Drive^0'=executed_Drive^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, [ __const_6^0==__const_6^post_38 && __const_7^0==__const_7^post_38 && __const_8^0==__const_8^post_38 && executed_Drive^0==executed_Drive^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 : __const_6^0'=__const_6^post_38, __const_7^0'=__const_7^post_38, __const_8^0'=__const_8^post_38, executed_Drive^0'=executed_Drive^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, [ __const_6^0==__const_6^post_38 && __const_7^0==__const_7^post_38 && __const_8^0==__const_8^post_38 && executed_Drive^0==executed_Drive^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 -> l4 : __const_6^0'=__const_6^post_31, __const_7^0'=__const_7^post_31, __const_8^0'=__const_8^post_31, executed_Drive^0'=executed_Drive^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, [ 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<=__const_8^0 && 1<=pc_Drive_next^post_31 && 1+pc_Drive_next^post_31<=__const_8^0 && pc_Drive_next^post_31<=4 && 4<=pc_Drive_next^post_31 && executed_Drive^post_31==1 && x_next^post_31<=1+x^0 && 1+x^0<=x_next^post_31 && y_next^post_31<=1+y^0 && 1+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 && is_aborted^post_31<=0 && pc_Plan^post_31<=3 && 3<=pc_Plan^post_31 && pc_Loop^post_31==2 && __const_6^0==__const_6^post_31 && __const_7^0==__const_7^post_31 && __const_8^0==__const_8^post_31 && n0^0==n0^post_31 && n1^0==n1^post_31 ], cost: 1 31: l1 -> l4 : __const_6^0'=__const_6^post_32, __const_7^0'=__const_7^post_32, __const_8^0'=__const_8^post_32, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_32 && 1+pc_Drive_next^post_32<=__const_8^0 && 5<=pc_Drive_next^post_32 && executed_Drive^post_32==0 && x_next^post_32<=x^0 && x^0<=x_next^post_32 && y_next^post_32<=y^0 && 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 && __const_6^0==__const_6^post_32 && __const_7^0==__const_7^post_32 && __const_8^0==__const_8^post_32 && n0^0==n0^post_32 && n1^0==n1^post_32 ], cost: 1 32: l1 -> l4 : __const_6^0'=__const_6^post_33, __const_7^0'=__const_7^post_33, __const_8^0'=__const_8^post_33, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_33 && 1+pc_Drive_next^post_33<=__const_8^0 && 1+pc_Drive_next^post_33<=4 && 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 && __const_6^0==__const_6^post_33 && __const_7^0==__const_7^post_33 && __const_8^0==__const_8^post_33 && n0^0==n0^post_33 && n1^0==n1^post_33 ], cost: 1 33: l1 -> l0 : __const_6^0'=__const_6^post_34, __const_7^0'=__const_7^post_34, __const_8^0'=__const_8^post_34, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_34 && 1+pc_Drive_next^post_34<=__const_8^0 && pc_Drive_next^post_34<=4 && 4<=pc_Drive_next^post_34 && executed_Drive^post_34==1 && x_next^post_34<=1+x^0 && 1+x^0<=x_next^post_34 && y_next^post_34<=1+y^0 && 1+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 && 1<=is_aborted^post_34 && pc_Loop^post_34==__const_7^0 && __const_6^0==__const_6^post_34 && __const_7^0==__const_7^post_34 && __const_8^0==__const_8^post_34 && n0^0==n0^post_34 && n1^0==n1^post_34 ], cost: 1 34: l1 -> l0 : __const_6^0'=__const_6^post_35, __const_7^0'=__const_7^post_35, __const_8^0'=__const_8^post_35, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_35 && 1+pc_Drive_next^post_35<=__const_8^0 && 5<=pc_Drive_next^post_35 && executed_Drive^post_35==0 && x_next^post_35<=x^0 && x^0<=x_next^post_35 && y_next^post_35<=y^0 && 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==__const_7^0 && __const_6^0==__const_6^post_35 && __const_7^0==__const_7^post_35 && __const_8^0==__const_8^post_35 && n0^0==n0^post_35 && n1^0==n1^post_35 ], cost: 1 35: l1 -> l0 : __const_6^0'=__const_6^post_36, __const_7^0'=__const_7^post_36, __const_8^0'=__const_8^post_36, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_36 && 1+pc_Drive_next^post_36<=__const_8^0 && 1+pc_Drive_next^post_36<=4 && 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==__const_7^0 && __const_6^0==__const_6^post_36 && __const_7^0==__const_7^post_36 && __const_8^0==__const_8^post_36 && n0^0==n0^post_36 && n1^0==n1^post_36 ], cost: 1 6: l2 -> l3 : __const_6^0'=__const_6^post_7, __const_7^0'=__const_7^post_7, __const_8^0'=__const_8^post_7, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_7 && 1+pc_Drive_next^post_7<=__const_8^0 && 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<=__const_7^0 && __const_7^0<=pc_Drive^post_7 && executed_Drive^post_7<=1 && 1<=executed_Drive^post_7 && pc_Loop^post_7==4 && __const_6^0==__const_6^post_7 && __const_7^0==__const_7^post_7 && __const_8^0==__const_8^post_7 && n0^0==n0^post_7 && n1^0==n1^post_7 ], cost: 1 7: l2 -> l3 : __const_6^0'=__const_6^post_8, __const_7^0'=__const_7^post_8, __const_8^0'=__const_8^post_8, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_8 && 1+pc_Drive_next^post_8<=__const_8^0 && 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<=__const_7^0 && __const_7^0<=pc_Drive^post_8 && executed_Drive^0<=1 && 1<=executed_Drive^0 && pc_Loop^post_8==4 && __const_6^0==__const_6^post_8 && __const_7^0==__const_7^post_8 && __const_8^0==__const_8^post_8 && executed_Drive^0==executed_Drive^post_8 && n0^0==n0^post_8 && n1^0==n1^post_8 ], cost: 1 8: l2 -> l3 : __const_6^0'=__const_6^post_9, __const_7^0'=__const_7^post_9, __const_8^0'=__const_8^post_9, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_9 && 1+pc_Drive_next^post_9<=__const_8^0 && 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<=__const_7^0 && __const_7^0<=pc_Drive^post_9 && executed_Drive^0<=1 && 1<=executed_Drive^0 && pc_Loop^post_9==4 && __const_6^0==__const_6^post_9 && __const_7^0==__const_7^post_9 && __const_8^0==__const_8^post_9 && executed_Drive^0==executed_Drive^post_9 && n0^0==n0^post_9 && n1^0==n1^post_9 ], cost: 1 11: l2 -> l3 : __const_6^0'=__const_6^post_12, __const_7^0'=__const_7^post_12, __const_8^0'=__const_8^post_12, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_12 && 1+pc_Drive_next^post_12<=__const_8^0 && 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 && __const_6^0==__const_6^post_12 && __const_7^0==__const_7^post_12 && __const_8^0==__const_8^post_12 && n0^0==n0^post_12 && n1^0==n1^post_12 ], cost: 1 12: l3 -> l0 : __const_6^0'=__const_6^post_13, __const_7^0'=__const_7^post_13, __const_8^0'=__const_8^post_13, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_13 && 1+pc_Drive_next^post_13<=__const_8^0 && 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==__const_7^0 && __const_6^0==__const_6^post_13 && __const_7^0==__const_7^post_13 && __const_8^0==__const_8^post_13 && n0^0==n0^post_13 && n1^0==n1^post_13 ], cost: 1 13: l3 -> l0 : __const_6^0'=__const_6^post_14, __const_7^0'=__const_7^post_14, __const_8^0'=__const_8^post_14, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_14 && 1+pc_Drive_next^post_14<=__const_8^0 && 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==__const_7^0 && __const_6^0==__const_6^post_14 && __const_7^0==__const_7^post_14 && __const_8^0==__const_8^post_14 && executed_Drive^0==executed_Drive^post_14 && n0^0==n0^post_14 && n1^0==n1^post_14 ], cost: 1 14: l3 -> l0 : __const_6^0'=__const_6^post_15, __const_7^0'=__const_7^post_15, __const_8^0'=__const_8^post_15, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_15 && 1+pc_Drive_next^post_15<=__const_8^0 && 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==__const_7^0 && __const_6^0==__const_6^post_15 && __const_7^0==__const_7^post_15 && __const_8^0==__const_8^post_15 && executed_Drive^0==executed_Drive^post_15 && n0^0==n0^post_15 && n1^0==n1^post_15 ], cost: 1 15: l3 -> l0 : __const_6^0'=__const_6^post_16, __const_7^0'=__const_7^post_16, __const_8^0'=__const_8^post_16, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_16 && 1+pc_Drive_next^post_16<=__const_8^0 && 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==__const_7^0 && __const_6^0==__const_6^post_16 && __const_7^0==__const_7^post_16 && __const_8^0==__const_8^post_16 && n0^0==n0^post_16 && n1^0==n1^post_16 ], cost: 1 16: l3 -> l0 : __const_6^0'=__const_6^post_17, __const_7^0'=__const_7^post_17, __const_8^0'=__const_8^post_17, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_17 && 1+pc_Drive_next^post_17<=__const_8^0 && 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==__const_7^0 && __const_6^0==__const_6^post_17 && __const_7^0==__const_7^post_17 && __const_8^0==__const_8^post_17 && executed_Drive^0==executed_Drive^post_17 && n0^0==n0^post_17 && n1^0==n1^post_17 ], cost: 1 17: l3 -> l0 : __const_6^0'=__const_6^post_18, __const_7^0'=__const_7^post_18, __const_8^0'=__const_8^post_18, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_18 && 1+pc_Drive_next^post_18<=__const_8^0 && 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==__const_7^0 && __const_6^0==__const_6^post_18 && __const_7^0==__const_7^post_18 && __const_8^0==__const_8^post_18 && executed_Drive^0==executed_Drive^post_18 && n0^0==n0^post_18 && n1^0==n1^post_18 ], cost: 1 18: l3 -> l4 : __const_6^0'=__const_6^post_19, __const_7^0'=__const_7^post_19, __const_8^0'=__const_8^post_19, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_19 && 1+pc_Drive_next^post_19<=__const_8^0 && 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 && __const_6^0==__const_6^post_19 && __const_7^0==__const_7^post_19 && __const_8^0==__const_8^post_19 && n0^0==n0^post_19 && n1^0==n1^post_19 ], cost: 1 19: l3 -> l4 : __const_6^0'=__const_6^post_20, __const_7^0'=__const_7^post_20, __const_8^0'=__const_8^post_20, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_20 && 1+pc_Drive_next^post_20<=__const_8^0 && 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 && __const_6^0==__const_6^post_20 && __const_7^0==__const_7^post_20 && __const_8^0==__const_8^post_20 && executed_Drive^0==executed_Drive^post_20 && n0^0==n0^post_20 && n1^0==n1^post_20 ], cost: 1 20: l3 -> l4 : __const_6^0'=__const_6^post_21, __const_7^0'=__const_7^post_21, __const_8^0'=__const_8^post_21, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 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 && __const_6^0==__const_6^post_21 && __const_7^0==__const_7^post_21 && __const_8^0==__const_8^post_21 && executed_Drive^0==executed_Drive^post_21 && n0^0==n0^post_21 && n1^0==n1^post_21 ], cost: 1 24: l4 -> l5 : __const_6^0'=__const_6^post_25, __const_7^0'=__const_7^post_25, __const_8^0'=__const_8^post_25, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_25 && 1+pc_Drive_next^post_25<=__const_8^0 && 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 && __const_6^0==__const_6^post_25 && __const_7^0==__const_7^post_25 && __const_8^0==__const_8^post_25 && n0^0==n0^post_25 && n1^0==n1^post_25 ], cost: 1 25: l4 -> l5 : __const_6^0'=__const_6^post_26, __const_7^0'=__const_7^post_26, __const_8^0'=__const_8^post_26, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_26 && 1+pc_Drive_next^post_26<=__const_8^0 && 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 && __const_6^0==__const_6^post_26 && __const_7^0==__const_7^post_26 && __const_8^0==__const_8^post_26 && executed_Drive^0==executed_Drive^post_26 && n0^0==n0^post_26 && n1^0==n1^post_26 ], cost: 1 26: l4 -> l5 : __const_6^0'=__const_6^post_27, __const_7^0'=__const_7^post_27, __const_8^0'=__const_8^post_27, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 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 && __const_6^0==__const_6^post_27 && __const_7^0==__const_7^post_27 && __const_8^0==__const_8^post_27 && executed_Drive^0==executed_Drive^post_27 && n0^0==n0^post_27 && n1^0==n1^post_27 ], cost: 1 27: l4 -> l0 : __const_6^0'=__const_6^post_28, __const_7^0'=__const_7^post_28, __const_8^0'=__const_8^post_28, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_28 && 1+pc_Drive_next^post_28<=__const_8^0 && 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==__const_7^0 && __const_6^0==__const_6^post_28 && __const_7^0==__const_7^post_28 && __const_8^0==__const_8^post_28 && n0^0==n0^post_28 && n1^0==n1^post_28 ], cost: 1 28: l4 -> l0 : __const_6^0'=__const_6^post_29, __const_7^0'=__const_7^post_29, __const_8^0'=__const_8^post_29, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_29 && 1+pc_Drive_next^post_29<=__const_8^0 && 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==__const_7^0 && __const_6^0==__const_6^post_29 && __const_7^0==__const_7^post_29 && __const_8^0==__const_8^post_29 && executed_Drive^0==executed_Drive^post_29 && n0^0==n0^post_29 && n1^0==n1^post_29 ], cost: 1 29: l4 -> l0 : __const_6^0'=__const_6^post_30, __const_7^0'=__const_7^post_30, __const_8^0'=__const_8^post_30, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_30 && 1+pc_Drive_next^post_30<=__const_8^0 && 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==__const_7^0 && __const_6^0==__const_6^post_30 && __const_7^0==__const_7^post_30 && __const_8^0==__const_8^post_30 && executed_Drive^0==executed_Drive^post_30 && n0^0==n0^post_30 && n1^0==n1^post_30 ], cost: 1 21: l5 -> l2 : __const_6^0'=__const_6^post_22, __const_7^0'=__const_7^post_22, __const_8^0'=__const_8^post_22, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_22 && 1+pc_Drive_next^post_22<=__const_8^0 && 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==__const_6^0 && __const_6^0==__const_6^post_22 && __const_7^0==__const_7^post_22 && __const_8^0==__const_8^post_22 && n0^0==n0^post_22 && n1^0==n1^post_22 ], cost: 1 22: l5 -> l2 : __const_6^0'=__const_6^post_23, __const_7^0'=__const_7^post_23, __const_8^0'=__const_8^post_23, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_23 && 1+pc_Drive_next^post_23<=__const_8^0 && 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==__const_6^0 && __const_6^0==__const_6^post_23 && __const_7^0==__const_7^post_23 && __const_8^0==__const_8^post_23 && executed_Drive^0==executed_Drive^post_23 && n0^0==n0^post_23 && n1^0==n1^post_23 ], cost: 1 23: l5 -> l2 : __const_6^0'=__const_6^post_24, __const_7^0'=__const_7^post_24, __const_8^0'=__const_8^post_24, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 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==__const_6^0 && __const_6^0==__const_6^post_24 && __const_7^0==__const_7^post_24 && __const_8^0==__const_8^post_24 && executed_Drive^0==executed_Drive^post_24 && n0^0==n0^post_24 && n1^0==n1^post_24 ], cost: 1 36: l6 -> l1 : __const_6^0'=__const_6^post_37, __const_7^0'=__const_7^post_37, __const_8^0'=__const_8^post_37, executed_Drive^0'=executed_Drive^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, [ __const_6^0==__const_6^post_37 && __const_7^0==__const_7^post_37 && __const_8^0==__const_8^post_37 && executed_Drive^0==executed_Drive^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 : __const_6^0'=__const_6^post_38, __const_7^0'=__const_7^post_38, __const_8^0'=__const_8^post_38, executed_Drive^0'=executed_Drive^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, [ __const_6^0==__const_6^post_38 && __const_7^0==__const_7^post_38 && __const_8^0==__const_8^post_38 && executed_Drive^0==executed_Drive^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 30: l1 -> l4 : __const_6^0'=__const_6^post_31, __const_7^0'=__const_7^post_31, __const_8^0'=__const_8^post_31, executed_Drive^0'=executed_Drive^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, [ 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<=__const_8^0 && 1<=pc_Drive_next^post_31 && 1+pc_Drive_next^post_31<=__const_8^0 && pc_Drive_next^post_31<=4 && 4<=pc_Drive_next^post_31 && executed_Drive^post_31==1 && x_next^post_31<=1+x^0 && 1+x^0<=x_next^post_31 && y_next^post_31<=1+y^0 && 1+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 && is_aborted^post_31<=0 && pc_Plan^post_31<=3 && 3<=pc_Plan^post_31 && pc_Loop^post_31==2 && __const_6^0==__const_6^post_31 && __const_7^0==__const_7^post_31 && __const_8^0==__const_8^post_31 && n0^0==n0^post_31 && n1^0==n1^post_31 ], cost: 1 31: l1 -> l4 : __const_6^0'=__const_6^post_32, __const_7^0'=__const_7^post_32, __const_8^0'=__const_8^post_32, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_32 && 1+pc_Drive_next^post_32<=__const_8^0 && 5<=pc_Drive_next^post_32 && executed_Drive^post_32==0 && x_next^post_32<=x^0 && x^0<=x_next^post_32 && y_next^post_32<=y^0 && 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 && __const_6^0==__const_6^post_32 && __const_7^0==__const_7^post_32 && __const_8^0==__const_8^post_32 && n0^0==n0^post_32 && n1^0==n1^post_32 ], cost: 1 32: l1 -> l4 : __const_6^0'=__const_6^post_33, __const_7^0'=__const_7^post_33, __const_8^0'=__const_8^post_33, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_33 && 1+pc_Drive_next^post_33<=__const_8^0 && 1+pc_Drive_next^post_33<=4 && 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 && __const_6^0==__const_6^post_33 && __const_7^0==__const_7^post_33 && __const_8^0==__const_8^post_33 && n0^0==n0^post_33 && n1^0==n1^post_33 ], cost: 1 6: l2 -> l3 : __const_6^0'=__const_6^post_7, __const_7^0'=__const_7^post_7, __const_8^0'=__const_8^post_7, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_7 && 1+pc_Drive_next^post_7<=__const_8^0 && 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<=__const_7^0 && __const_7^0<=pc_Drive^post_7 && executed_Drive^post_7<=1 && 1<=executed_Drive^post_7 && pc_Loop^post_7==4 && __const_6^0==__const_6^post_7 && __const_7^0==__const_7^post_7 && __const_8^0==__const_8^post_7 && n0^0==n0^post_7 && n1^0==n1^post_7 ], cost: 1 7: l2 -> l3 : __const_6^0'=__const_6^post_8, __const_7^0'=__const_7^post_8, __const_8^0'=__const_8^post_8, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_8 && 1+pc_Drive_next^post_8<=__const_8^0 && 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<=__const_7^0 && __const_7^0<=pc_Drive^post_8 && executed_Drive^0<=1 && 1<=executed_Drive^0 && pc_Loop^post_8==4 && __const_6^0==__const_6^post_8 && __const_7^0==__const_7^post_8 && __const_8^0==__const_8^post_8 && executed_Drive^0==executed_Drive^post_8 && n0^0==n0^post_8 && n1^0==n1^post_8 ], cost: 1 8: l2 -> l3 : __const_6^0'=__const_6^post_9, __const_7^0'=__const_7^post_9, __const_8^0'=__const_8^post_9, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_9 && 1+pc_Drive_next^post_9<=__const_8^0 && 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<=__const_7^0 && __const_7^0<=pc_Drive^post_9 && executed_Drive^0<=1 && 1<=executed_Drive^0 && pc_Loop^post_9==4 && __const_6^0==__const_6^post_9 && __const_7^0==__const_7^post_9 && __const_8^0==__const_8^post_9 && executed_Drive^0==executed_Drive^post_9 && n0^0==n0^post_9 && n1^0==n1^post_9 ], cost: 1 11: l2 -> l3 : __const_6^0'=__const_6^post_12, __const_7^0'=__const_7^post_12, __const_8^0'=__const_8^post_12, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_12 && 1+pc_Drive_next^post_12<=__const_8^0 && 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 && __const_6^0==__const_6^post_12 && __const_7^0==__const_7^post_12 && __const_8^0==__const_8^post_12 && n0^0==n0^post_12 && n1^0==n1^post_12 ], cost: 1 18: l3 -> l4 : __const_6^0'=__const_6^post_19, __const_7^0'=__const_7^post_19, __const_8^0'=__const_8^post_19, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_19 && 1+pc_Drive_next^post_19<=__const_8^0 && 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 && __const_6^0==__const_6^post_19 && __const_7^0==__const_7^post_19 && __const_8^0==__const_8^post_19 && n0^0==n0^post_19 && n1^0==n1^post_19 ], cost: 1 19: l3 -> l4 : __const_6^0'=__const_6^post_20, __const_7^0'=__const_7^post_20, __const_8^0'=__const_8^post_20, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_20 && 1+pc_Drive_next^post_20<=__const_8^0 && 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 && __const_6^0==__const_6^post_20 && __const_7^0==__const_7^post_20 && __const_8^0==__const_8^post_20 && executed_Drive^0==executed_Drive^post_20 && n0^0==n0^post_20 && n1^0==n1^post_20 ], cost: 1 20: l3 -> l4 : __const_6^0'=__const_6^post_21, __const_7^0'=__const_7^post_21, __const_8^0'=__const_8^post_21, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 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 && __const_6^0==__const_6^post_21 && __const_7^0==__const_7^post_21 && __const_8^0==__const_8^post_21 && executed_Drive^0==executed_Drive^post_21 && n0^0==n0^post_21 && n1^0==n1^post_21 ], cost: 1 24: l4 -> l5 : __const_6^0'=__const_6^post_25, __const_7^0'=__const_7^post_25, __const_8^0'=__const_8^post_25, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_25 && 1+pc_Drive_next^post_25<=__const_8^0 && 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 && __const_6^0==__const_6^post_25 && __const_7^0==__const_7^post_25 && __const_8^0==__const_8^post_25 && n0^0==n0^post_25 && n1^0==n1^post_25 ], cost: 1 25: l4 -> l5 : __const_6^0'=__const_6^post_26, __const_7^0'=__const_7^post_26, __const_8^0'=__const_8^post_26, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_26 && 1+pc_Drive_next^post_26<=__const_8^0 && 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 && __const_6^0==__const_6^post_26 && __const_7^0==__const_7^post_26 && __const_8^0==__const_8^post_26 && executed_Drive^0==executed_Drive^post_26 && n0^0==n0^post_26 && n1^0==n1^post_26 ], cost: 1 26: l4 -> l5 : __const_6^0'=__const_6^post_27, __const_7^0'=__const_7^post_27, __const_8^0'=__const_8^post_27, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 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 && __const_6^0==__const_6^post_27 && __const_7^0==__const_7^post_27 && __const_8^0==__const_8^post_27 && executed_Drive^0==executed_Drive^post_27 && n0^0==n0^post_27 && n1^0==n1^post_27 ], cost: 1 21: l5 -> l2 : __const_6^0'=__const_6^post_22, __const_7^0'=__const_7^post_22, __const_8^0'=__const_8^post_22, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_22 && 1+pc_Drive_next^post_22<=__const_8^0 && 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==__const_6^0 && __const_6^0==__const_6^post_22 && __const_7^0==__const_7^post_22 && __const_8^0==__const_8^post_22 && n0^0==n0^post_22 && n1^0==n1^post_22 ], cost: 1 22: l5 -> l2 : __const_6^0'=__const_6^post_23, __const_7^0'=__const_7^post_23, __const_8^0'=__const_8^post_23, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_23 && 1+pc_Drive_next^post_23<=__const_8^0 && 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==__const_6^0 && __const_6^0==__const_6^post_23 && __const_7^0==__const_7^post_23 && __const_8^0==__const_8^post_23 && executed_Drive^0==executed_Drive^post_23 && n0^0==n0^post_23 && n1^0==n1^post_23 ], cost: 1 23: l5 -> l2 : __const_6^0'=__const_6^post_24, __const_7^0'=__const_7^post_24, __const_8^0'=__const_8^post_24, executed_Drive^0'=executed_Drive^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<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 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==__const_6^0 && __const_6^0==__const_6^post_24 && __const_7^0==__const_7^post_24 && __const_8^0==__const_8^post_24 && executed_Drive^0==executed_Drive^post_24 && n0^0==n0^post_24 && n1^0==n1^post_24 ], cost: 1 36: l6 -> l1 : __const_6^0'=__const_6^post_37, __const_7^0'=__const_7^post_37, __const_8^0'=__const_8^post_37, executed_Drive^0'=executed_Drive^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, [ __const_6^0==__const_6^post_37 && __const_7^0==__const_7^post_37 && __const_8^0==__const_8^post_37 && executed_Drive^0==executed_Drive^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 : __const_6^0'=__const_6^post_38, __const_7^0'=__const_7^post_38, __const_8^0'=__const_8^post_38, executed_Drive^0'=executed_Drive^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, [ __const_6^0==__const_6^post_38 && __const_7^0==__const_7^post_38 && __const_8^0==__const_8^post_38 && executed_Drive^0==executed_Drive^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 30: 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, [ 5<=__const_8^0 ], cost: 1 31: l1 -> l4 : executed_Drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_32, pc_Drive_next^0'=pc_Drive_next^post_32, 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_32<=__const_8^0 && 5<=pc_Drive_next^post_32 ], 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, [ 4<=__const_8^0 && 1<=pc_Drive_next^post_33 && 1+pc_Drive_next^post_33<=__const_8^0 && 1+pc_Drive_next^post_33<=4 ], cost: 1 6: l2 -> l3 : executed_Drive^0'=1, is_aborted^0'=is_aborted_next^post_7, is_aborted_next^0'=is_aborted_next^post_7, pc_Drive^0'=4, pc_Drive_next^0'=4, pc_Loop^0'=4, pc_Plan^0'=pc_Plan_next^post_7, pc_Plan_next^0'=pc_Plan_next^post_7, 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_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 5<=__const_8^0 && 4-__const_7^0==0 ], cost: 1 7: l2 -> l3 : is_aborted^0'=is_aborted^post_8, is_aborted_next^0'=is_aborted^post_8, pc_Drive^0'=__const_7^0, pc_Drive_next^0'=__const_7^0, pc_Loop^0'=4, pc_Plan^0'=pc_Plan^post_8, pc_Plan_next^0'=pc_Plan^post_8, x_next^0'=x^0, y_next^0'=y^0, [ 0<=is_aborted^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 ], cost: 1 8: l2 -> l3 : is_aborted^0'=is_aborted_next^post_9, is_aborted_next^0'=is_aborted_next^post_9, pc_Drive^0'=__const_7^0, pc_Drive_next^0'=__const_7^0, pc_Loop^0'=4, pc_Plan^0'=pc_Plan^post_9, pc_Plan_next^0'=pc_Plan^post_9, x_next^0'=x^0, y_next^0'=y^0, [ 0<=is_aborted_next^post_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -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<=__const_8^0 && 3<=__const_8^0 ], 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<=__const_8^0 && 5<=__const_8^0 && 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_next^post_20, pc_Drive_next^0'=pc_Drive_next^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<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^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<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 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_next^post_25, pc_Plan_next^0'=pc_Plan_next^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_next^post_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 ], 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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 ], cost: 1 26: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_27, pc_Drive_next^0'=pc_Drive_next^post_27, pc_Loop^0'=3, pc_Plan^0'=pc_Plan^post_27, pc_Plan_next^0'=pc_Plan^post_27, x_next^0'=x^0, y_next^0'=y^0, [ 1<=pc_Plan^post_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^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'=__const_6^0, pc_Plan^0'=pc_Plan_next^post_22, pc_Plan_next^0'=pc_Plan_next^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_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 5<=__const_8^0 ], 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'=__const_6^0, 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<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 ], cost: 1 23: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_Drive^0'=pc_Drive_next^post_24, pc_Drive_next^0'=pc_Drive_next^post_24, pc_Loop^0'=__const_6^0, 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<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^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 30: 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, [ 5<=__const_8^0 ], cost: 1 31: l1 -> l4 : executed_Drive^0'=0, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_32, pc_Drive_next^0'=pc_Drive_next^post_32, 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_32<=__const_8^0 && 5<=pc_Drive_next^post_32 ], 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, [ 4<=__const_8^0 && 1<=pc_Drive_next^post_33 && 1+pc_Drive_next^post_33<=__const_8^0 && 1+pc_Drive_next^post_33<=4 ], cost: 1 6: l2 -> l3 : executed_Drive^0'=1, is_aborted^0'=is_aborted_next^post_7, is_aborted_next^0'=is_aborted_next^post_7, pc_Drive^0'=4, pc_Drive_next^0'=4, pc_Loop^0'=4, pc_Plan^0'=pc_Plan_next^post_7, pc_Plan_next^0'=pc_Plan_next^post_7, 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_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 5<=__const_8^0 && 4-__const_7^0==0 ], cost: 1 7: l2 -> l3 : is_aborted^0'=is_aborted^post_8, is_aborted_next^0'=is_aborted^post_8, pc_Drive^0'=__const_7^0, pc_Drive_next^0'=__const_7^0, pc_Loop^0'=4, pc_Plan^0'=pc_Plan^post_8, pc_Plan_next^0'=pc_Plan^post_8, x_next^0'=x^0, y_next^0'=y^0, [ 0<=is_aborted^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 ], cost: 1 8: l2 -> l3 : is_aborted^0'=is_aborted_next^post_9, is_aborted_next^0'=is_aborted_next^post_9, pc_Drive^0'=__const_7^0, pc_Drive_next^0'=__const_7^0, pc_Loop^0'=4, pc_Plan^0'=pc_Plan^post_9, pc_Plan_next^0'=pc_Plan^post_9, x_next^0'=x^0, y_next^0'=y^0, [ 0<=is_aborted_next^post_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -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<=__const_8^0 && 3<=__const_8^0 ], 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<=__const_8^0 && 5<=__const_8^0 && 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_next^post_20, pc_Drive_next^0'=pc_Drive_next^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<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^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<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 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_next^post_25, pc_Plan_next^0'=pc_Plan_next^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_next^post_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 ], 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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 ], cost: 1 26: l4 -> l5 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_27, pc_Drive_next^0'=pc_Drive_next^post_27, pc_Loop^0'=3, pc_Plan^0'=pc_Plan^post_27, pc_Plan_next^0'=pc_Plan^post_27, x_next^0'=x^0, y_next^0'=y^0, [ 1<=pc_Plan^post_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^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'=__const_6^0, pc_Plan^0'=pc_Plan_next^post_22, pc_Plan_next^0'=pc_Plan_next^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_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 5<=__const_8^0 ], 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'=__const_6^0, 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<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 ], cost: 1 23: l5 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_Drive^0'=pc_Drive_next^post_24, pc_Drive_next^0'=pc_Drive_next^post_24, pc_Loop^0'=__const_6^0, 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<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^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'=2+x^0, x_next^0'=2+x^0, y^0'=2+y^0, y_next^0'=2+y^0, [ 0<=is_aborted_next^post_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 2 52: l2 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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, [ 0<=is_aborted_next^post_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 2 53: l2 -> 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, [ 0<=is_aborted_next^post_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+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, [ 0<=is_aborted^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 2 55: l2 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: 2 56: 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^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 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 57: 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_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 2 58: l2 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: 2 59: 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_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 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 60: 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<=__const_8^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 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'=__const_6^0, pc_Plan^0'=pc_Plan_next^post_22, pc_Plan_next^0'=pc_Plan_next^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_next^post_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 ], 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'=__const_6^0, 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_next^post_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 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_next^post_24, pc_Drive_next^0'=pc_Drive_next^post_24, pc_Loop^0'=__const_6^0, 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_next^post_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^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'=__const_6^0, pc_Plan^0'=pc_Plan_next^post_22, pc_Plan_next^0'=pc_Plan_next^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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 5<=__const_8^0 ], 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'=__const_6^0, 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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 ], cost: 2 47: l4 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_Drive^0'=pc_Drive_next^post_24, pc_Drive_next^0'=pc_Drive_next^post_24, pc_Loop^0'=__const_6^0, 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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^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'=__const_6^0, pc_Plan^0'=pc_Plan_next^post_22, pc_Plan_next^0'=pc_Plan_next^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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 5<=__const_8^0 ], 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'=__const_6^0, 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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 ], cost: 2 50: l4 -> l2 : is_aborted^0'=1, is_aborted_next^0'=1, pc_Drive^0'=pc_Drive_next^post_24, pc_Drive_next^0'=pc_Drive_next^post_24, pc_Loop^0'=__const_6^0, 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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^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, [ 5<=__const_8^0 ], 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_32, pc_Drive_next^0'=pc_Drive_next^post_32, 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_32<=__const_8^0 && 5<=pc_Drive_next^post_32 ], cost: 3 41: 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, [ 4<=__const_8^0 && 1<=pc_Drive_next^post_33 && 1+pc_Drive_next^post_33<=__const_8^0 && 1+pc_Drive_next^post_33<=4 ], cost: 3 Eliminated locations (on tree-shaped paths): Start location: l7 61: 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'=4+x^0, x_next^0'=4+x^0, y^0'=4+y^0, y_next^0'=4+y^0, [ 1<=pc_Plan_next^post_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 0<=is_aborted_next^post_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 5+x^0<=n0^0 && 5+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'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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'=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_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 0<=is_aborted_next^post_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+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'=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'=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_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 0<=is_aborted_next^post_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+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'=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_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 0<=is_aborted^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+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_20, pc_Drive_next^0'=pc_Drive_next^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_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 0<=is_aborted^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+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'=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_next^post_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 0<=is_aborted^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 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 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'=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_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 0<=is_aborted_next^post_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+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_next^post_20, pc_Drive_next^0'=pc_Drive_next^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_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 0<=is_aborted_next^post_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+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'=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_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 0<=is_aborted_next^post_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 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 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'=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_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 1<=pc_Plan_next^post_12 && 1+pc_Plan_next^post_12<=__const_8^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+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'=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_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 && 0<=is_aborted_next^post_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+y^0<=n1^0 ], cost: 4 72: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 && 0<=is_aborted_next^post_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 73: 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_next^post_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 && 0<=is_aborted_next^post_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 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 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'=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_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 && 0<=is_aborted^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+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'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 && 0<=is_aborted^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 76: 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_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 && 0<=is_aborted^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 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 77: 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_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 && 0<=is_aborted_next^post_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+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'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 && 0<=is_aborted_next^post_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 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'=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_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 && 0<=is_aborted_next^post_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 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 80: 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_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 && 1<=pc_Plan_next^post_12 && 1+pc_Plan_next^post_12<=__const_8^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+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'=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_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^post_24<=4 && 0<=is_aborted_next^post_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+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'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^post_24<=4 && 0<=is_aborted_next^post_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 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'=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_next^post_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^post_24<=4 && 0<=is_aborted_next^post_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 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 84: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=4, pc_Drive_next^0'=4, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^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_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^post_24<=4 && 0<=is_aborted^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 85: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^post_24<=4 && 0<=is_aborted^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+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'=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_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^post_24<=4 && 0<=is_aborted^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 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 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'=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_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^post_24<=4 && 0<=is_aborted_next^post_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 88: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^post_24<=4 && 0<=is_aborted_next^post_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 89: 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_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^post_24<=4 && 0<=is_aborted_next^post_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 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 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'=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_25 && 1+pc_Plan_next^post_25<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^post_24<=4 && 1<=pc_Plan_next^post_12 && 1+pc_Plan_next^post_12<=__const_8^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 91: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=4, pc_Drive_next^0'=4, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^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_26 && 1+pc_Plan^post_26<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 5<=__const_8^0 && 0<=is_aborted_next^post_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+y^0<=n1^0 ], cost: 4 92: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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_26 && 1+pc_Plan^post_26<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 5<=__const_8^0 && 0<=is_aborted_next^post_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 93: 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_26 && 1+pc_Plan^post_26<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 5<=__const_8^0 && 0<=is_aborted_next^post_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 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 94: 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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 5<=__const_8^0 && 0<=is_aborted^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 95: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 5<=__const_8^0 && 0<=is_aborted^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 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+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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 5<=__const_8^0 && 0<=is_aborted^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 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 97: 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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 5<=__const_8^0 && 0<=is_aborted_next^post_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 98: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 5<=__const_8^0 && 0<=is_aborted_next^post_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 99: 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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 5<=__const_8^0 && 0<=is_aborted_next^post_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 100: 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'=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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan_next^post_12 && 1+pc_Plan_next^post_12<=__const_8^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 101: 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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 && 0<=is_aborted_next^post_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 102: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 && 0<=is_aborted_next^post_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 103: 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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 && 0<=is_aborted_next^post_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 104: 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, 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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 && 0<=is_aborted^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 105: l4 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 && 0<=is_aborted^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: 4 106: 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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 && 0<=is_aborted^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: 4 107: 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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 && 0<=is_aborted_next^post_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 108: l4 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 && 0<=is_aborted_next^post_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: 4 109: 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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 && 0<=is_aborted_next^post_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: 4 110: 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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 && 1<=pc_Plan_next^post_12 && 1+pc_Plan_next^post_12<=__const_8^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 111: 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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^post_24<=4 && 0<=is_aborted_next^post_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 112: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^post_24<=4 && 0<=is_aborted_next^post_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 113: 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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^post_24<=4 && 0<=is_aborted_next^post_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 114: 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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^post_24<=4 && 0<=is_aborted^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 115: l4 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^post_24<=4 && 0<=is_aborted^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: 4 116: 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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^post_24<=4 && 0<=is_aborted^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: 4 117: 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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^post_24<=4 && 0<=is_aborted_next^post_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 118: l4 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^post_24<=4 && 0<=is_aborted_next^post_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: 4 119: 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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^post_24<=4 && 0<=is_aborted_next^post_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: 4 120: 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<=__const_8^0 && 1+pc_Drive^post_26<=__const_8^0 && 5<=pc_Drive^post_26 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^post_24<=4 && 1<=pc_Plan_next^post_12 && 1+pc_Plan_next^post_12<=__const_8^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 121: 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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 5<=__const_8^0 && 0<=is_aborted_next^post_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+y^0<=n1^0 ], cost: 4 122: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 5<=__const_8^0 && 0<=is_aborted_next^post_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 123: 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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 5<=__const_8^0 && 0<=is_aborted_next^post_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 124: 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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 5<=__const_8^0 && 0<=is_aborted^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 125: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 5<=__const_8^0 && 0<=is_aborted^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 126: 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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 5<=__const_8^0 && 0<=is_aborted^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 127: 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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 5<=__const_8^0 && 0<=is_aborted_next^post_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 128: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 5<=__const_8^0 && 0<=is_aborted_next^post_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 129: 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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 5<=__const_8^0 && 0<=is_aborted_next^post_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 130: 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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan_next^post_22 && 1+pc_Plan_next^post_22<=__const_8^0 && 5<=__const_8^0 && 1<=pc_Plan_next^post_12 && 1+pc_Plan_next^post_12<=__const_8^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 131: 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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 && 0<=is_aborted_next^post_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 132: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 && 0<=is_aborted_next^post_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 133: 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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 && 0<=is_aborted_next^post_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 134: 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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 && 0<=is_aborted^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 135: l4 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 && 0<=is_aborted^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: 4 136: 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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 && 0<=is_aborted^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: 4 137: 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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 && 0<=is_aborted_next^post_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 138: l4 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 && 0<=is_aborted_next^post_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: 4 139: 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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 && 0<=is_aborted_next^post_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: 4 140: 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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan_next^post_23 && 1+pc_Plan_next^post_23<=__const_8^0 && 1+pc_Drive^post_23<=__const_8^0 && 5<=pc_Drive^post_23 && 1<=pc_Plan_next^post_12 && 1+pc_Plan_next^post_12<=__const_8^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 141: 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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^post_24<=4 && 0<=is_aborted_next^post_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 142: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^post_24<=4 && 0<=is_aborted_next^post_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 143: 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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^post_24<=4 && 0<=is_aborted_next^post_7 && is_aborted_next^post_7<=1 && 1<=pc_Plan_next^post_7 && 1+pc_Plan_next^post_7<=__const_8^0 && 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 144: 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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^post_24<=4 && 0<=is_aborted^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 145: l4 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^post_24<=4 && 0<=is_aborted^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: 4 146: 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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^post_24<=4 && 0<=is_aborted^post_8 && is_aborted^post_8<=1 && 1<=pc_Plan^post_8 && 1+pc_Plan^post_8<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: 4 147: 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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^post_24<=4 && 0<=is_aborted_next^post_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 148: l4 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^post_24<=4 && 0<=is_aborted_next^post_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: 4 149: 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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^post_24<=4 && 0<=is_aborted_next^post_9 && is_aborted_next^post_9<=1 && 1<=pc_Plan^post_9 && 1+pc_Plan^post_9<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 ], cost: 4 150: 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_27 && 1+pc_Plan^post_27<=__const_8^0 && 1<=pc_Drive_next^post_27 && 1+pc_Drive_next^post_27<=__const_8^0 && 1+pc_Drive_next^post_27<=4 && 1<=pc_Plan^post_24 && 1+pc_Plan^post_24<=__const_8^0 && 1<=pc_Drive_next^post_24 && 1+pc_Drive_next^post_24<=__const_8^0 && 1+pc_Drive_next^post_24<=4 && 1<=pc_Plan_next^post_12 && 1+pc_Plan_next^post_12<=__const_8^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 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, [ 5<=__const_8^0 ], 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_32, pc_Drive_next^0'=pc_Drive_next^post_32, 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_32<=__const_8^0 && 5<=pc_Drive_next^post_32 ], cost: 3 41: 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, [ 4<=__const_8^0 && 1<=pc_Drive_next^post_33 && 1+pc_Drive_next^post_33<=__const_8^0 && 1+pc_Drive_next^post_33<=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: 61: 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'=4+x^0, x_next^0'=4+x^0, y^0'=4+y^0, y_next^0'=4+y^0, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 5+x^0<=n0^0 && 5+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'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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'=3+x^0, x_next^0'=3+x^0, y^0'=3+y^0, y_next^0'=3+y^0, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+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'=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'=3+x^0, x_next^0'=3+x^0, y^0'=3+y^0, y_next^0'=3+y^0, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+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'=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, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+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_20, pc_Drive_next^0'=pc_Drive_next^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, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+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'=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, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 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 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'=3+x^0, x_next^0'=3+x^0, y^0'=3+y^0, y_next^0'=3+y^0, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+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_next^post_20, pc_Drive_next^0'=pc_Drive_next^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, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+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'=2+x^0, x_next^0'=2+x^0, y^0'=2+y^0, y_next^0'=2+y^0, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 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 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'=3+x^0, x_next^0'=3+x^0, y^0'=3+y^0, y_next^0'=3+y^0, [ 5<=__const_8^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+y^0<=n1^0 ], cost: 4 91: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=4, pc_Drive_next^0'=4, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^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, [ 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 92: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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, [ 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 93: 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, [ 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 94: 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+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 95: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 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+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, [ 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 97: 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<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 98: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 99: 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<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 100: 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'=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<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 121: 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, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+y^0<=n1^0 ], cost: 4 122: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 123: 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, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 124: 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, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 125: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 126: 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, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 127: 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, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 128: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 129: 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, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 130: 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, [ 5<=__const_8^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 131: 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, [ 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 132: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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, [ 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 133: 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, [ 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 134: 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+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 135: l4 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 136: 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+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 137: 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<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 138: l4 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 139: 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<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 140: 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<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 141: 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, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 142: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 143: 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, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 144: 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+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 145: l4 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 1<=-1+__const_8^0 ], cost: 4 146: 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+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 1<=-1+__const_8^0 ], cost: 4 147: 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<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 148: l4 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 1<=-1+__const_8^0 ], cost: 4 149: 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<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 1<=-1+__const_8^0 ], cost: 4 150: 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<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 Accelerated rule 61 with backward acceleration, yielding the new rule 151. Accelerated rule 62 with backward acceleration, yielding the new rule 152. Accelerated rule 63 with backward acceleration, yielding the new rule 153. Accelerated rule 64 with backward acceleration, yielding the new rule 154. Accelerated rule 65 with backward acceleration, yielding the new rule 155. Accelerated rule 66 with backward acceleration, yielding the new rule 156. Accelerated rule 67 with backward acceleration, yielding the new rule 157. Accelerated rule 68 with backward acceleration, yielding the new rule 158. Accelerated rule 69 with backward acceleration, yielding the new rule 159. Accelerated rule 70 with backward acceleration, yielding the new rule 160. Accelerated rule 91 with backward acceleration, yielding the new rule 161. Accelerated rule 92 with backward acceleration, yielding the new rule 162. Accelerated rule 93 with backward acceleration, yielding the new rule 163. Accelerated rule 94 with backward acceleration, yielding the new rule 164. Accelerated rule 95 with backward acceleration, yielding the new rule 165. Accelerated rule 95 with backward acceleration, yielding the new rule 166. Accelerated rule 96 with backward acceleration, yielding the new rule 167. Accelerated rule 96 with backward acceleration, yielding the new rule 168. Accelerated rule 97 with backward acceleration, yielding the new rule 169. Accelerated rule 98 with backward acceleration, yielding the new rule 170. Accelerated rule 98 with backward acceleration, yielding the new rule 171. Accelerated rule 99 with backward acceleration, yielding the new rule 172. Accelerated rule 99 with backward acceleration, yielding the new rule 173. Accelerated rule 100 with backward acceleration, yielding the new rule 174. Accelerated rule 121 with backward acceleration, yielding the new rule 175. Accelerated rule 122 with backward acceleration, yielding the new rule 176. Accelerated rule 123 with backward acceleration, yielding the new rule 177. Accelerated rule 124 with backward acceleration, yielding the new rule 178. Accelerated rule 125 with backward acceleration, yielding the new rule 179. Accelerated rule 125 with backward acceleration, yielding the new rule 180. Accelerated rule 126 with backward acceleration, yielding the new rule 181. Accelerated rule 126 with backward acceleration, yielding the new rule 182. Accelerated rule 127 with backward acceleration, yielding the new rule 183. Accelerated rule 128 with backward acceleration, yielding the new rule 184. Accelerated rule 128 with backward acceleration, yielding the new rule 185. Accelerated rule 129 with backward acceleration, yielding the new rule 186. Accelerated rule 129 with backward acceleration, yielding the new rule 187. Accelerated rule 130 with backward acceleration, yielding the new rule 188. Accelerated rule 131 with backward acceleration, yielding the new rule 189. Accelerated rule 132 with backward acceleration, yielding the new rule 190. Accelerated rule 132 with backward acceleration, yielding the new rule 191. Accelerated rule 133 with backward acceleration, yielding the new rule 192. Accelerated rule 133 with backward acceleration, yielding the new rule 193. Accelerated rule 134 with backward acceleration, yielding the new rule 194. Accelerated rule 134 with backward acceleration, yielding the new rule 195. Accelerated rule 135 with non-termination, yielding the new rule 196. Accelerated rule 136 with non-termination, yielding the new rule 197. Accelerated rule 137 with backward acceleration, yielding the new rule 198. Accelerated rule 137 with backward acceleration, yielding the new rule 199. Accelerated rule 138 with non-termination, yielding the new rule 200. Accelerated rule 139 with non-termination, yielding the new rule 201. Accelerated rule 140 with backward acceleration, yielding the new rule 202. Accelerated rule 140 with backward acceleration, yielding the new rule 203. Accelerated rule 141 with backward acceleration, yielding the new rule 204. Accelerated rule 142 with backward acceleration, yielding the new rule 205. Accelerated rule 142 with backward acceleration, yielding the new rule 206. Accelerated rule 143 with backward acceleration, yielding the new rule 207. Accelerated rule 143 with backward acceleration, yielding the new rule 208. Accelerated rule 144 with backward acceleration, yielding the new rule 209. Accelerated rule 144 with backward acceleration, yielding the new rule 210. Accelerated rule 145 with non-termination, yielding the new rule 211. Accelerated rule 146 with non-termination, yielding the new rule 212. Accelerated rule 147 with backward acceleration, yielding the new rule 213. Accelerated rule 147 with backward acceleration, yielding the new rule 214. Accelerated rule 148 with non-termination, yielding the new rule 215. Accelerated rule 149 with non-termination, yielding the new rule 216. Accelerated rule 150 with backward acceleration, yielding the new rule 217. Accelerated rule 150 with backward acceleration, yielding the new rule 218. [accelerate] Nesting with 60 inner and 42 outer candidates Accelerated all simple loops using metering functions (where possible): Start location: l7 61: 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'=4+x^0, x_next^0'=4+x^0, y^0'=4+y^0, y_next^0'=4+y^0, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 5+x^0<=n0^0 && 5+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'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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'=3+x^0, x_next^0'=3+x^0, y^0'=3+y^0, y_next^0'=3+y^0, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+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'=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'=3+x^0, x_next^0'=3+x^0, y^0'=3+y^0, y_next^0'=3+y^0, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+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'=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, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+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_20, pc_Drive_next^0'=pc_Drive_next^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, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+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'=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, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 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 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'=3+x^0, x_next^0'=3+x^0, y^0'=3+y^0, y_next^0'=3+y^0, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+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_next^post_20, pc_Drive_next^0'=pc_Drive_next^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, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+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'=2+x^0, x_next^0'=2+x^0, y^0'=2+y^0, y_next^0'=2+y^0, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 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 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'=3+x^0, x_next^0'=3+x^0, y^0'=3+y^0, y_next^0'=3+y^0, [ 5<=__const_8^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+y^0<=n1^0 ], cost: 4 91: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=4, pc_Drive_next^0'=4, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^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, [ 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 92: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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, [ 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 93: 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, [ 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 94: 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+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 95: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 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+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, [ 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 97: 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<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 98: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 99: 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<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 100: 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'=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<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 121: 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, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+y^0<=n1^0 ], cost: 4 122: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 123: 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, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 124: 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, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 125: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 126: 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, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 127: 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, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 128: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 129: 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, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 130: 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, [ 5<=__const_8^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 131: 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, [ 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 132: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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, [ 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 133: 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, [ 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 134: 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+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 135: l4 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 136: 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+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 137: 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<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 138: l4 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 139: 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<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 140: 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<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 141: 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, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 142: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 143: 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, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 144: 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+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 145: l4 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 1<=-1+__const_8^0 ], cost: 4 146: 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+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 1<=-1+__const_8^0 ], cost: 4 147: 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<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 148: l4 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 1<=-1+__const_8^0 ], cost: 4 149: 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<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 1<=-1+__const_8^0 ], cost: 4 150: 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<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 151: 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'=4*k+x^0, x_next^0'=4*k+x^0, y^0'=4*k+y^0, y_next^0'=4*k+y^0, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && k>=1 && 1+4*k+x^0<=n0^0 && 1+4*k+y^0<=n1^0 ], cost: 4*k 152: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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'=3*k_1+x^0, x_next^0'=3*k_1+x^0, y^0'=3*k_1+y^0, y_next^0'=3*k_1+y^0, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && k_1>=1 && 1+3*k_1+x^0<=n0^0 && 1+3*k_1+y^0<=n1^0 ], cost: 4*k_1 153: 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'=3*k_2+x^0, x_next^0'=3*k_2+x^0, y^0'=y^0+3*k_2, y_next^0'=y^0+3*k_2, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && k_2>=1 && 1+3*k_2+x^0<=n0^0 && 1+y^0+3*k_2<=n1^0 ], cost: 4*k_2 154: 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*k_3+x^0, x_next^0'=3*k_3+x^0, y^0'=3*k_3+y^0, y_next^0'=3*k_3+y^0, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && k_3>=1 && 1+3*k_3+x^0<=n0^0 && 1+3*k_3+y^0<=n1^0 ], cost: 4*k_3 155: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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*k_4+x^0, x_next^0'=2*k_4+x^0, y^0'=2*k_4+y^0, y_next^0'=2*k_4+y^0, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && k_4>=1 && 1+2*k_4+x^0<=n0^0 && 1+2*k_4+y^0<=n1^0 ], cost: 4*k_4 156: 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'=x^0+2*k_5, x_next^0'=x^0+2*k_5, y^0'=y^0+2*k_5, y_next^0'=y^0+2*k_5, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && k_5>=1 && 1+x^0+2*k_5<=n0^0 && 1+y^0+2*k_5<=n1^0 ], cost: 4*k_5 157: 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*k_6+x^0, x_next^0'=3*k_6+x^0, y^0'=3*k_6+y^0, y_next^0'=3*k_6+y^0, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && k_6>=1 && 1+3*k_6+x^0<=n0^0 && 1+3*k_6+y^0<=n1^0 ], cost: 4*k_6 158: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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*k_7+x^0, x_next^0'=2*k_7+x^0, y^0'=2*k_7+y^0, y_next^0'=2*k_7+y^0, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && k_7>=1 && 1+2*k_7+x^0<=n0^0 && 1+2*k_7+y^0<=n1^0 ], cost: 4*k_7 159: 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'=x^0+2*k_8, x_next^0'=x^0+2*k_8, y^0'=y^0+2*k_8, y_next^0'=y^0+2*k_8, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && k_8>=1 && 1+x^0+2*k_8<=n0^0 && 1+y^0+2*k_8<=n1^0 ], cost: 4*k_8 160: 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*k_9+x^0, x_next^0'=3*k_9+x^0, y^0'=3*k_9+y^0, y_next^0'=3*k_9+y^0, [ 5<=__const_8^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && k_9>=1 && 1+3*k_9+x^0<=n0^0 && 1+3*k_9+y^0<=n1^0 ], cost: 4*k_9 161: 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*k_10+x^0, x_next^0'=3*k_10+x^0, y^0'=3*k_10+y^0, y_next^0'=3*k_10+y^0, [ 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && k_10>=1 && 1+3*k_10+x^0<=n0^0 && 1+3*k_10+y^0<=n1^0 ], cost: 4*k_10 162: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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*k_11+x^0, x_next^0'=2*k_11+x^0, y^0'=y^0+2*k_11, y_next^0'=y^0+2*k_11, [ 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && k_11>=1 && 1+2*k_11+x^0<=n0^0 && 1+y^0+2*k_11<=n1^0 ], cost: 4*k_11 163: 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_12+x^0, x_next^0'=2*k_12+x^0, y^0'=2*k_12+y^0, y_next^0'=2*k_12+y^0, [ 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && k_12>=1 && 1+2*k_12+x^0<=n0^0 && 1+2*k_12+y^0<=n1^0 ], cost: 4*k_12 164: 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*k_13+x^0, x_next^0'=2*k_13+x^0, y^0'=2*k_13+y^0, y_next^0'=2*k_13+y^0, [ 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && k_13>=1 && 1+2*k_13+x^0<=n0^0 && 1+2*k_13+y^0<=n1^0 ], cost: 4*k_13 165: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 166: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 167: 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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 168: 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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 169: 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*k_16+x^0, x_next^0'=2*k_16+x^0, y^0'=2*k_16+y^0, y_next^0'=2*k_16+y^0, [ 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && k_16>=1 && 1+2*k_16+x^0<=n0^0 && 1+2*k_16+y^0<=n1^0 ], cost: 4*k_16 170: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 171: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 172: 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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 173: 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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 174: 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*k_19+x^0, x_next^0'=2*k_19+x^0, y^0'=2*k_19+y^0, y_next^0'=2*k_19+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && k_19>=1 && 1+2*k_19+x^0<=n0^0 && 1+2*k_19+y^0<=n1^0 ], cost: 4*k_19 175: 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*k_20+x^0, x_next^0'=3*k_20+x^0, y^0'=y^0+3*k_20, y_next^0'=y^0+3*k_20, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && k_20>=1 && 1+3*k_20+x^0<=n0^0 && 1+y^0+3*k_20<=n1^0 ], cost: 4*k_20 176: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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*k_21+x^0, x_next^0'=2*k_21+x^0, y^0'=2*k_21+y^0, y_next^0'=2*k_21+y^0, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && k_21>=1 && 1+2*k_21+x^0<=n0^0 && 1+2*k_21+y^0<=n1^0 ], cost: 4*k_21 177: 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_22+x^0, x_next^0'=2*k_22+x^0, y^0'=2*k_22+y^0, y_next^0'=2*k_22+y^0, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && k_22>=1 && 1+2*k_22+x^0<=n0^0 && 1+2*k_22+y^0<=n1^0 ], cost: 4*k_22 178: 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*k_23+x^0, x_next^0'=2*k_23+x^0, y^0'=y^0+2*k_23, y_next^0'=y^0+2*k_23, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && k_23>=1 && 1+2*k_23+x^0<=n0^0 && 1+y^0+2*k_23<=n1^0 ], cost: 4*k_23 179: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 180: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 181: 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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 182: 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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 183: 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*k_26+x^0, x_next^0'=2*k_26+x^0, y^0'=2*k_26+y^0, y_next^0'=2*k_26+y^0, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && k_26>=1 && 1+2*k_26+x^0<=n0^0 && 1+2*k_26+y^0<=n1^0 ], cost: 4*k_26 184: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 185: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 186: 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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 187: 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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 188: 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*k_29+x^0, x_next^0'=2*k_29+x^0, y^0'=y^0+2*k_29, y_next^0'=y^0+2*k_29, [ 5<=__const_8^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && k_29>=1 && 1+2*k_29+x^0<=n0^0 && 1+y^0+2*k_29<=n1^0 ], cost: 4*k_29 189: 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*k_30+x^0, x_next^0'=2*k_30+x^0, y^0'=2*k_30+y^0, y_next^0'=2*k_30+y^0, [ 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && k_30>=1 && 1+2*k_30+x^0<=n0^0 && 1+2*k_30+y^0<=n1^0 ], cost: 4*k_30 190: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 191: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 192: 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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 193: 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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 194: 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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 195: 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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 196: l4 -> [8] : [ 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: NONTERM 197: l4 -> [8] : [ 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: NONTERM 198: 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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 199: 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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 200: l4 -> [8] : [ 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: NONTERM 201: l4 -> [8] : [ 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: NONTERM 202: 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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 203: 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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 204: 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*k_36+x^0, x_next^0'=2*k_36+x^0, y^0'=y^0+2*k_36, y_next^0'=y^0+2*k_36, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && k_36>=1 && 1+2*k_36+x^0<=n0^0 && 1+y^0+2*k_36<=n1^0 ], cost: 4*k_36 205: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 206: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 207: 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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 208: 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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 209: 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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 210: 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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 211: l4 -> [8] : [ 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 1<=-1+__const_8^0 ], cost: NONTERM 212: l4 -> [8] : [ 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 1<=-1+__const_8^0 ], cost: NONTERM 213: 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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 214: 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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 215: l4 -> [8] : [ 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 1<=-1+__const_8^0 ], cost: NONTERM 216: l4 -> [8] : [ 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 1<=-1+__const_8^0 ], cost: NONTERM 217: 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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 218: 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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], 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, [ 5<=__const_8^0 ], 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_32, pc_Drive_next^0'=pc_Drive_next^post_32, 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_32<=__const_8^0 && 5<=pc_Drive_next^post_32 ], cost: 3 41: 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, [ 4<=__const_8^0 && 1<=pc_Drive_next^post_33 && 1+pc_Drive_next^post_33<=__const_8^0 && 1+pc_Drive_next^post_33<=4 ], cost: 3 Aborted due to lack of remaining time ### Computing asymptotic complexity ### Fully simplified ITS problem Start location: l7 61: 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'=4+x^0, x_next^0'=4+x^0, y^0'=4+y^0, y_next^0'=4+y^0, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 5+x^0<=n0^0 && 5+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'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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'=3+x^0, x_next^0'=3+x^0, y^0'=3+y^0, y_next^0'=3+y^0, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+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'=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'=3+x^0, x_next^0'=3+x^0, y^0'=3+y^0, y_next^0'=3+y^0, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+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'=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, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+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_20, pc_Drive_next^0'=pc_Drive_next^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, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+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'=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, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 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 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'=3+x^0, x_next^0'=3+x^0, y^0'=3+y^0, y_next^0'=3+y^0, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+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_next^post_20, pc_Drive_next^0'=pc_Drive_next^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, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+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'=2+x^0, x_next^0'=2+x^0, y^0'=2+y^0, y_next^0'=2+y^0, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 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 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'=3+x^0, x_next^0'=3+x^0, y^0'=3+y^0, y_next^0'=3+y^0, [ 5<=__const_8^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+y^0<=n1^0 ], cost: 4 91: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=4, pc_Drive_next^0'=4, pc_Loop^0'=2, pc_Plan^0'=pc_Plan_next^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, [ 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 92: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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, [ 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 93: 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, [ 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 94: 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+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 95: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 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+x^0, x_next^0'=1+x^0, y^0'=1+y^0, y_next^0'=1+y^0, [ 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 97: 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<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 98: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 99: 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<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 100: 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'=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<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 121: 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, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 4+x^0<=n0^0 && 4+y^0<=n1^0 ], cost: 4 122: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 123: 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, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 124: 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, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 125: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 126: 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, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 127: 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, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 128: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 129: 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, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 130: 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, [ 5<=__const_8^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 131: 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, [ 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 132: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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, [ 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 133: 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, [ 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 134: 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+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 135: l4 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 136: 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+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 137: 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<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 138: l4 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 139: 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<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 140: 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<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: 4 141: 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, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 3+x^0<=n0^0 && 3+y^0<=n1^0 ], cost: 4 142: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 143: 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, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 144: 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+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 145: l4 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 1<=-1+__const_8^0 ], cost: 4 146: 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+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 1<=-1+__const_8^0 ], cost: 4 147: 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<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 148: l4 -> l4 : is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 1<=-1+__const_8^0 ], cost: 4 149: 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<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 1<=-1+__const_8^0 ], cost: 4 150: 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<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: 4 151: 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'=4*k+x^0, x_next^0'=4*k+x^0, y^0'=4*k+y^0, y_next^0'=4*k+y^0, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && k>=1 && 1+4*k+x^0<=n0^0 && 1+4*k+y^0<=n1^0 ], cost: 4*k 152: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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'=3*k_1+x^0, x_next^0'=3*k_1+x^0, y^0'=3*k_1+y^0, y_next^0'=3*k_1+y^0, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && k_1>=1 && 1+3*k_1+x^0<=n0^0 && 1+3*k_1+y^0<=n1^0 ], cost: 4*k_1 153: 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'=3*k_2+x^0, x_next^0'=3*k_2+x^0, y^0'=y^0+3*k_2, y_next^0'=y^0+3*k_2, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && k_2>=1 && 1+3*k_2+x^0<=n0^0 && 1+y^0+3*k_2<=n1^0 ], cost: 4*k_2 154: 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*k_3+x^0, x_next^0'=3*k_3+x^0, y^0'=3*k_3+y^0, y_next^0'=3*k_3+y^0, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && k_3>=1 && 1+3*k_3+x^0<=n0^0 && 1+3*k_3+y^0<=n1^0 ], cost: 4*k_3 155: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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*k_4+x^0, x_next^0'=2*k_4+x^0, y^0'=2*k_4+y^0, y_next^0'=2*k_4+y^0, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && k_4>=1 && 1+2*k_4+x^0<=n0^0 && 1+2*k_4+y^0<=n1^0 ], cost: 4*k_4 156: 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'=x^0+2*k_5, x_next^0'=x^0+2*k_5, y^0'=y^0+2*k_5, y_next^0'=y^0+2*k_5, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && k_5>=1 && 1+x^0+2*k_5<=n0^0 && 1+y^0+2*k_5<=n1^0 ], cost: 4*k_5 157: 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*k_6+x^0, x_next^0'=3*k_6+x^0, y^0'=3*k_6+y^0, y_next^0'=3*k_6+y^0, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && k_6>=1 && 1+3*k_6+x^0<=n0^0 && 1+3*k_6+y^0<=n1^0 ], cost: 4*k_6 158: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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*k_7+x^0, x_next^0'=2*k_7+x^0, y^0'=2*k_7+y^0, y_next^0'=2*k_7+y^0, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && k_7>=1 && 1+2*k_7+x^0<=n0^0 && 1+2*k_7+y^0<=n1^0 ], cost: 4*k_7 159: 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'=x^0+2*k_8, x_next^0'=x^0+2*k_8, y^0'=y^0+2*k_8, y_next^0'=y^0+2*k_8, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && k_8>=1 && 1+x^0+2*k_8<=n0^0 && 1+y^0+2*k_8<=n1^0 ], cost: 4*k_8 160: 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*k_9+x^0, x_next^0'=3*k_9+x^0, y^0'=3*k_9+y^0, y_next^0'=3*k_9+y^0, [ 5<=__const_8^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && k_9>=1 && 1+3*k_9+x^0<=n0^0 && 1+3*k_9+y^0<=n1^0 ], cost: 4*k_9 161: 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*k_10+x^0, x_next^0'=3*k_10+x^0, y^0'=3*k_10+y^0, y_next^0'=3*k_10+y^0, [ 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && k_10>=1 && 1+3*k_10+x^0<=n0^0 && 1+3*k_10+y^0<=n1^0 ], cost: 4*k_10 162: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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*k_11+x^0, x_next^0'=2*k_11+x^0, y^0'=y^0+2*k_11, y_next^0'=y^0+2*k_11, [ 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && k_11>=1 && 1+2*k_11+x^0<=n0^0 && 1+y^0+2*k_11<=n1^0 ], cost: 4*k_11 163: 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_12+x^0, x_next^0'=2*k_12+x^0, y^0'=2*k_12+y^0, y_next^0'=2*k_12+y^0, [ 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && k_12>=1 && 1+2*k_12+x^0<=n0^0 && 1+2*k_12+y^0<=n1^0 ], cost: 4*k_12 164: 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*k_13+x^0, x_next^0'=2*k_13+x^0, y^0'=2*k_13+y^0, y_next^0'=2*k_13+y^0, [ 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && k_13>=1 && 1+2*k_13+x^0<=n0^0 && 1+2*k_13+y^0<=n1^0 ], cost: 4*k_13 165: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 166: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 167: 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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 168: 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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 169: 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*k_16+x^0, x_next^0'=2*k_16+x^0, y^0'=2*k_16+y^0, y_next^0'=2*k_16+y^0, [ 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && k_16>=1 && 1+2*k_16+x^0<=n0^0 && 1+2*k_16+y^0<=n1^0 ], cost: 4*k_16 170: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 171: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 172: 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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 173: 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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 174: 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*k_19+x^0, x_next^0'=2*k_19+x^0, y^0'=2*k_19+y^0, y_next^0'=2*k_19+y^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && k_19>=1 && 1+2*k_19+x^0<=n0^0 && 1+2*k_19+y^0<=n1^0 ], cost: 4*k_19 175: 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*k_20+x^0, x_next^0'=3*k_20+x^0, y^0'=y^0+3*k_20, y_next^0'=y^0+3*k_20, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && k_20>=1 && 1+3*k_20+x^0<=n0^0 && 1+y^0+3*k_20<=n1^0 ], cost: 4*k_20 176: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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*k_21+x^0, x_next^0'=2*k_21+x^0, y^0'=2*k_21+y^0, y_next^0'=2*k_21+y^0, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && k_21>=1 && 1+2*k_21+x^0<=n0^0 && 1+2*k_21+y^0<=n1^0 ], cost: 4*k_21 177: 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_22+x^0, x_next^0'=2*k_22+x^0, y^0'=2*k_22+y^0, y_next^0'=2*k_22+y^0, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && k_22>=1 && 1+2*k_22+x^0<=n0^0 && 1+2*k_22+y^0<=n1^0 ], cost: 4*k_22 178: 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*k_23+x^0, x_next^0'=2*k_23+x^0, y^0'=y^0+2*k_23, y_next^0'=y^0+2*k_23, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && k_23>=1 && 1+2*k_23+x^0<=n0^0 && 1+y^0+2*k_23<=n1^0 ], cost: 4*k_23 179: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 180: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 181: 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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 182: 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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 5<=__const_8^0 && 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 183: 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*k_26+x^0, x_next^0'=2*k_26+x^0, y^0'=2*k_26+y^0, y_next^0'=2*k_26+y^0, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && k_26>=1 && 1+2*k_26+x^0<=n0^0 && 1+2*k_26+y^0<=n1^0 ], cost: 4*k_26 184: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 185: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 186: 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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 187: 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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 5<=__const_8^0 && 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 188: 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*k_29+x^0, x_next^0'=2*k_29+x^0, y^0'=y^0+2*k_29, y_next^0'=y^0+2*k_29, [ 5<=__const_8^0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && k_29>=1 && 1+2*k_29+x^0<=n0^0 && 1+y^0+2*k_29<=n1^0 ], cost: 4*k_29 189: 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*k_30+x^0, x_next^0'=2*k_30+x^0, y^0'=2*k_30+y^0, y_next^0'=2*k_30+y^0, [ 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && k_30>=1 && 1+2*k_30+x^0<=n0^0 && 1+2*k_30+y^0<=n1^0 ], cost: 4*k_30 190: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 191: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 192: 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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 193: 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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 194: 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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 195: 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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 196: l4 -> [8] : [ 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: NONTERM 197: l4 -> [8] : [ 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: NONTERM 198: 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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 199: 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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 200: l4 -> [8] : [ 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: NONTERM 201: l4 -> [8] : [ 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 5<=-1+__const_8^0 ], cost: NONTERM 202: 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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 203: 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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && 5<=-1+__const_8^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 204: 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*k_36+x^0, x_next^0'=2*k_36+x^0, y^0'=y^0+2*k_36, y_next^0'=y^0+2*k_36, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && k_36>=1 && 1+2*k_36+x^0<=n0^0 && 1+y^0+2*k_36<=n1^0 ], cost: 4*k_36 205: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 206: l4 -> l4 : executed_Drive^0'=1, is_aborted^0'=0, is_aborted_next^0'=0, pc_Drive^0'=pc_Drive_next^post_20, pc_Drive_next^0'=pc_Drive_next^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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 207: 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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 208: 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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 5<=__const_8^0 && 4-__const_7^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 209: 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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 210: 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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 211: l4 -> [8] : [ 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 1<=-1+__const_8^0 ], cost: NONTERM 212: l4 -> [8] : [ 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 1<=-1+__const_8^0 ], cost: NONTERM 213: 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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 214: 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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], cost: -4+4*n1^0-4*y^0 215: l4 -> [8] : [ 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 1<=-1+__const_8^0 ], cost: NONTERM 216: l4 -> [8] : [ 1<=__const_7^0 && 1+__const_7^0<=__const_8^0 && 1+__const_7^0<=4 && -1+executed_Drive^0==0 && 1<=pc_Plan^post_21 && 1+pc_Plan^post_21<=__const_8^0 && 1<=pc_Drive_next^post_21 && 1+pc_Drive_next^post_21<=__const_8^0 && 1+pc_Drive_next^post_21<=4 && 1<=n0^0 && 1<=n1^0 && 1+x^0<=n0^0 && 1+y^0<=n1^0 && 1<=-1+__const_8^0 ], cost: NONTERM 217: 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+y^0+n0^0-x^0, y_next^0'=-1+y^0+n0^0-x^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && -1+n0^0-x^0>=1 && n0^0<=n0^0 && y^0+n0^0-x^0<=n1^0 ], cost: -4+4*n0^0-4*x^0 218: 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+n1^0-y^0+x^0, x_next^0'=-1+n1^0-y^0+x^0, y^0'=-1+n1^0, y_next^0'=-1+n1^0, [ 1<=pc_Plan_next^post_19 && 1+pc_Plan_next^post_19<=__const_8^0 && 5<=__const_8^0 && 1<=n0^0 && 1<=n1^0 && -1+n1^0-y^0>=1 && n1^0-y^0+x^0<=n0^0 && n1^0<=n1^0 ], 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, [ 5<=__const_8^0 ], 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_32, pc_Drive_next^0'=pc_Drive_next^post_32, 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_32<=__const_8^0 && 5<=pc_Drive_next^post_32 ], cost: 3 41: 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, [ 4<=__const_8^0 && 1<=pc_Drive_next^post_33 && 1+pc_Drive_next^post_33<=__const_8^0 && 1+pc_Drive_next^post_33<=4 ], cost: 3 This is only a partial result (probably due to a timeout). Trying to find the maximal complexity that has already been derived. Performed chaining from the start location: Computing asymptotic complexity for rule 264 Simplified the guard: 264: l7 -> [8] : [ 1+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ], cost: NONTERM 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+__const_7^0<=__const_8^0 && 5<=__const_7^0 && 1<=pc_Plan_next^post_20 && 1+pc_Plan_next^post_20<=__const_8^0 && 1+pc_Drive_next^post_20<=__const_8^0 && 5<=pc_Drive_next^post_20 && 1<=n0^0 && 1<=n1^0 && 2+x^0<=n0^0 && 2+y^0<=n1^0 ] NO